Anti-collision method and system for a manipulator in a complex three-dimensional environment

Abstract

The invention discloses an anti-collision method and system for a mechanical arm in a complex three-dimensional environment. All suspected obstacle areas are marked by depth image information, and all suspected obstacle areas are obtained through the depth information in the depth image during the movement of the mechanical arm to the target position. For the point cloud of the obstacle area, calculate the straight-line distance between the geometric center of the point cloud of each suspected obstacle area mapped to the ground plane and the space coordinates of the point mapped to the ground plane at the end of the manipulator as the safety distance. When the safety distance between obstacle areas is less than the distance threshold, the angle between the spatial coordinates at the end of the robotic arm and the straight line of the geometric center of the point cloud of the suspected obstacle area is used as the motor rotation angle; the motor that drives the robotic arm drives the mechanical arm according to the motor rotation angle. The arm turns and continues to move; it can reduce the probability of the collision of the mechanical arm in the motion track, thereby improving the service life of the mechanical arm, thereby meeting the application requirements of actively avoiding obstacles in a complex three-dimensional environment. The present invention is applied to the field of mechanical arms .

Description

technical field [0001] The invention relates to the field of anti-collision of manipulators, in particular to a method and system for anti-collision of manipulators in a complex three-dimensional environment. Background technique [0002] In a complex three-dimensional environment, such as a variety of equipment workshops and large-scale production lines, there are a large number of robotic arms and obstacles that hinder the movement of the robotic arms. It is inevitable that the robotic arms will collide with each other and the trajectory conflicts. The anti-collision of the manipulator is the obstacle condition and the initial pose and the target pose in the complex three-dimensional environment. risk. [0003] The existing anti-collision of the manipulator generally uses the planned path for anti-collision. There are many methods for path planning, such as rolling path planning method, genetic algorithm, and ant colony algorithm. However, these methods can only be used ...

AI Technical Summary

Problems solved by technology

However, these methods can only be used in two-dimensional planes, and implementing these algorithms for obstacle avoidance in complex three-dimensional environments requires a large amount of calculation

Therefore, these existing methods are difficult to guarantee the accuracy and stability of the motion trajectory of the manipulator, and the probability of collision of the manipulator in the motion trajectory is very high, and it is difficult to meet the application requirements in a complex three-dimensional environment.

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