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A method and device for safe cooperation of multiple robots in a work 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 realize the safety control of adjacent robots in advance, and the inability to move robots in advance. Safety and flexibility, the realization of safety risk control, and the effect of avoiding collision risk

Active Publication Date: 2022-04-19
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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  • A method and device for safe cooperation of multiple robots in a work area
  • A method and device for safe cooperation of multiple robots in a work area

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Experimental program
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Embodiment 1

[0047] see figure 1 , figure 1 It is a schematic flow chart of a safe cooperation method for multi-robots in a working area in an embodiment of the present invention.

[0048] Such as figure 1 As shown, a multi-robot safe collaboration method 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 system; the f...

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 multi-robot safe cooperation method and device in a working area, which belongs to the technical field of robot safety control. The method includes: obtaining the first position coordinate information and the first motion information of each robot; obtaining the operating mechanical arm The second coordinate position and second motion information with the robot as the origin; obtain the end coordinate position and end operation motion information; based on the first position coordinate information, first motion information, end coordinate position and end operation information between two adjacent robots Obtain the first predicted relative distance and the second predicted relative distance from the operation motion information; carry out the collision risk prediction processing of safety cooperation, and obtain the collision prediction risk result; formulate corresponding cooperative control instructions based on the collision prediction risk result to carry out multi-robot safety cooperative control. In the present invention, the operation safety control of two adjacent robots can be realized when multi-robots work together.

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 Patents(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