Mobile robot virtual safety protection area protection system and method

A mobile robot, safety protection technology, applied in the direction of safety devices, control/regulation systems, instruments, etc., can solve the problems of high price, unsuitable for small robots, large size, etc., to meet safety requirements, achieve safe use, and guarantee The effect of efficiency

Active Publication Date: 2020-03-10
TIANJIN LIANHUI OIL GAS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The most commonly used safety protection method is to use a laser ranging element with a hardware safety switch, such as a safety radar. However, the current safety laser ranging element is large in size and expensive, and is not suitable for small robots.

Method used

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  • Mobile robot virtual safety protection area protection system and method
  • Mobile robot virtual safety protection area protection system and method
  • Mobile robot virtual safety protection area protection system and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] Such as figure 1 As shown, a mobile robot virtual safety protection area protection system provided by the present invention includes a robot safety unit 11 and a laser ranging element 12,

[0067] The robot safety unit 11 sets the scope of the virtual safety protection area, and the virtual safety protection area includes multi-level safety areas with different ranges, and the robot safety unit 11 sets the range of the mobile robot 1 in the multi-level safety area. Safety obstacle avoidance mechanism;

[0068] The laser ranging element 12 is installed on the mobile robot 1, and it measures the distance information of obstacles in real time. The robot safety unit 11 reads the distance data measured by the laser ranging element 12, and converts the coordinates to The distance data is converted into a data value in the same coordinate system as the virtual safety protection area, the area where the obstacle is located is judged by an algorithm, and the corresponding safe...

Embodiment 2

[0073] Such as figure 2 As shown, corresponding to the above-mentioned system, the present invention also provides a method for protecting a virtual safety protection area of ​​a mobile robot, comprising the following steps:

[0074] Step S1: The robot safety unit sets the scope of the virtual safety protection area and the safety obstacle avoidance mechanism, which specifically includes the following steps:

[0075] (1) The virtual safety protection area includes three levels of safety areas with different ranges. The setting method of each level of safety area is as follows: take the center coordinates of the robot as the origin, set 4 coordinate points around the robot, and set the four coordinates The polygonal area enclosed by connecting the points in turn is the security area of ​​this level;

[0076] Among them, the coordinate value and the number of coordinate points can be set according to the robot's running speed and running environment;

[0077] (2) The safety o...

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Abstract

The invention discloses a mobile robot virtual safety protection area protection system and method. The system comprises a mobile robot, a robot safety unit and a laser ranging element, the robot safety unit is used for setting ranges of different virtual safety protection areas and safety obstacle avoidance mechanisms of the robot in different areas; the laser ranging element measures the distance information of an obstacle; and the robot safety unit reads the distance data measured by the laser ranging element, converts the distance data into a data value in the same coordinate system with the virtual safety protection areas through coordinate conversion, judges the area where the obstacle is located through adoption of an algorithm, and executes the corresponding safety obstacle avoidance mechanism according to a priority principle; and under the condition that the safety requirement is met, the cost is reduced, safe use of the small laser ranging element on the robot is achieved, the safety distance can be flexibly adjusted, and the safety requirement of the robot in different application scenes is met.

Description

technical field [0001] The invention relates to the technical field of mobile robot control, in particular to a mobile robot virtual safety protection area protection system and method. Background technique [0002] With the needs of industrial production development and the development of mobile robot technology, more and more mobile robots are used in factory logistics transfer, and the safety of human-machine cooperation of mobile robots in complex environments has become an important issue. Real-time protection of static and dynamic obstacles. The most commonly used method of safety protection is to use a laser ranging element with a hardware safety switch, such as a safety radar. However, at present, this type of safety laser ranging element is large in size and expensive, and is not suitable for small robots. Contents of the invention [0003] In view of the technical problems existing in the above-mentioned prior art, the purpose of this application is to provide a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0055G05D1/0214G05D1/024G05D1/0257G05D2201/0216
Inventor 赵福海
Owner TIANJIN LIANHUI OIL GAS TECH CO LTD
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