Prior safety predicting method for operation of double-arm service robot under dynamic environment

Abstract

The invention belongs to the field of safety prediction of service robots and discloses a prior safety predicting method for operation of a double-arm service robot under the dynamic environment. Themethod comprises the steps of (a) obtaining the skeleton model and the point cloud of a to-be-predicted object so as to obtain the space position information of the to-be-predicted object; (b) building a kinematic model and a three-dimensional structure model of the double-arm robot so as to obtain the space position information of the double-arm robot, and unifying the position information of theto-be-predicted object and the position information of the double-arm robot into the same world coordinate system; (c) selecting a spherical bounding box or a capsule type bounding box for the to-be-predicted object to build a bounding box model, and selecting a capsule type bounding box for the double-arm robot to represent a bounding box model of each part; and (d) calculating the distance between the bounding box models of the to-be-predicted object and the double-arm robot and judging whether the predicted object is safe or not according to the distance value. Through the method, the calculation efficiency is improved, the calculation time is shortened, and the calculation precision is improved.

Description

technical field [0001] The invention belongs to the field of safety prediction of service robots, and more specifically relates to a method for prior safety prediction of dual-arm service robot operations in a dynamic environment. Background technique [0002] As a carrier of high-tech such as artificial intelligence and the Internet of Things, service robots may become the next Internet terminal. Therefore, service robots will have a wide range of application scenarios in the future, and the problem of population aging in society is becoming more and more serious. The elderly have a huge demand for nursing care, companionship, and rehabilitation. With a higher growth trend, the demand for service robots is further expanded. However, service robots cannot really enter human life. One of the main reasons is the safety of service robots. [0003] At present, the solutions to the safety problems of service robots can be roughly divided into two types: one is post-event safety ...

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a pre-safety prediction method for the operation of a dual-arm service robot in a dynamic environment. After obtaining the spatial position information of the object to be predicted and the dual-arm robot, and then according to these information Establish the bounding box model of the object to be predicted and the dual-arm robot, and finally obtain the distance between the object to be predicted and the dual-arm robot by calculating the distance between the bounding box models, so as to judge whether the object to be predicted is within a safe distance. In the process, the bounding box model is used to replace the object to be predicted and the dual-arm robot. On the one hand, it greatly simplifies the three-dimensional structure of the two, and on the other hand, it also greatly simplifies the calculation of the distance between the two, and the calculation process There is also no need to limit the working space, mass, stiffness, and working speed of the robot, thereby solving the technical problems of low calculation efficiency, long calculation time, and poor calculation accuracy in predicting safety in advance

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