Intelligent mechanical arm obstacle avoidance method and system for human-computer safety interaction and robot

Abstract

The invention provides an intelligent mechanical arm obstacle avoidance method and system for human-computer safety interaction and a robot. The robot monitors an identification code on an obstacle inreal time through an identification code visual positioning method to obtain the position of the obstacle; and the motion state of the obstacle is calculated through the position detection result andthe position change of the obstacle, and a corresponding obstacle avoidance strategy is adopted according to the motion state of the obstacle. According to the method, the mechanical arm can make different obstacle avoidance strategies for obstacles in different motion states or human limbs, compared with an existing obstacle avoidance method, the method gets rid of the limitation of environmentmodeling, the planning speed is high enough, and a timely and effective obstacle avoidance strategy can be made for sudden obstacles and dynamic obstacles in a working space.

Description

technical field [0001] The present disclosure relates to the technical field of robot obstacle avoidance, in particular to a method, system and robot for intelligent obstacle avoidance of a manipulator oriented to safe human-machine interaction. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] With the development of robot technology and the rise of Industry 4.0, human-computer interaction and human-computer collaboration have attracted more and more attention, and human-machine safety is the primary problem that must be solved in the interaction process. [0004] The inventors of the present disclosure have found that, as far as the existing anti-collision methods are concerned, they are highly dependent on the environment in which the manipulator itself is located. The premise of obstacle avoidance is that the obstacles in the environme...

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Problems solved by technology

[0004] The inventors of the present disclosure have found that, as far as the existing anti-collision methods are concerned, they are highly dependent on the environment in which the manipulator itself is located. The premise of obstacle avoidance is that the obstacles in the environment are known and modeled. This type of method takes a long time to calculate and is only suitable for structured static scenes. It cannot respond to obstacles that suddenly appear in the workspace or dynamic obstacles with unknown motion rules in a timely and effective manner. This is why most robotic arms work now. reason for fence

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