Body safety assessment method and system in human-machine cooperation

A technology of human-machine collaboration and safety assessment, applied in manipulators, instruments, calculations, etc., can solve problems such as lack of safety awareness of robots, high safety hazards of operators, and inaccurate human safety assessments

Active Publication Date: 2020-04-10
SHANDONG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] According to Asimov's Three Laws of Robotics, no matter what kind of robot, it should not harm humans or the robot itself in any situation and environment, so safety is the primary issue and mandatory constraint for the application of robots in the field of human production and life. There is no safety awareness in itself. If a collision occurs when a human and a robot work together, the operator in a vulnerable position will have a relatively large safety hazard. Therefore, it is necessary to conduct a full safety assessment for each possible risk point

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  • Body safety assessment method and system in human-machine cooperation
  • Body safety assessment method and system in human-machine cooperation

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Embodiment Construction

[0071] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0072] In the present invention, through the set test environment, both the robot and the operator wear an inertial measurement unit (IMU for short) suit, such as figure 1 As shown, the collaborative robot works according to the predetermined trajectory, and the operator cooperates with the collaborative robot. During the whole process, the multi-inertial measurement unit system first collects the motion data of the robot and the human body, and then filters the data, using positive motion The learning function obtains the position information and motion posture of the robot and the human body, and assigns them to the 3D model. The 3D model reproduces the motion state of the robot and the human body in real time, and...

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Abstract

The invention discloses a body safety assessment method and system in human-machine cooperation. The method comprises the following steps: (1) obtaining pose, under a global coordinate system, of a body; (2) obtaining pose, under the global coordinate system, of a robot; (3) according to the obtained pose information, calculating a distance between the body and the robot and motion speed of the robot; (4) and judging safety level of the body in the human-machine cooperation according to the calculated distance between the body and the robot and the calculated motion speed of the robot. The system comprises a first obtaining module, a second obtaining module, a calculating module and an assessment module. In a human-machine cooperation process, the safety state of the current body is determined by monitoring the distance between the robot and the body and the motion speed of the robot, and a next-step working plan is made according to different safety states, so that the occurrence of adangerous situation is effectively avoided, and therefore, human-machine cooperation is safer and more efficient.

Description

technical field [0001] The invention relates to the field of human-machine collaboration, in particular to a human body safety assessment method and system in the process of collaboration between a collaborative robot and humans. Background technique [0002] The rapid development of the robot industry has put forward new requirements for the close cooperation between humans and robots, which has gradually spawned collaborative robots. Traditional industrial robots are designed with fences to isolate them. When the robot is working, the staff are not allowed to enter, or when the staff enters, the robot must stop working. This method not only wastes the working space, but also reduces the overall work efficiency. Collaborative robots, on the other hand, can work collaboratively with humans without the need for fences to isolate them, and combine human's "knowledge, analysis, and decision-making" capabilities with robots' "strength, precision, and repeatability." Collaborati...

Claims

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Application Information

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IPC IPC(8): B25J19/04B25J19/06G06T17/00
CPCB25J19/04B25J19/06G06T17/00
Inventor 周乐来李雪李贻斌田新诚徐小龙杨苗
Owner SHANDONG UNIV
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