Carrying collision detection method and device for robot

Abstract

The invention provides a carrying collision detection method and device for a robot. The method comprises the steps that a to-be-detected image containing an object carrying table and a to-be-transported object on the object carrying table is acquired; according to the to-be-detected image, distance information between the to-be-transported object and the inner wall of the object carrying table isdetermined; the deviation of the to-be-transported object is determined according to the distance information between the to-be-transported object and each side wall in the inner wall of the object carrying table and a preset linear regression function; and when the deviation of the to-be-transported object is larger than a preset deviation threshold value, it is determined that the to-be-transported object collides. According to the detection method provided by the above scheme, the to-be-detected image containing the object carrying table and the to-be-transported object on the object carrying table is acquired in real time, and the distance information between the to-be-transported object and the inner wall of the object carrying table is determined according to the to-be-detected image so as to detect whether the to-be-transported object collides or not in real time, and improve the timeliness of a detection result.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method and device for detecting collision of objects carried by a robot. Background technique [0002] At present, robots have been widely used, saving human resources. However, in the process of using the robot to transport the goods, there is a risk of the goods colliding with the robot on the side wall of the loading platform, resulting in a certain degree of damage to the goods. [0003] In the prior art, for a robot used for parts assembly, the quality inspection is usually only performed on the assembled product. If it is determined that the product has no quality problems, it is determined that the robot has not collided during the parts transportation process. [0004] However, if the existing technology is used to detect whether parts have collided during transportation, the detection results have a problem of poor timeliness. Therefore, there is an urgent need for a coll...

AI Technical Summary

Problems solved by technology

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defect of poor timeliness of the detection method of robot load collision in the prior art, thereby providing a robot load collision detection method and device

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