Collaborative robot safety control method based on vision

A safety control and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of high cost of force sensors, the environment that does not consider the presence of people, and the cost increase of collaborative robots, so as to promote application promotion and versatility Good, safe effect

Inactive Publication Date: 2019-05-31
JIANGSU ASK TECH +1
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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 fe

Method used

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  • Collaborative robot safety control method based on vision
  • Collaborative robot safety control method based on vision

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0033] refer to figure 1, the applicable implementation routine of this method includes: a depth vision sensor, an industrial robot and its motion controller, and a host computer. Among them, the depth vision sensor is installed on the upper side of the collaborative operation scene, and the field of vision covers the collaborator, the robot arm, and the work area, and the depth vision information is sent to the host computer through the network cable interface. As the actual control object of the industrial robot, its motion controller receives the path points sent by the host computer and performs fine interpolation and joint space conversion to control the robot to move according to the planned trajectory. The method ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 李恩王化明王汉进孙苑淞朱成刚杨国栋梁自泽刘茂兴
Owner JIANGSU ASK TECH
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