Method and device for collision detection of robot load
A technology of collision detection and robotics, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor timeliness and achieve the effect of improving timeliness
Active Publication Date: 2021-10-15
浙江广合智能科技有限公司
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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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[0053] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0054] 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. However, if the existing technology is used to detect whether parts have collided during transportation, the detection results have a problem of poor timeliness. Moreover, due to the inability to detect the collision of parts ...
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The present application provides a method and device for collision detection of robot loads. The method includes: acquiring an image to be detected including the object stage and the object to be transported on the object table; The distance information between the inner walls of the object table; according to the distance information between the items to be transported and the side walls in the inner wall of the object table, and the preset linear regression function, the dispersion of the items to be transported is determined; when the distance of the items to be transported is When the difference is greater than the preset deviation threshold, it is determined that the item to be transported has collided. The detection method provided by the above scheme obtains the image of the object to be transported on the stage and the object to be transported in real time, and determines the distance information between the object to be transported and the inner wall of the object table according to the image to be detected, so as to detect the object to be transported in real time. Whether the transported items have collided has improved the timeliness of the detection results.
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...
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IPC IPC(8): B25J9/08B25J9/16
CPCB25J9/08B25J9/1666B25J9/1679B25J9/1697
Inventor 程晓峰于国涛黄秀峰
Owner 浙江广合智能科技有限公司