Safety control software system of intelligent collaborative robot

Abstract

The invention discloses a safety control software system of an intelligent collaborative robot. The safety control software system of the intelligent collaborative robot comprises a sensor system anda robot motion control system; the sensor system collects real-time position information of a human body and the robot in real time and sends the information to the motion control system; a sensor information fusion function package of the motion control system carries out real-time human body modeling, a robot real-time model is established according to the joint position of the robot, a "collision" detection function package carries out "collision" detection according to real-time human body expansion model data and a robot real-time state model, when it is detected that a person is outsidea working space, the system adopts an autonomous motion mode; when the person enters the working space, a safe motion mode is adopted, and a motion planning function package carries out real-time planning, so that an operator is avoided while existing task execution is guaranteed; and when "collision" cannot be avoided, the robot enters a shutdown waiting mode, and the robot continues to execute the original task after the person evacuates. According to a method of realizing the safety control software system of the intelligent collaborative robot, the safety of personnel can be ensured afterthe personnel intentionally or unintentionally enter the working space of the robot.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an intelligent collaborative robot safety control software system. Background technique [0002] Industrial robots have always been a model of high-precision, high-speed automation equipment. The original purpose of developing industrial robots is to replace humans in heavy and repetitive labor and improve production efficiency and quality. In order to prevent industrial robots from injuring people during operation, the International Organization for Standardization stipulates that industrial robots must be separated from operators and other workers. This is a countermeasure that has to be taken because ordinary industrial robots do not have the safety performance necessary to coexist with humans. [0003] However, in the 3C industry, there are also emerging industries such as medicine, food, and logistics, which are characterized by a large variety of products, genera...

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Problems solved by technology

[0009] In view of this, the present invention proposes a safety control software system for an intelligent collaborative robot, which provides a new solution to the problem that the current collaborative robot cannot timely avoid obstacles in real time for personnel entering the workspace during the operation process. On the premise of not sacrificing the efficiency of the robot, the method of fully ensuring the safety of the operation improves the safety of the collaborative robot

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