Collaborative robot safety control method based on vision

Abstract

The invention discloses a collaborative robot safety control method based on vision. According to the collaborative robot safety control method based on vision, a deep vision three-dimensional reconstruction technology and a trajectory planning technology are combined, real-time three-dimensional reconstruction is carried out on a man-machine collaboration scene in a simulation environment, and obstacle avoidance planning is carried out according to a self model of a robot furthermore. With the collaborative robot safety control method based on vision, the collaborative operation robot can have the ability of sensing scenes, dangerous collision in man-machine collaborative operation is avoided, and safety control over the collaborative robot is achieved.

Description

technical field [0001] The invention relates to the field of robot safety control, in particular to a vision-based collaborative robot safety control method. Background technique [0002] A collaborative robot (Collaborative Robot) is a robot that can safely interact directly with humans. Different from traditional industrial robots, collaborative robots expand the attributes of "human" in the functional connotation of robots, enabling robots to have certain autonomous behavior and collaboration capabilities, and can cooperate with humans to complete complex actions and tasks in an unstructured environment. Truly become a human partner, combining human intelligence, dexterity and machine strength, strength and accuracy, man-machine collaboration to complete tasks such as precision assembly, and solve the limitations of traditional industrial robot applications. Depending on the degree of robot-human collaboration, the level of collaboration ranges from the worker sharing th...

AI Technical Summary

Problems solved by technology

In order to ensure fast and efficient operation of traditional industrial robots, the environment where people exist are not considered in the design, and the working environment of the robot needs to be enclosed by a safety fence when in use

The existence of human beings needs to be considered in the application environment of collaborative robots. At present, most collaborative robots use a method based on force feedback to perceive unsafe contact with humans. This method can effectively reduce the damage caused by human-machine collisions, but the force sensor The high cost leads to an increase in the cost of collaborative robots, which hinders the promotion of collaborative robots to a certain extent

At the same time, the method of force feedback cannot perceive the environment, and thus cannot predict the danger in advance

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