Safety cooperation method and device based on man-machine integration

Abstract

The invention discloses a safety cooperation method and device based on man-machine integration. The safety cooperation method based on the man-machine integration comprises the following steps that tail end coordinate position information and motion information of a robot are acquired; an operation space safety level dynamic programming model is established on the basis of the tail end coordinateposition information and the motion information, and the operation space is divided into sub-operation space areas with different safety levels; a cooperation scene image is acquired on the basis ofa visual perception system, and three-dimensional coordinate information of an operator is acquired through a target detection algorithm; personnel motion information is obtained based on the three-dimensional coordinate information of the operator based on consecutive frame image sequences, and a man-machine dynamic equivalent distance is calculated; and based on the man-machine dynamic equivalent distance and sub-operation space areas of different safety levels dynamically planned for the robot operation space, a man-machine cooperation collision risk is predicted, and a corresponding control instruction is formulated to carry out the safety control on the robot. The accuracy of the man-machine cooperation collision prediction is improved, the occurrence rates of man-machine collision accidents can be reduced, and the man-machine integration development is promoted.

Description

technical field [0001] The present invention relates to the technical field of human-machine collaboration, in particular to a method and device for safe collaboration based on human-computer integration. Background technique [0002] With the rapid development of industrial intelligence in recent years, the traditional industrial robot operation mode has gradually lagged behind the development pace of the industry in terms of flexibility, safety, intelligence, etc. Based on this, robot technology has developed accordingly, and the collaboration between humans and robots Financial technology is gradually emerging. Human-machine integration and safe cooperation are important features of the efficient and flexible production mode. Different from the traditional fence mode where robots work independently, the human-machine collaboration mode allows humans and robots to share the workspace, ensuring personal safety becomes the top priority. Safety testing and Preventive technol...

AI Technical Summary

Problems solved by technology

[0003] In order to prevent the collision risk of human-machine cooperation, the human-machine minimum distance protection mechanism of speed and separation monitoring (SSM) is currently proposed, and the operating speed limit and safety braking requirements for maintaining the protective distance between man and machine are clarified. The operating efficiency and flexibility of human-machine cooperation are rela

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