Obstacle avoiding method for robot and robot equipment

A robot and obstacle avoidance technology, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as inability to achieve obstacle avoidance operations

Active Publication Date: 2020-06-16
深圳市科瑞技术科技有限公司
View PDF9 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method can only provide early warning of obstacles in the workspace, but cannot realize obstacle

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Obstacle avoiding method for robot and robot equipment
  • Obstacle avoiding method for robot and robot equipment
  • Obstacle avoiding method for robot and robot equipment

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0054] Examples:

[0055] In this embodiment, a planar articulated robot is taken as an example to describe in detail the robot equipment provided in the embodiment of the present invention. Please refer to figure 2 , figure 2 It is a schematic structural diagram of a planar articulated robot according to an embodiment, which includes a robot body 21, a camera 22, and a controller 23.

[0056] The camera 22 is used to collect an image of the surrounding environment of the obstacle, and the image of the surrounding environment of the obstacle includes the starting point of the robot body, the target object and the position information of the obstacle. The camera 22 in this embodiment is set above the working plane 24 of the robot body 21. It can capture images on the working plane 24, that is, the surrounding environment image of the obstacle. The working plane 24 includes the robot body 21 that needs to be grasped or The assembled target, the starting position of the robot body 2...

Example Embodiment

[0064] In a specific implementation, please refer to Image 6 , The two intersections of the straight line between the starting point and the target and the outer rectangle of the obstacle are regarded as the first control point A and the second control point B; the distance between the four vertices of the outer rectangle of the obstacle is the first control point The vertex closest to the point A and the second control point B is used as the third control point C; according to the first control point A, the second control point B and the third control point C, a NURBS curve (non-uniform rational B spline curve) ). In this embodiment, the generated NURBS curve is used as a path to avoid obstacles, specifically:

[0065] The straight path between the first control point A and the second control point B in the straight path between the starting point and the target is replaced with a NURBS curve. In this embodiment, the travel path of the robot body 21 between the starting point a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an obstacle avoiding method for a robot and robot equipment. According to the obstacle avoiding method, the robot can effectively avoid an obstacle by acquiring an image of a surrounding environment of the obstacle through a camera, generating a peripheral rectangle of the obstacle according to the image of the surrounding environment of the obstacle, and generating, according to position information of a starting point, a target object and the obstacle, an NURBS curve to serve as an obstacle avoiding path, so that the robot can avoid the obstacle effectively.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot obstacle avoidance method and robot equipment. Background technique [0002] With the popularization of automated production, various types of robots have been widely used in industrial production. For example, the Selective Compliance Assembly Robot Arm (SCARA for short) is also called a planar articulated robot. SCARA is widely used in industrial assembly scenarios due to its excellent performance. Traditional SCARA is generally used for assembly or grabbing work with fixed paths, but with the increase in the complexity of parts and the popularity of flexible manufacturing, multi-station production lines have become a trend, which requires SCARA used in this type of production line to have Certain obstacle avoidance ability. In addition, in the field of logistics, SCARA is also used in scenarios such as palletizing and handling, which also requires SCARA to ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1697
Inventor 赖文鹏龚文涛何彩英张晓波桂俊荣林小龙
Owner 深圳市科瑞技术科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap