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Cooperative robot obstacle avoidance system based on multiple sensors and control method thereof

A robot and multi-sensing technology, applied in the field of robotics, can solve the problems of complex working environment, damage to external objects of the robot, and insufficient operator skills, so as to achieve the effect of safe operation and obstacle detection.

Pending Publication Date: 2020-07-10
唐山航宏电子科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the human-machine collaboration scenario, due to the lack of skilled operators, the on-site working environment is relatively complex and harsh, and there is damage to the robot, operator or other external objects.

Method used

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  • Cooperative robot obstacle avoidance system based on multiple sensors and control method thereof
  • Cooperative robot obstacle avoidance system based on multiple sensors and control method thereof
  • Cooperative robot obstacle avoidance system based on multiple sensors and control method thereof

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Embodiment 1

[0038] see Figure 1~3 , in an embodiment of the present invention, a multi-sensing-based collaborative robot obstacle avoidance system includes a collaborative robot, an attitude sensor, a UWB ranging module, an ultrasonic module, an image acquisition module, a pose and spatial information calculation unit, and an obstacle avoidance system. Executing mechanism; the attitude sensor, UWB ranging module, ultrasonic module and image acquisition module are connected to the input end of the pose and spatial information computing unit, and the output of the obstacle avoidance actuator is connected to the pose and spatial information computing unit The collaborative robot includes a base 1 and a first-level articulated arm 3, a second-level articulated arm 5, and a third-level articulated arm 7 distributed in multiple angles in the space, and the base 1 is equipped with joints that control the movement of the first-level articulated arm 3 Motor I2, the other end of the first-stage ar...

Embodiment 2

[0048] The control method of the collaborative robot obstacle avoidance system based on multi-sensing as described in embodiment 1, comprises the following steps:

[0049] Step 1: The collaborative robot is powered on and initialized, and the operator inputs the motion information of joint motor Ⅰ2, joint motor Ⅱ4, and joint motor Ⅲ6 to the path planning database;

[0050] Step 2: Each ultrasonic module on the first-level articulated arm 3, the second-level articulated arm 5, and the third-level articulated arm 7 detects the external space information in real time, and the ultrasonic modules on the first-level articulated arm 3, the second-level articulated arm 5, and the third-level articulated arm 7 Each image acquisition module detects external space information in real time;

[0051] Step 3: Attitude sensor and UWB ranging module measure the attitude information of the first-level articulated arm 3, the second-level articulated arm 5, and the third-level articulated arm 7 ...

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Abstract

The invention relates to the technical field of robots, specifically a cooperative robot obstacle avoidance system based on multiple sensors and a control method thereof. The cooperative robot obstacle avoidance system based on multiple sensors comprises a cooperative robot, an attitude sensor, a UWB distance measurement module, an ultrasonic module, an image acquisition module, a pose and space information resolving unit and an obstacle avoidance execution mechanism. According to the invention, the joint and trunk motion information of the cooperative robot is measured in real time through the attitude sensor and the UWB distance measurement module. The ultrasonic module and the image acquisition module measure external space information of the collaborative robot in real time. The pose and space information resolving unit resolves the pose and external space information of the cooperative robot in real time to achieve path obstacle avoidance navigation, the obstacle avoidance execution mechanism completes obstacle avoidance action, whether obstacles exist in the external space or not is intelligently recognized in a man-machine cooperation scene, and the operation safety of people and machines is guaranteed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a multi-sensing-based collaborative robot obstacle avoidance system and a control method thereof. Background technique [0002] As a robot that can interact with the operator in close range, collaborative robots have received more and more attention and applications. However, in the human-machine collaboration scenario, due to the lack of skilled operators, the on-site working environment is relatively complex and harsh, and there is damage to the robot, operator or other external objects. Therefore, the collaborative robot needs to have an obstacle avoidance function for the external space while ensuring the stability of the collaborative robot's running path. [0003] Therefore, in view of the above status quo, it is urgent to develop a multi-sensor based collaborative robot obstacle avoidance system and its control method to overcome the shortcomings in current practical appli...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0255G05D1/0214G05D1/0276
Inventor 李宗宪
Owner 唐山航宏电子科技有限公司
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