Anti-collision detection method and device oriented to multiple cooperative robots

Abstract

The invention designs an anti-collision detection method and device oriented to multiple cooperative robots. The anti-collision detection device comprises a multi-area image acquisition module, an anti-collision prediction module and an anti-collision control module. The anti-collision detection method comprises the steps of utilizing the anti-collision control module to control a plurality of monocular cameras arranged in a working area to perform separate area image acquisition, enabling the anti-collision prediction module to perform collision prediction through an image processing unit and an anti-collision analysis unit, transmitting a processing result to the anti-collision control module to form a feedback loop, utilizing the anti-collision control module to judge whether the actual shortest distance between parts of the multiple cooperative robots is less than a safety threshold value or not, and stopping the operation of the robots through an emergency stop signal so as to ensure the safety of equipment. The anti-collision detection method and device oriented to the multiple cooperative robots have the beneficial effects of establishing collision detection of different positions at different movement moments of the multiple cooperative robots, flexibly performing corresponding hardware installation and collision detection according to different movement paths of a robot equipment system, and achieving high flexibility and adaptability.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to a multi-eye vision anti-collision detection device and method for collaborative multi-robots, which is applied to the anti-collision detection of collaborative multi-robots in industry. Background technique [0002] Multi-robot collaboration is an important development direction in the field of industrial robots, which can effectively improve the work efficiency of robots. At the same time, the problem of collision between robot parts becomes more and more important during multi-robot collaboration, which seriously affects the safety of robots when they work. Therefore, real-time detection of collisions between components during multi-robot collaboration is of great significance for the safety of the entire robot system. [0003] How to detect the collision between equipments in real time and take corresponding effective measures in the process of multi-robot cooperative process...

AI Technical Summary

Problems solved by technology

[0005] According to the technical problems raised above, an anti-collision detection method and device for collaborative multi-robots is proposed, which is used to solve the shortcomings of inaccurate calculation and poor real-time performance of the robot's internal sensor in the existing collision detection method, and also overcome It overcomes the disadvantage of high cost caused by the use of distance sensors, and solves the problem that the existing multi-dimensional vision system has a small field of view in the collision detection of collaborative multi-robots

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