Robot cooperation device based on multi-angle positioning system

Abstract

The invention relates to the technical field of automatic assembly, in particular to a robot cooperation device based on a multi-angle positioning system, which acquires a planar graph in a working area from the upper side through an image acquisition module, determines the positions of the tail end of a robot and a worker in the plane in the working area through an image analysis module, and determines the position of the robot in the working area. Side image information of a worker is obtained from the side face through a side orientation information obtaining module, then the height of the worker is determined through an image analysis module, and meanwhile the height of the tail end of the robot in the space is obtained through a positioner; the coordinate editing module is used for carrying out space coordinate editing on the robot tail end subjected to plane determination and height determination and the position of the worker, and finally the calculation module is used for determining the distance between the robot tail end and the position of the worker, so that the working efficiency can be greatly improved on the premise of ensuring the safety of the worker. The robot cooperation device based on the multi-angle positioning system aims at solving the problem that in the prior art, the assembling efficiency is low.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic assembly, and more specifically, to a robot collaboration device based on a multi-angle positioning system. Background Art

[0002] The emergence of smart toilets has brought more convenience to human life and opened up unlimited imagination. The existing smart toilet control system is often set inside or on the toilet cover, such as the hinge structure that supports the rotation of the toilet, the knob that needs to be rotated when the user uses it, the microwave sensor that detects the use status, the flap drive plate that drives the toilet cover to rotate, and the waterproof covers on both sides of the toilet cover.

[0003] In the prior art, the assembly of toilet lids is usually done manually. For example, a worker first places a toilet lid base to be assembled on a workstation, then places the parts to be assembled in the corresponding positions one by one, then picks up screws and electric drills to lock them, then assembles the parts that can only be assembled after being locked, and finally sends the assembled semi-finished toilet lid to the next process. The overall operation is complicated and inefficient. Summary of the invention

[0004] The main purpose of the present invention is to propose a robot collaboration device based on a multi-angle positioning system, aiming to solve the problem of low assembly efficiency in the prior art.

[0005] In order to solve the above technical problems, a robot collaboration device based on a multi-angle positioning system is proposed, comprising: an image acquisition module, arranged on the upper side of the working area, for acquiring plane image information;

[0006] A robot, wherein the robot is used to drive its end to move or rotate;

[0007] The working area is divided into an assembly and transportation area, a staff standing area and a machine placement area, the staff standing area is located at the rear side of the assembly and transportation area, the machine placement area is located at the front side of the assembly and transportation area, and the robot is arranged in the machine placement area;

[0008] A lateral information acquisition module is arranged at the side of the working area, corresponding to the assembly and transportation area, and is used to acquire side image information of the staff, wherein the image acquisition direction of the side image information intersects with the image acquisition direction of the plane image information;

[0009] An image analysis module, electrically connected to the image acquisition module, wherein the image acquisition module transmits the acquired planar image information to the image analysis module, and the image analysis module is used to determine the planar position of the robot end and the planar position of the staff in the planar image information;

[0010] The image analysis module is also electrically connected to the lateral position information acquisition module, and the lateral position information acquisition module transmits the lateral image information to the image analysis module, and the image analysis module is used to determine the height position of the staff member in the lateral image information;

[0011] A locator module, disposed at the end of the robot, electrically connected to the coordinate editing module, and used to feed back the height of the end of the robot to the coordinate editing module;

[0012] The coordinate editing module is electrically connected to the image analysis module and is used to establish a spatial coordinate system and to determine the spatial coordinates of the robot end and the worker in the spatial coordinate system;

[0013] A calculation module, electrically connected to the coordinate editing module, for obtaining the spatial coordinates of the robot end and the worker, and calculating the distance between the robot end and the worker;

[0014] The control module is electrically connected to the computing module and the robot respectively, and is used to control the opening and closing of the robot.

[0015] In any of the above technical solutions, further, the lateral position information acquisition module includes:

[0016] The infrared irradiation module is arranged at the side of the assembly and transportation area, is electrically connected to the image analysis module, and is used to obtain infrared image information in the assembly and transportation area.

[0017] In any of the above technical solutions, further, the lateral position information acquisition module also includes:

[0018] The trigger module is electrically connected to the infrared irradiation module and is arranged at the boundary between the assembly and transportation area and the staff standing area, and is used to generate an opening signal when the staff moves in the assembly and transportation area, and the infrared irradiation module works according to the opening signal.

[0019] In any of the above technical solutions, further, the coordinate editing module establishes an XYZ three-axis coordinate system, the XY coordinate system corresponds to the plane where the planar image information is located, and the YZ coordinate system is perpendicular to the XY coordinate system, and the coordinate editing module includes:

[0020] A first range integration module, electrically connected to the image analysis module, for integrating a plane coordinate set P of the worker in the XY coordinate system according to the plane position of the worker determined by the image analysis module;

[0021] The first range integration module is further used to integrate the plane coordinate set Q of the worker in the YZ coordinate system according to the height position of the worker determined by the image analysis module;

[0022] A pre-storage module storing the dimension information of the robot end;

[0023] The second range integration module is electrically connected to the image analysis module, the locator module and the pre-stored module respectively, and is used to integrate the plane coordinate set M of the robot end in the XY coordinate system, and is used to integrate the plane coordinate set N of the robot end in the YZ coordinate system.

[0024] In any of the above technical solutions, further, the coordinate editing module also includes:

[0025] A spatial range generation module, electrically connected to the first range integration module, for selecting the limit coordinate values ​​of each coordinate axis in the plane coordinate set P and the plane coordinate set Q, and generating a limit spatial coordinate set E;

[0026] The spatial range generation module is electrically connected to the second range integration module, and is used to generate a limit spatial coordinate set F according to the limit coordinate values ​​of each coordinate axis in the plane coordinate set M and the plane coordinate set N;

[0027] The calculation module is electrically connected to the space range generation module, and the calculation module is used to calculate the distance between the robot end and the staff according to the space coordinate set E and the space coordinate set F.

[0028] In any of the above technical solutions, further, the selection ranges of the plane coordinate set P, the plane coordinate set Q, the plane coordinate set M and the plane coordinate set N are all located within the assembly and transportation area.

[0029] The beneficial effects are:

[0030] 1. The robot collaboration device based on the multi-angle positioning system of the present invention obtains the plane view of the working area from the upper side through the image acquisition module, determines the position of the robot end and the staff in the plane in the working area through the image analysis module, and obtains the side image information of the staff from the side through the side position information acquisition module, and then determines the height of the staff through the image analysis module, and obtains the height of the robot end in space through the locator, and then edits the spatial coordinates of the robot end and the staff position whose plane and height are determined through the coordinate editing module, and finally determines the distance between the two through the calculation module. When the distance is less than the predetermined threshold, the control module controls the robot to stop, and when the distance is greater than or equal to the predetermined threshold, the device works normally, which can greatly improve the work efficiency under the premise of ensuring the safety of the staff;

[0031] 2. The robot collaboration device based on the multi-angle positioning system of the present invention locates the spatial position of the staff by determining the plane range from the upper side and superimposing the height determined from the side, and locates the spatial position of the robot end by determining the plane range from the upper side and superimposing the height determined by the locator. The positioning purpose is achieved in the form of multiple perspectives. On the one hand, it can improve the positioning accuracy, and on the other hand, it can reduce the amount of data calculation in the device, which is convenient to reduce costs.

[0032] 3. The robot collaboration device based on the multi-angle positioning system of the present invention reasonably arranges the locations of the assembly and transportation area, the staff standing area and the machine placement area, so that the area where the robot and the staff intersect is limited to the assembly and transportation area, thereby reducing the amount of data information required to be acquired by the lateral information acquisition module and facilitating the overall data calculation and processing of the collaboration device.

[0033] 4. The robot collaboration device based on the multi-angle positioning system of the present invention determines the height of the staff member through the lateral information acquisition module, and determines the height of the robot end through the locator module, and performs targeted lateral positioning of the two to facilitate the determination of the height of the two, thereby improving the accuracy and safety of the collaboration device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1is a schematic diagram of the distribution of the working area of ​​a robot collaboration device based on a multi-angle positioning system according to an embodiment of the present invention;

[0036] Figure 2 It is a flowchart of a robot collaboration device based on a multi-angle positioning system according to an embodiment of the present invention;

[0037] Figure 3 It is a flowchart of a coordinate editing module of a robot collaboration device based on a multi-angle positioning system according to an embodiment of the present invention.

[0038] The following are the descriptions of the reference numerals:

[0039] 1. Working area; 101. Assembly and transportation area; 102. Staff standing area; 103. Machine placement area;

[0040] 2. Image acquisition module;

[0041] 3. Robots;

[0042] 4. Side position information acquisition module; 401. Infrared irradiation module; 402. Trigger module;

[0043] 5. Image analysis module;

[0044] 6. Locator module;

[0045] 7. Coordinate editing module; 701. First range integration module; 702. Pre-storage module; 703. Second range integration module; 704. Space range generation module;

[0046] 8. Calculation module;

[0047] 9. Control module. DETAILED DESCRIPTION

[0048] Below, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that, as shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not specifically refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0050] If the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] A robot collaboration device based on a multi-angle positioning system of the present application is described in detail through the following embodiments.

[0054] In this embodiment, if Figures 1 to 3 As shown, the robot collaboration device based on the multi-angle positioning system includes: an image acquisition module 2, which is arranged on the upper side of the working area 1 and is used to acquire plane image information;

[0055] Robot 3, robot 3 is used to drive its end to move or rotate;

[0056] The work area 1 is divided into an assembly and transportation area 101, a staff standing area 102 and a machine placement area 103. The staff standing area 102 is located at the rear side of the assembly and transportation area 101, and the machine placement area 103 is located at the front side of the assembly and transportation area 101. The robot 3 is arranged in the machine placement area 103.

[0057] The side position information acquisition module 4 is arranged at the side of the working area 1, corresponding to the assembly and transportation area 101, and is used to obtain the side image information of the staff, and the image acquisition direction of the side image information is arranged to intersect with the image acquisition direction of the plane image information;

[0058] The image analysis module 5 is electrically connected to the image acquisition module 2. The image acquisition module 2 transmits the acquired planar image information to the image analysis module 5. The image analysis module 5 is used to determine the planar position of the end of the robot 3 and the planar position of the staff in the planar image information.

[0059] The image analysis module 5 is also electrically connected to the lateral position information acquisition module 4. The lateral position information acquisition module 4 transmits the lateral image information to the image analysis module 5. The image analysis module 5 is used to determine the height position of the staff member in the lateral image information.

[0060] The locator module 6 is disposed at the end of the robot 3 and is electrically connected to the coordinate editing module 7, and is used to feed back the height of the end of the robot 3 to the coordinate editing module 7;

[0061] A coordinate editing module 7, electrically connected to the image analysis module 5, for establishing a spatial coordinate system and for determining the spatial coordinates of the end of the robot 3 and the worker in the spatial coordinate system;

[0062] The calculation module 8 is electrically connected to the coordinate editing module 7, and is used to obtain the spatial coordinates of the end of the robot 3 and the staff, and calculate the distance between the end of the robot 3 and the staff;

[0063] The control module 9 is electrically connected to the calculation module 8 and the robot 3 respectively, and is used to control the opening and closing of the robot 3.

[0064] In the present technical solution, the image acquisition module 2 is a multispectral camera, which is fixed on the upper side of the working area 1 and can collect images downward. The robot 3 is a multi-axis robot 3, and a fixture or tooling is provided at the end to pick up the corresponding target object and move or rotate it. Here, it usually refers to picking up the fixture to clamp the object to be assembled and picking up the electric screwdriver tooling to lock the screws. A conveyor line is provided in the assembly and transportation area 101, and a support is provided on the conveyor line. The support can be placed on the toilet cover, knobs, microwave sensors, flip drive plates and waterproof covers. The robot 3 assembles the parts to be assembled on the toilet cover through the fixture or tooling, and manually places the toilet cover and the parts to be assembled on the support. The staff standing area 102 is set at the rear side of the assembly and transportation area 101, and the machine placement area 103 is set at the front side of the assembly and transportation area 101, so that the interaction area between the robot 3 and the staff occurs in the assembly and transportation area 101, so that the robot 3 of the collaborative device also occurs in the assembly and transportation area 101 when avoiding the activity range of the staff, thereby reducing the overall required calculation amount.

[0065] The side position information acquisition module 4 is arranged at the left position on the upper side of the assembly and transportation area 101, and can completely capture the image information of the body parts of the staff involved in the upper side of the assembly and transportation area 101. The side position information acquisition module 4 is used to obtain the side image information of the staff, mainly refers to the image information of the body parts of the staff, and more specifically, the side image information of the hands and arms of the staff.

[0066] The image analysis module 5 is electrically connected to the image acquisition module 2 and the lateral information acquisition module 4 respectively. When in use, the image analysis module 5 acquires the picture taken from the upper side by the image acquisition module 2 and the picture of the space on the assembly and transportation area 101 taken from the left side by the lateral information acquisition module 4, and then performs a plane restoration on the picture, and then marks and extracts the area where the hands and arms of the staff in the plane image information are located, and marks and extracts the area where the end of the robot 3 in the plane image information is located, and marks and extracts the area where the hands and arms of the staff in the side image information are located. The coordinate editing module 7 performs a range positioning of the spatial coordinates of the arms and hands of the staff through the aforementioned marked and extracted information; at the same time, the coordinate editing module 7 performs a range positioning of the spatial coordinates of the end of the robot 3 according to the height of the end of the robot 3 located by the locator module 6 and the aforementioned extracted information of the area where the end of the robot 3 is located. Finally, the distance between the end of the robot 3 and the hand or arm of the staff is calculated by the calculation module 8. When the calculated distance is less than the predetermined threshold, the control module 9 controls the robot 3 to stop urgently to avoid collision with the staff, otherwise the device works normally.

[0067] The locator module 6 includes a moving signal sensor arranged at the end of the robot 3 and at least three fixed signal sensors arranged in the working area 1. The locator module 6 calculates the height of the moving signal sensor by measuring the signal transmission time between the moving signal sensor and the three fixed signal sensors.

[0068] In some technical solutions, the image acquisition direction of the side image information is from left to right, and the image acquisition direction of the plane image information is from top to bottom. At this time, the two image acquisition directions are perpendicular to each other, which facilitates image processing and restoration by the image analysis module 5. In other technical solutions, the acquisition direction of the side image information can be set to be inclined compared to the horizontal plane.

[0069] In this embodiment, the side position information acquisition module 4 includes:

[0070] The infrared irradiation module 401 is disposed on the side of the assembly and transportation area 101 and is electrically connected to the image analysis module 5 , and is used to obtain infrared image information in the assembly and transportation area 101 .

[0071] In the present technical solution, the lateral information acquisition module 4 includes an infrared irradiation module 401, specifically an infrared camera, which is fixed on the left side of the assembly and transportation area 101. The infrared irradiation module 401 is used to shoot the body parts of the staff in the assembly and transportation area 101, so as to distinguish the body parts of the staff from the equipment and devices in the working area 1, and to locate the height of the body parts of the staff from the side.

[0072] In this embodiment, the lateral position information acquisition module 4 further includes:

[0073] The trigger module 402 is electrically connected to the infrared irradiation module 401 and is arranged at the boundary between the assembly and transportation area 101 and the staff standing area 102. It is used to generate an opening signal when the staff moves in the assembly and transportation area 101, and the infrared irradiation module 401 works according to the opening signal.

[0074] In the present technical solution, the trigger module 402 is a plurality of vertically and horizontally arranged photoelectric sensors arranged between the assembly and transportation area 101 and the staff standing area 102. When the body parts of the staff are extended into the assembly and transportation area 101, the photoelectric sensors are blocked and triggered, and the start signal is sent to the infrared irradiation module 401 to avoid unnecessary waste of computing power.

[0075] In this embodiment, the coordinate editing module 7 establishes an XYZ three-axis coordinate system, the XY coordinate system corresponds to the plane where the planar image information is located, and the YZ coordinate system is perpendicular to the XY coordinate system. The coordinate editing module 7 includes:

[0076] The first range integration module 701 is electrically connected to the image analysis module 5 and is used to integrate the plane coordinate set P of the worker in the XY coordinate system according to the plane position of the worker determined by the image analysis module 5;

[0077] The first range integration module 701 is also used to integrate the plane coordinate set Q of the worker in the YZ coordinate system according to the height position of the worker determined by the image analysis module 5;

[0078] The pre-storage module 702 stores the dimension information of the end of the robot 3;

[0079] The second range integration module 703 is electrically connected to the image analysis module 5, the locator module 6 and the pre-storage module 702 respectively, and is used to integrate the plane coordinate set M of the end of the robot 3 in the XY coordinate system, and is used to integrate the plane coordinate set N of the end of the robot 3 in the YZ coordinate system.

[0080] In this technical solution, the coordinate editing module 7 selects a point in the space as the coordinate origin, and establishes an XYZ three-axis coordinate system based on the coordinate origin, where the X-axis is the left-right direction, the Y-axis is the front-to-back direction, and the Z-axis is the up-down direction. The plane where the XY coordinate system is located is the horizontal plane, and the planar image information obtained by the image acquisition module 2 is also obtained based on the horizontal plane. The plane where the YZ coordinate system is located is the vertical plane in the front-to-back direction, and also corresponds to the plane where the side image information is located.

[0081] The first range integration module 701 integrates the plane coordinate set P of the plane position of the staff member's body part determined by the image analysis module 5, and the plane coordinate set P at least includes the left front position coordinate, left rear position coordinate, right front position coordinate and right rear position coordinate of the staff member's body part in the XY coordinate system. Similarly, the second range integration module 703 integrates the plane coordinate set M of the plane position of the end of the robot 3 determined by the image analysis module 5, and the plane coordinate set at least includes the left front position coordinate, left rear position coordinate, right front position coordinate and right rear position coordinate of the end of the robot 3 in the XY coordinate system.

[0082] Similarly, the first range integration module 701 integrates the plane coordinate set Q of the height position of the staff member determined by the image analysis module 5, and the plane coordinate set Q at least includes the front upper position coordinates, front lower position coordinates, rear upper position coordinates and rear lower position coordinates of the staff member's body parts in the YZ coordinate system.

[0083] The pre-storage module 702 is electrically connected to the second range integration module 703. The pre-storage module 702 stores height dimension information of the basic shape of each part of the robot 3 end. By matching the height located by the locator module 6 and the plane range of the robot 3 end determined by the image analysis module 5, the second range integration module 703 can integrate the plane coordinate set N of the robot 3 end in the YZ coordinate system. The plane coordinate set N includes at least the front upper position coordinate, the front lower position coordinate, the rear upper position coordinate and the rear lower position coordinate of the robot 3 end.

[0084] At this point, the spatial coordinate range of the space occupied by the end of the robot 3 and the body part of the worker in the assembly and transportation area 101 can be determined, and the spacing can be calculated based on the determined spatial coordinate range. When calculating, the calculation module 8 selects each coordinate point of the two to calculate one by one, and selects the minimum value of the calculated spacing to compare with the predetermined threshold.

[0085] In some technical solutions, the plane coordinate set P also includes coordinate points selected at fixed intervals and corresponding to the plane positions of the body parts of the staff. The selected coordinate points and coordinate positions are selected according to the corresponding positions of the staff in the image processed by the image analysis module 5.

[0086] In other technical solutions, since the end of the robot 3 needs to pick up different fixtures, the pre-storage module 702 pre-stores the height dimension information of each fixture picked up by the end of the robot 3, so as to better determine the space range occupied by the end of the robot 3 in the practical state and ensure safety.

[0087] In this embodiment, the coordinate editing module 7 further includes:

[0088] The spatial range generation module 704 is electrically connected to the first range integration module 701 and is used to select the limit coordinate values ​​of each coordinate axis in the plane coordinate set P and the plane coordinate set Q and generate the limit spatial coordinate set E;

[0089] The spatial range generating module 704 is electrically connected to the second range integrating module 703, and is used to generate a limit spatial coordinate set F according to the limit coordinate values ​​of each coordinate axis in the plane coordinate set M and the plane coordinate set N;

[0090] The calculation module 8 is electrically connected to the space range generation module 704, and the calculation module 8 is used to calculate the distance between the end of the robot 3 and the staff according to the space coordinate set E and the space coordinate set F.

[0091] In this technical solution, according to each coordinate on two planes in the plane coordinate set P and the plane coordinate set Q, the maximum coordinate value and the minimum coordinate value of the staff in the positive and negative directions on the three coordinate axes can be obtained.

[0092] Specifically, Xmax represents the maximum coordinate value on the X-axis, and Xmin represents the minimum coordinate value on the X-axis; Ymax represents the maximum coordinate value on the Y-axis, and Ymin represents the minimum coordinate value on the Y-axis; Zmax represents the maximum coordinate value on the Z-axis, and Zmin represents the minimum coordinate value on the Z-axis. The spatial range generation module 704 obtains the corresponding Xmax, Xmin, Ymax, Ymin, Zmax and Zmin according to the plane coordinate set P and the plane coordinate set Q, and integrates them to obtain the limit space coordinate set E.

[0093] The extreme spatial coordinate set E includes at least the following spatial coordinates: (Xmin, Ymax, Zmin), (Xmin, Ymax, Zmax), (Xmin, Ymin, Zmin), (Xmin, Ymin, Zmax), (Xmax, Ymax, Zmin), (Xmax, Ymax, Zmax), (Xmax, Ymin, Zmin) and (Xmax, Ymin, Zmax).

[0094] Accordingly, the body parts of the staff members involved in the assembly and transportation area 101 by the spatial range generation module 704 are integrated into a rectangular coordinate set, and similarly, the end of the robot 3 is integrated into a limit space coordinate set F. This arrangement facilitates the calculation of the calculation module 8, and specifically, the calculation module 8 selects the coordinates at each inflection point of the end of the robot 3 and the staff members to calculate the spacing and count the minimum spacing value, or the calculation module 8 calculates the spacing between each plane of the two limit space coordinate sets and counts the minimum spacing value.

[0095] In this embodiment, the selection ranges of the plane coordinate set P, the plane coordinate set Q, the plane coordinate set M, and the plane coordinate set N are all located within the assembly and transportation area 101 .

[0096] In this technical solution, since the intersection of the end of the robot 3 and the staff is located in the assembly and transportation area 101, setting the selection range of each plane coordinate set within the assembly and transportation area 101 can reduce the overall amount of calculation and facilitate subsequent integration.

[0097] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A robot collaboration device based on a multi-angle positioning system, characterized in that: include: An image acquisition module (2), arranged on the upper side of the working area (1), and used for acquiring planar image information; A robot (3), wherein the robot (3) is used to drive its end to move or rotate; The working area (1) is divided into an assembly and transportation area (101), a staff standing area (102) and a machine placement area (103), wherein the staff standing area (102) is located at the rear side of the assembly and transportation area (101), the machine placement area (103) is located at the front side of the assembly and transportation area (101), and the robot (3) is arranged in the machine placement area (103); A lateral information acquisition module (4), arranged on a side of the working area (1), corresponding to the assembly and transportation area (101), and used to acquire lateral image information of the staff, wherein the image acquisition direction of the lateral image information intersects with the image acquisition direction of the planar image information; An image analysis module (5) is electrically connected to the image acquisition module (2), the image acquisition module (2) transmits the acquired planar image information to the image analysis module (5), and the image analysis module (5) is used to determine the planar position of the end of the robot (3) and the planar position of the worker in the planar image information; The image analysis module (5) is also electrically connected to the lateral position information acquisition module (4), and the lateral position information acquisition module (4) transmits the lateral image information to the image analysis module (5), and the image analysis module (5) is used to determine the height position of the worker in the lateral image information; a locator module (6), arranged at the end of the robot (3), electrically connected to the coordinate editing module (7), and used for feeding back the height of the end of the robot (3) to the coordinate editing module (7); The coordinate editing module (7) is electrically connected to the image analysis module (5) and is used to establish a spatial coordinate system and to determine the spatial coordinates of the end of the robot (3) and the worker in the spatial coordinate system; a calculation module (8), electrically connected to the coordinate editing module (7), for obtaining the spatial coordinates of the end of the robot (3) and the worker, and calculating the distance between the end of the robot (3) and the worker; A control module (9) is electrically connected to the calculation module (8) and the robot (3) respectively, and is used to control the opening and closing of the robot (3).

2. The robot collaboration device based on the multi-angle positioning system according to claim 1, characterized in that: The lateral position information acquisition module (4) comprises: An infrared irradiation module (401) is arranged on a side of the assembly and transportation area (101), is electrically connected to the image analysis module (5), and is used to obtain infrared image information within the assembly and transportation area (101).

3. The robot collaboration device based on the multi-angle positioning system according to claim 2, characterized in that: The lateral position information acquisition module (4) further comprises: A trigger module (402) is electrically connected to the infrared irradiation module (401), and is disposed at the boundary between the assembly and transportation area (101) and the staff standing area (102), and is used to generate an activation signal when the staff moves in the assembly and transportation area (101), and the infrared irradiation module (401) operates according to the activation signal.

4. The robot collaboration device based on the multi-angle positioning system according to claim 1, characterized in that: The coordinate editing module (7) establishes an XYZ three-axis coordinate system, wherein the XY coordinate system corresponds to the plane where the planar image information is located, and the YZ coordinate system is perpendicular to the XY coordinate system. The coordinate editing module (7) comprises: A first range integration module (701), electrically connected to the image analysis module (5), and used to integrate the plane coordinate set P of the worker in the XY coordinate system according to the plane position of the worker determined by the image analysis module (5); The first range integration module (701) is further used to integrate the plane coordinate set Q of the worker in the YZ coordinate system according to the height position of the worker determined by the image analysis module (5); A pre-storage module (702) stores the dimension information of the end of the robot (3); The second range integration module (703) is electrically connected to the image analysis module (5), the locator module (6) and the pre-stored module (702), respectively, and is used to integrate the plane coordinate set M of the end of the robot (3) in the XY coordinate system, and is used to integrate the plane coordinate set N of the end of the robot (3) in the YZ coordinate system.

5. The robot collaboration device based on the multi-angle positioning system according to claim 4, characterized in that: The coordinate editing module (7) further comprises: A spatial range generation module (704), electrically connected to the first range integration module (701), configured to select the limit coordinate values ​​of each coordinate axis in the plane coordinate set P and the plane coordinate set Q, and generate a limit spatial coordinate set E; The spatial range generation module (704) is electrically connected to the second range integration module (703), and is used to generate a limit spatial coordinate set F according to the limit coordinate values ​​of each coordinate axis in the plane coordinate set M and the plane coordinate set N; The calculation module (8) is electrically connected to the spatial range generation module (704), and the calculation module (8) is used to calculate the distance between the end of the robot (3) and the staff according to the spatial coordinate set E and the spatial coordinate set F.

6. The robot collaboration device based on the multi-angle positioning system according to claim 4, characterized in that: The selection ranges of the plane coordinate set P, the plane coordinate set Q, the plane coordinate set M and the plane coordinate set N are all located within the assembly and transportation area (101).

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