Method and device for determining working range state of industrial robot

A technology for industrial robots and working ranges, which can be used in measuring devices, instruments, positioning, etc., and can solve problems such as low reliability

Inactive Publication Date: 2019-07-26
GREE ELECTRIC APPLIANCES INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Embodiments of the present invention provide a method and device for determining the state of the working range of an industrial robot, to

Method used

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  • Method and device for determining working range state of industrial robot
  • Method and device for determining working range state of industrial robot

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Embodiment 1

[0041] According to an embodiment of the present invention, a method embodiment of a method for determining the state of the working range of an industrial robot is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer such as a set of computer-executable instructions system, and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0042] figure 1 is a flowchart of a method for determining the working range state of an industrial robot according to an embodiment of the present invention, such as figure 1 As shown, the method for determining the working range state of the industrial robot includes the following steps:

[0043] Step S102, acquiring a target detection signal within a predetermined range, wherein the target detection signal is a signal obtained by detecting a predeterm...

Embodiment 2

[0071] According to another aspect of the embodiments of the present invention, a device for determining the state of the working range of an industrial robot is also provided, Figure 5 is a schematic diagram of a device for determining the working range state of an industrial robot according to an embodiment of the present invention, such as Figure 5 As shown, the device for determining the state of the working range of the industrial robot includes: an acquisition unit 51 , a conversion unit 53 and a determination unit 55 . The device for determining the state of the working range of the industrial robot will be described in detail below.

[0072] Wherein, the acquiring unit 51 is configured to acquire a target detection signal in a predetermined range, wherein the target detection signal is a signal obtained by detecting a predetermined range by a millimeter wave transmitting and receiving end.

[0073] The conversion unit 53 is used to determine the first position infor...

Embodiment 3

[0087] According to another aspect of the embodiments of the present invention, there is also provided an industrial robot, including: any one of the devices for determining the state of the working range of the industrial robot described above. The industrial robot provided by the embodiment of the present invention can use the millimeter wave as the detection carrier to realize the purpose of detecting the working range of the industrial robot, and the millimeter wave has strong penetrability, short wavelength, and propagates at the speed of light, with high accuracy and high detection accuracy. The speed is fast, which realizes the purpose of quickly detecting the working range of industrial robots, improves the technical effect of the reliability of detecting the working range of industrial robots, and then solves the problem of detecting the working range of industrial robots in related technologies. way of low reliability technical issues.

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Abstract

The invention discloses a method and device for determining working range state of an industrial robot. The method comprises the following steps of acquiring a target detection signal of a predetermined range, wherein the target detection signal is a signal obtained by detecting the predetermined range by a millimeter wave transmitting and receiving end; determining first position information of the target detection signal in a tool coordinate system, and converting the first position information into second position information relative to the base coordinate system of the industrial robot, wherein the tool coordinate system and the base coordinate system are coordinate systems established based on the feature information of the industrial robot; and determining the current working rangestate of the industrial robot based on the second position information. The method and device for determining working range state of an industrial robot provided by the invention solve the technical problem of low reliability in the related art for detecting the working range of an industrial robot.

Description

technical field [0001] The present invention relates to the technical field of industrial robot safety detection, in particular to a method and device for determining the state of the working range of an industrial robot. Background technique [0002] At present, all major industrial robot companies attach great importance to the detection of safety conditions within the working range of industrial robots. Due to the complexity of the work site of industrial robots, the different nature of industrial robots, and the great difference in the complexity of the surrounding environment, mainstream security The detection equipment is based on the visual recognition scheme of industrial robots and then added with visual algorithm recognition. However, this kind of scheme is costly, and the accuracy based on visible light feedback signal is low, the algorithm debugging is complicated, and the implementability is difficult. [0003] Aiming at the problem of low reliability of the met...

Claims

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Application Information

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IPC IPC(8): G01S5/02
CPCG01S5/02
Inventor 胡飞鹏黄诚成尹立明周婀娜
Owner GREE ELECTRIC APPLIANCES INC
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