Robot cooperation device based on multispectral machine vision

Abstract

The invention relates to the technical field of automatic assembly, in particular to a robot cooperation device based on multispectral machine vision, which comprises an image acquisition module arranged on the upper side of a working area; the timing module is electrically connected with the image acquisition module and is used for sending a first frequency acquisition signal to the image acquisition module; the robot is arranged in the working area and used for driving the tail end of the robot to move or rotate; the image acquisition module transmits the acquired image to the image analysis module, and the image analysis module locates the tail end position of the robot in the image and locates the position of a worker in a working area in the image at the same time; and the distance calculation module is electrically connected with the image analysis module and used for calculating the distance between the tail end of the robot and the worker. The invention discloses a robot cooperation device based on multispectral machine vision, and aims to provide a semi-automatic assembly device to solve the problem of low assembly efficiency in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of automatic assembly technology, and more specifically, to a robot collaboration device based on multi-spectral machine vision. 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 multi-spectral machine vision, aiming to provide a semi-automatic assembly device 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 multispectral machine vision is proposed, comprising: an image acquisition module, arranged on the upper side of the working area, for acquiring images;

[0006] A timing module, electrically connected to the image acquisition module, and configured to send a first frequency acquisition signal to the image acquisition module, and the image acquisition module performs image acquisition after receiving the first frequency acquisition signal;

[0007] A robot is arranged in a working area, and the activity area of ​​the robot is within the working area, and the robot is used to drive its end to move or rotate;

[0008] An image analysis module, electrically connected to the image acquisition module, wherein the image acquisition module transmits the acquired image to the image analysis module, wherein the image analysis module is used to locate the end position of the robot in the image, and the image analysis module is used to locate the position of the staff in the working area in the image;

[0009] A distance calculation module is electrically connected to the image analysis module and is used to calculate the distance between the end of the robot and the staff. When the distance is less than or equal to a first threshold, the distance calculation module sends a warning signal to the robot, and the robot stops moving according to the warning signal; when the distance is greater than the first threshold, the distance monitoring module sends a safety signal to the robot, and the robot continues to move.

[0010] In any of the above technical solutions, further comprising:

[0011] A trend prediction module, electrically connected to the image analysis module, and configured to predict the position of the robot end at the next moment according to the position of the robot end located multiple times by the image analysis module;

[0012] The trend prediction module is used to predict the position of the staff at the next time point according to the positions of the staff located multiple times by the image analysis module;

[0013] The distance calculation module is electrically connected to the trend prediction module, and is used to calculate the distance between the robot end and the staff at the next moment according to the position predicted by the trend prediction module, and to compare the distance at the next moment with the first threshold.

[0014] In any of the above technical solutions, further comprising:

[0015] The path planning module is electrically connected to the robot and the image analysis module respectively. The cooperation device sends the moving starting point and moving end point of the robot to the path planning module. The image analysis module determines the obstacle position according to the collected image and sends it to the path planning module. The path planning module plans the moving path of the robot according to the moving starting point, moving end point and obstacle position.

[0016] In any of the above technical solutions, further comprising:

[0017] The path planning module is also electrically connected to the distance calculation module and the trend prediction module respectively, and the path planning module is used to adjust the movement path of the robot when the distance at the next moment calculated by the distance calculation module is less than or equal to the first threshold.

[0018] In any of the above technical solutions, further, there are two robots, both of which are arranged in the working area, and the activity areas of the two robots intersect, the image analysis module is used to locate the end positions of the two robots respectively, the distance calculation module is used to calculate the distance between the two ends of the robots and the staff respectively, and the distance calculation module is used to calculate the distance between the two ends of the robots.

[0019] In any of the above technical solutions, further, the image acquisition module is a multispectral image acquisition mechanism.

[0020] In any of the above technical solutions, further comprising:

[0021] An angle calculation module is electrically connected to the image analysis module and the trend prediction module respectively. The angle calculation module obtains the position of the robot end and the position of the staff, and is used to calculate the angle between the movement direction of the robot or the staff from the N-2th moment to the N-1th moment and the movement direction from the N-1th moment to the Nth moment according to the obtained positions. When the angle is greater than a second threshold, the angle calculation module sends a reset signal to the trend prediction module, and the Nth moment is the image acquisition moment closest to the current time.

[0022] In any of the above technical solutions, further, the angle calculation module is electrically connected to the timing module. When the angle calculation module sends a reset signal to the trend prediction module, the timing module sends a second frequency acquisition signal to the image acquisition module. After receiving the second frequency acquisition signal, the image acquisition module performs image acquisition.

[0023] The beneficial effects are:

[0024] 1. The robot collaboration device based on multispectral machine vision of the present invention controls the acquisition frequency of the image acquisition module through the timing module, and can acquire images at a slower frequency during a process in which the motion direction changes slightly, and acquire images at a faster frequency during a process in which the motion direction changes significantly, thereby saving computing power and improving the safety factor of the device;

[0025] 2. The robot collaboration device of the present invention analyzes the image collected by the image acquisition module through the image analysis module, locates the positions of the robot end and the staff, and then calculates the distance between the robot end and the staff through the distance calculation module, and controls the robot to stop when the distance is less than or equal to the first threshold to ensure the safety of the staff;

[0026] 3. The robot collaboration device of the present invention calculates in advance the distance between the robot end and the staff at the next moment through the setting of the trend prediction module, thereby extending the response time of the device and improving the safety of the device; at the same time, in conjunction with the path planning module and the distance monitoring module, it can adjust the movement direction of the robot in real time during the robot's movement on the optimal path to avoid being too close to the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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.

[0028] Figure 1 It is a flowchart of a robot collaboration device based on multi-spectral machine vision according to an embodiment of the present invention;

[0029] Figure 2 This is a distribution diagram of working areas and activity areas of a robot collaboration device based on multi-spectral machine vision according to an embodiment of the present invention.

[0030] The following are the descriptions of the reference numerals:

[0031] 1. Image acquisition module;

[0032] 2. Timing module;

[0033] 3. Robots;

[0034] 4. Image analysis module;

[0035] 5. Distance calculation module;

[0036] 6. Trend prediction module;

[0037] 7. Path planning module;

[0038] 8. Angle calculation module. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] A robot collaboration device based on multispectral machine vision of the present application is described in detail through the following embodiments.

[0045] In this embodiment, if Figure 1 and Figure 2 As shown, the robot collaboration device based on multispectral machine vision includes: an image acquisition module 1, which is arranged on the upper side of the working area and is used to acquire images;

[0046] The timing module 2 is electrically connected to the image acquisition module 1 and is used to send a first frequency acquisition signal to the image acquisition module 1. The image acquisition module 1 performs image acquisition after receiving the first frequency acquisition signal.

[0047] The robot 3 is arranged in the working area, and the activity area of ​​the robot 3 is within the working area, and the robot 3 is used to drive the end of the robot to move or rotate;

[0048] The image analysis module 4 is electrically connected to the image acquisition module 1. The image acquisition module 1 transmits the acquired image to the image analysis module 4. The image analysis module 4 is used to locate the end position of the robot 3 in the image. At the same time, the image analysis module 4 is used to locate the position of the staff in the working area in the image.

[0049] The distance calculation module 5 is electrically connected to the image analysis module 4 and is used to calculate the distance between the end of the robot 3 and the staff. When the distance is less than or equal to a first threshold, the distance calculation module 5 sends a warning signal to the robot 3, and the robot 3 stops moving according to the warning signal; when the distance is greater than the first threshold, the distance monitoring module sends a safety signal to the robot 3, and the robot 3 continues to move.

[0050] In the present technical solution, the image acquisition module 1 is a multispectral camera, which is fixed on the upper side of the working area. The timing module 2 is a timer, which sends an acquisition signal to the image acquisition module 1 at a certain frequency. Each time the acquisition signal is sent, the image acquisition module 1 performs an image acquisition. After the image acquisition module 1 acquires the image, it sends it to the image analysis module 4. 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. The image analysis module 4 performs image analysis and three-dimensional restoration of the objects in the working area according to the received image, and spatially locates the position of the end of the robot 3 and the staff in real time.

[0051] After image restoration, the image analysis module 4 assigns three-dimensional coordinates to each structure in the working area, and sends the spatial position of the end of the robot 3 that needs to be tracked and the spatial position of the staff to the distance calculation module 5 for distance calculation. The distance calculation module 5 calculates the distance between the staff and the end of the robot 3 in real time, and sends a warning signal to the robot 3 when the distance is less than a first threshold, and the robot 3 stops. Then, as the staff continues to move, the distance calculation module 5 sends a safety signal to the robot 3 after the distance is greater than the first threshold, and the robot 3 continues to work, thereby ensuring the safety of the staff in the working area.

[0052] The position positioning of the staff includes the positioning of their hands, elbow joints, shoulder joints, head and standing position. The distance calculation module needs to count the distances between each part of the staff and the end of the robot 3. When the distance of a certain part is less than the first threshold, a warning signal is sent to the robot 3 to shut down. In some specific technical solutions, the distance values ​​of the first thresholds set for different parts are different. For example, the threshold of the hand is greater than the threshold at the shoulder joint.

[0053] In this embodiment, it also includes:

[0054] The trend prediction module 6 is electrically connected to the image analysis module 4, and is used to predict the position of the end of the robot 3 at the next moment according to the position of the end of the robot 3 located multiple times by the image analysis module 4;

[0055] The trend prediction module 6 is used to predict the position of the staff at the next time point according to the positions of the staff located multiple times by the image analysis module 4;

[0056] The distance calculation module 5 is electrically connected to the trend prediction module 6. The distance calculation module 5 is used to calculate the distance between the end of the distance robot 3 and the staff at the next moment according to the position predicted by the trend prediction module 6, and to compare the distance at the next moment with the first threshold.

[0057] In the present technical solution, the trend prediction module 6 is electrically connected to the image analysis module 4 and the distance calculation module 5, respectively. The trend prediction module 6 obtains the positions of the end of the robot 3 and the staff at two moments or multiple consecutive moments closest to the current time from the image analysis module 4, and infers the position of the end of the robot 3 at the next moment based on the position of the end of the robot 3 at two moments or multiple moments, and gives corresponding predicted coordinates. At the same time, the position of the staff at the next moment is inferred based on the position of the staff at two moments or multiple moments, and gives corresponding predicted coordinates. The distance calculation module 5 calculates the distance between the end of the robot 3 and the staff at the next moment based on the predicted coordinates, thereby achieving the purpose of calculating the distance one moment in advance, and increasing the reaction time of controlling the robot 3 to stop when the distance is less than or equal to the first threshold.

[0058] It is worth mentioning that the interval between the two adjacent moments can be the time interval between two consecutive image acquisitions by the image acquisition module 1, or an integer multiple of the time required for two consecutive image acquisitions, such as twice or three times the time.

[0059] In this embodiment, it also includes:

[0060] The path planning module 7 is electrically connected to the robot 3 and the image analysis module 4 respectively. The cooperation device sends the moving starting point and moving end point of the robot 3 to the path planning module 7. The image analysis module 4 determines the obstacle position according to the collected image and sends it to the path planning module 7. The path planning module 7 plans the moving path of the robot 3 according to the moving starting point, moving end point and obstacle position.

[0061] In the present technical solution, the path planning module 7 is electrically connected to the control system and the image analysis module 4 of the robot 3 respectively, so as to input the required moving point information such as the moving starting point, the way point and the moving end point of the terminal of the robot 3 into the collaborative device. The path planning module 7 performs the original motion path without avoiding external objects according to the aforementioned moving point information. At this time, the original motion path is the fastest and shortest path. Then, the path planning module 7 obtains the spatial range where the fixed obstacles are located from the image analysis module 4. On the basis of the original motion path, the path planning module 7 re-plans the moving path of the terminal of the robot 3 in the form of setting a certain interval to avoid the fixed obstacles. Then, the path planning module 7 sends the re-planned motion path to the control system of the robot 3, and the control system of the robot 3 controls the collaborative movement of its own motors accordingly, so that the terminal moves according to the re-planned path.

[0062] The aforementioned obstacles refer to fixed structures within the working area, such as conveyor lines, workbenches, electrical control boxes, etc.

[0063] In some technical solutions, an industrial camera is provided at the end of the robot 3 so that the end of the robot 3 can cooperate with its own control system to perform tasks such as picking and assembling at various points.

[0064] In this embodiment, it also includes:

[0065] The path planning module 7 is also electrically connected to the distance calculation module 5 and the trend prediction module 6 respectively. The path planning module 7 is used to adjust the moving path of the robot 3 when the distance at the next moment calculated by the distance calculation module 5 is less than or equal to the first threshold.

[0066] In the present technical solution, in the process of the aforementioned robot 3 controlling the terminal to move according to the re-planned path, the distance calculation module 5 synchronously calculates the distance between the terminal of the robot 3 and the staff at the next moment according to the position predicted by the trend prediction module 6, and feeds back to the path planning module 7 when the distance is less than the first threshold at the next moment. The path planning module 7 adjusts the movement path of the robot 3 again according to the predicted position of the staff, thereby reducing the probability of the robot 3 stopping and ensuring the overall work efficiency.

[0067] In this embodiment, there are two robots 3, both of which are arranged in the working area, and the activity areas of the two robots 3 intersect, the image analysis module 4 is used to locate the end positions of the two robots 3 respectively, the distance calculation module 5 is used to calculate the distance between the ends of the two robots 3 and the staff respectively, and the distance calculation module 5 is used to calculate the distance between the ends of the two robots 3.

[0068] In this technical solution, two robots 3 are arranged side by side, and the image acquisition module 1, i.e., the multispectral camera, is fixed on the upper side between the two robots 3. The activity areas of the two robots 3 intersect in the middle. The two robots 3 are arranged to complete different assembly steps. At the same time, the image acquisition module 1, the image analysis module 4, and the distance calculation module 5 are used to monitor the positions of the two robots 3 and the two robots 3 and the staff, respectively, to improve the assembly efficiency.

[0069] In some technical solutions, there is a worker on each side of the two robots 3, and the distance calculation module 5 calculates the distance between the corresponding worker and the end of the robot 3 respectively. When one of the distances is less than the first threshold, the distance calculation module sends a warning signal to the control system of the corresponding robot 3. When the distance between the two robots 3 is less than the first threshold, the distance calculation module sends a warning signal to the control system of the robot 3 on the left.

[0070] In this embodiment, the image acquisition module 1 is a multi-spectral image acquisition mechanism.

[0071] In the technical solution, by setting the image acquisition module 1 as a multi-spectral image acquisition mechanism, specifically a multi-spectral camera, it is convenient for the image analysis module 4 to perform three-dimensional restoration of the image. In some technical solutions, the image acquisition module 1 sends light waves of different bands to the parts or tooling to be picked up, and according to the received wavelength response value, it can be measured whether the surface of the parts or tooling is coated with lubricating oil, which is convenient for the determination of some workpieces that need to be oiled before assembly.

[0072] In this embodiment, it also includes:

[0073] The angle calculation module 8 is electrically connected to the image analysis module 4 and the trend prediction module 6 respectively. The angle calculation module 8 obtains the position of the end of the robot 3 and the position of the staff, and is used to calculate the angle between the movement direction of the robot 3 or the staff from the N-2th moment to the N-1th moment and the movement direction from the N-1th moment to the Nth moment according to the obtained positions. When the angle is greater than the second threshold, the angle calculation module 8 sends a reset signal to the trend prediction module 6, and the Nth moment is the image acquisition moment closest to the current time.

[0074] In the present technical solution, the angle calculation module 8 is electrically connected to the image analysis module 4 and the trend prediction module 6 respectively. Taking the terminal position of the robot 3 as an example, the angle calculation module 8 obtains the terminal position P1 of the robot 3 at the current moment (the Nth moment), the terminal position P2 of the robot 3 at the moment before the current moment (the N-1th moment), and the terminal position P3 of the robot 3 two moments before the current moment (the N-2th moment) from the image analysis module 4, and calculates the movement direction Y1 of the position P1 and the position P2, and calculates the movement direction Y2 of the position P2 and the position P3, and finally calculates the angle between Y1 and Y2. When the angle is greater than the second threshold, the angle calculation module 8 sends a reset signal to the trend prediction module 6. After receiving the reset signal, the trend prediction module 6 stops the trend prediction at the current moment. Such a setting can improve the accuracy of the prediction of the trend prediction module 6.

[0075] In some technical solutions, the interval between the Nth moment and the N-1th moment can be the time interval between two consecutive image acquisitions by the image acquisition module 1, or it can be an integer multiple of the time required for two consecutive image acquisitions, such as twice or three times the length.

[0076] In this embodiment, the angle calculation module 8 is electrically connected to the timing module 2. When the angle calculation module 8 sends a reset signal to the trend prediction module 6, the timing module 2 sends a second frequency acquisition signal to the image acquisition module 1. The image acquisition module 1 performs image acquisition after receiving the second frequency acquisition signal.

[0077] In the present technical solution, the operating frequency of the second frequency acquisition signal is greater than the operating frequency of the first frequency acquisition signal. When the angle calculation module 8 sends a reset signal, usually when the movement direction of the robot 3 or the movement direction of the staff changes significantly, the image acquisition frequency is increased, the working efficiency of the image analysis module 4 and the distance calculation module is improved, and the safety of the staff is ensured.

[0078] In some technical solutions, the image analysis and three-dimensional restoration of the image analysis module 4 are performed with the aid of means in the prior art.

[0079] 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 multispectral machine vision, characterized in that: include: An image acquisition module (1), arranged on the upper side of the working area, for acquiring images; A timing module (2) is electrically connected to the image acquisition module (1) and is used to send a first frequency acquisition signal to the image acquisition module (1), so that the image acquisition module (1) performs image acquisition after receiving the first frequency acquisition signal; A robot (3) is arranged in a working area, and an activity area of ​​the robot (3) is within the working area, and the robot (3) is used to drive its end to move or rotate; An image analysis module (4) is electrically connected to the image acquisition module (1), the image acquisition module (1) transmits the acquired image to the image analysis module (4), the image analysis module (4) is used to locate the end position of the robot (3) in the image, and the image analysis module (4) is used to locate the position of a worker in a working area in the image; A distance calculation module (5) is electrically connected to the image analysis module (4) and is used to calculate the distance between the end of the robot (3) and the worker. When the distance is less than or equal to a first threshold, the distance calculation module (5) sends a warning signal to the robot (3), and the robot (3) stops moving according to the warning signal; when the distance is greater than the first threshold, the distance monitoring module sends a safety signal to the robot (3), and the robot (3) continues to move.

2. The robot collaboration device based on multispectral machine vision according to claim 1, characterized in that: Also includes: A trend prediction module (6) is electrically connected to the image analysis module (4), and the trend prediction module (6) is used to predict the position of the end of the robot (3) at the next moment according to the position of the end of the robot (3) located multiple times by the image analysis module (4); The trend prediction module (6) is used to predict the position of the staff at the next time point based on the positions of the staff located multiple times by the image analysis module (4); The distance calculation module (5) is electrically connected to the trend prediction module (6), and the distance calculation module (5) is used to calculate the distance between the end of the robot (3) and the worker at the next moment based on the position predicted by the trend prediction module (6), and to compare the distance at the next moment with the first threshold.

3. The robot collaboration device based on multispectral machine vision according to claim 2, characterized in that: Also includes: A path planning module (7) is electrically connected to the robot (3) and the image analysis module (4) respectively. The cooperation device sends the moving starting point and moving end point of the robot (3) to the path planning module (7). The image analysis module (4) determines the obstacle position based on the collected image and sends it to the path planning module (7). The path planning module (7) plans the moving path of the robot (3) based on the moving starting point, moving end point and obstacle position.

4. The robot collaboration device based on multispectral machine vision according to claim 3 is characterized in that: Also includes: The path planning module (7) is also electrically connected to the distance calculation module (5) and the trend prediction module (6) respectively, and the path planning module (7) is used to adjust the moving path of the robot (3) when the distance at the next moment calculated by the distance calculation module (5) is less than or equal to the first threshold.

5. The robot collaboration device based on multispectral machine vision according to claim 1, characterized in that: There are two robots (3), both of which are arranged in the working area, and the activity areas of the two robots (3) intersect, the image analysis module (4) is used to locate the end positions of the two robots (3) respectively, the distance calculation module (5) is used to calculate the distances between the ends of the two robots (3) and the staff respectively, and the distance calculation module (5) is used to calculate the distance between the ends of the two robots (3).

6. The robot collaboration device based on multispectral machine vision according to claim 1, characterized in that: The image acquisition module (1) is a multi-spectral image acquisition mechanism.

7. The robot collaboration device based on multispectral machine vision according to claim 3, characterized in that: Also includes: An angle calculation module (8) is electrically connected to the image analysis module (4) and the trend prediction module (6), respectively. The angle calculation module (8) obtains the position of the end of the robot (3) and the position of the staff, and is used to calculate the angle between the movement direction of the robot (3) or the staff from the N-2th moment to the N-1th moment and the movement direction from the N-1th moment to the Nth moment based on the obtained positions. When the angle is greater than a second threshold, the angle calculation module (8) sends a reset signal to the trend prediction module (6), and the Nth moment is the image acquisition moment closest to the current time.

8. The robot collaboration device based on multispectral machine vision according to claim 4, characterized in that: The angle calculation module (8) is electrically connected to the timing module (2); when the angle calculation module (8) sends a reset signal to the trend prediction module (6), the timing module (2) sends a second frequency acquisition signal to the image acquisition module (1); and the image acquisition module (1) performs image acquisition after receiving the second frequency acquisition signal.

Images