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Safety cooperation method and device for multiple robots in working area

A working area and multi-robot technology, applied in manipulators, manufacturing tools, comprehensive factory control, etc., can solve the problems of multi-robot operation risks, the inability to move the robot movement trend in advance, and the inability to realize the safety control of adjacent robots in advance, etc., to achieve improvement Safety and flexibility, the realization of safety risk control, and the effect of avoiding collision risk

Active Publication Date: 2021-12-17
广东隆崎机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of industrial intelligence, advanced robots are gradually introduced in the traditional manufacturing industry to replace human beings. Due to the development of technology and work requirements, there are multiple mobile robots in the same work area to cooperate with each other. At this time, how to ensure the operation safety of these mobile robots during collaborative operations is mostly realized by using visual sensors or distance sensors in the prior art, but because the visual sensors and distance sensors cannot advance information such as the movement trend of mobile robots, it is impossible to Realizing safety control between adjacent robots in advance may still lead to operational risk problems when multi-robots work together

Method used

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  • Safety cooperation method and device for multiple robots in working area
  • Safety cooperation method and device for multiple robots in working area

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Experimental program
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Embodiment 1

[0047] see figure 1 , figure 1 It is a schematic flowchart of a method for safe cooperation of multiple robots in a work area in an embodiment of the present invention.

[0048] Such as figure 1 As shown, a method for safe collaboration of multi-robots in the work area, the method includes:

[0049] S11: Obtain first position coordinate information and first motion information of each robot in the working area, wherein the first motion information includes first motion speed information, first motion direction information, and first motion trajectory information;

[0050] In the specific implementation process of the present invention, the acquisition of the first position coordinate information and first motion information of each robot in the work area includes: establishing a three-dimensional coordinate system with the work area, and obtaining the three-dimensional coordinates of each robot in the work area The first position coordinate information in the coordinate sys...

Embodiment 2

[0074] see figure 2 , figure 2 It is a schematic diagram of the structural composition of the multi-robot safety cooperation device in the working area in the embodiment of the present invention.

[0075] Such as figure 2 As shown, a multi-robot safety cooperation device in the work area, the device includes:

[0076] The first acquiring module 21: used to acquire first position coordinate information and first motion information of each robot in the working area, wherein the first motion information includes first motion speed information and first motion direction information;

[0077] In the specific implementation process of the present invention, the acquisition of the first position coordinate information and first motion information of each robot in the work area includes: establishing a three-dimensional coordinate system with the work area, and obtaining the three-dimensional coordinates of each robot in the work area The first position coordinate information in...

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Abstract

The invention discloses a safety cooperation method and device for multiple robots in a working area, and belongs to the technical field of robot safety control. The method comprises the steps: obtaining first position coordinate information and first motion information of each robot; obtaining second coordinate positions and second motion information of operation mechanical arms with the robots as original points; obtaining tail end coordinate positions and tail end operation motion information; obtaining a first predicted relative distance and a second predicted relative distance based on the first position coordinate information, the first motion information, the tail end coordinate positions and the tail end operation motion information between the two adjacent robots; performing collision risk prediction processing of safety cooperation to obtain a collision prediction risk result; and formulating a corresponding cooperation control instruction based on a collision prediction risk result to perform multi-robot safety cooperation control. According to the method and device, the operation safety control of two adjacent robots can be realized when the multiple robots work cooperatively.

Description

technical field [0001] The invention relates to the technical field of robot safety control, in particular to a method and device for safe cooperation of multiple robots in a working area. Background technique [0002] With the rapid development of industrial intelligence, advanced robots are gradually introduced in the traditional manufacturing industry to replace humans. Due to the development of technology and work requirements, there are multiple mobile robots in the same work area to cooperate with each other. At this time, how to ensure the safety of these mobile robots during collaborative operations is mostly realized by using visual sensors or distance sensors in the prior art, but because the visual sensors and distance sensors cannot advance information such as the movement trend of mobile robots, it is impossible to Realizing safety control between adjacent robots in advance may still lead to operational risk problems when multi-robots work together. Contents o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G05B19/418
CPCB25J9/1692B25J9/1666B25J9/161G05B19/418Y02P90/02
Inventor 陈新高帆代剑锋宁南北
Owner 广东隆崎机器人有限公司