A robot collaboration device based on a multi-angle positioning system

Abstract

The application relates to the technical field of automatic assembly, and more specifically to a robot cooperation device based on a multi-angle positioning system, which obtains a plan view of a working area from the upper side through an image acquisition module, determines the positions of the robot tail end and the staff in the plan view in the working area through an image analysis module, obtains side view image information of the staff from the side through a side direction information acquisition module, then determines the staff height through the image analysis module, simultaneously obtains the height of the robot tail end in the space through a positioner, then performs space coordinate editing on the positions of the robot tail end and the staff determined in the plan and the height through a coordinate editing module, and finally determines the distance between the two through a calculation module, so that the working efficiency can be greatly improved under the premise of ensuring the safety of the staff. The robot cooperation device based on the multi-angle positioning system aims to solve the problem of low assembly efficiency in the prior art.

Description

Technical Field

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

[0002] The advent of smart toilets has brought greater convenience to people's lives and opened up endless possibilities for innovation. Existing smart toilet control systems are often located inside or on the toilet lid. These control systems include a hinge structure that supports the toilet's rotation, a knob that the user turns when using it, a microwave sensor that detects the toilet's status, a flap drive plate that drives the lid's rotation, and waterproof covers on both sides of the lid.

[0003] In the prior art, toilet lid assembly is typically done manually. For example, a worker first places a toilet lid base to be assembled at a workstation, then places the required parts one by one in their corresponding positions, then uses screws and an electric drill to lock them in place. Finally, the assembled, semi-finished toilet lid is sent to the next process. This overall process is complex 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 planar image information;

[0006] A robot, wherein the robot is used to drive its own 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 provided on 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 planar image information;

[0009] an image analysis module electrically connected to the image acquisition module, the image acquisition module transmitting the acquired planar image information to the image analysis module, the image analysis module being configured to determine the planar position of the robot end and the planar position of the worker in the planar image information;

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

[0011] a locator module, disposed at the end of the robot and electrically connected to the coordinate editing module, for feeding back the height of the robot end 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, 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 on the side of the assembly and transportation area and 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] A 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. It is used to generate an open signal when the staff moves in the assembly and transportation area, and the infrared irradiation module works according to the open signal.

[0019] In any of the above technical solutions, further, the coordinate editing module establishes an XYZ three-axis coordinate system, where 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 configured to integrate a 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-stored module stores 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 generating module, electrically connected to the first range integrating module, 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;

[0026] The spatial range generating module is electrically connected to the second range integrating module, and is configured 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 spatial range generation module, and the calculation module is used to calculate the distance between the robot end and the staff according to the spatial coordinate set E and the spatial 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 a plan view of the working area from the top through the image acquisition module, determines the positions of the robot end and the staff in the working area in the plane through the image analysis module, obtains the side image information of the staff from the side through the side information acquisition module, and then determines the height of the staff through the image analysis module. At the same time, the height of the robot end in space is obtained through the locator, and then the coordinate editing module performs spatial coordinate editing on the positions of the robot end and the staff whose plane and height are determined, and finally determines the distance between the two through the calculation module. When the distance is less than a 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 work efficiency while 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, thereby achieving the spatial positioning of the robot end and the staff. The positioning purpose is achieved in the form of multiple perspectives, which can improve the positioning accuracy on the one hand, and reduce the amount of data calculation in the device on the other hand, thereby reducing 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, reducing the amount of data information required 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 side information acquisition module and determines the height of the robot end through the locator module, and performs targeted side positioning on both to facilitate the determination of the height of the two and improve 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0035] Figure 12. It is 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 This 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 This 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. Worker standing area; 103. Machine placement area;

[0040] 2. Image acquisition module;

[0041] 3. Robots;

[0042] 4. Side position information acquisition module; 401. Infrared illumination 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-stored module; 703. Second range integration module; 704. Spatial range generation module;

[0046] 8. Calculation module;

[0047] 9. Control module. DETAILED DESCRIPTION

[0048] Below, 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. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0049] It should be noted that, as shown in this application and the claims, unless the context clearly indicates an exception, the words "a," "an," "an," and / or "the" do not refer to the singular and may include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus 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.), such directional indications are only used to explain the relative positional relationship, movement, 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 specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on 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 for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. 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 this field to implement. When the combination of technical solutions is mutually 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] The following embodiments will be used to describe in detail a robot collaboration device based on a multi-angle positioning system of the present application.

[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 planar image information;

[0055] Robot 3, which is used to drive its own 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 of the assembly and transportation area 101, and the machine placement area 103 is located at the front of the assembly and transportation area 101. The robot 3 is placed in the machine placement area 103.

[0057] The side information acquisition module 4 is provided on the side of the working area 1, corresponding to the assembly and transportation area 101, and is used to obtain side image information of the staff, and the image acquisition direction of the side image information is intersected with the image acquisition direction of the planar 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 worker 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 worker in the lateral image information.

[0060] The locator module 6 is provided 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 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 within 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 worker, and calculate the distance between the end of the robot 3 and the worker;

[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 this technical solution, image acquisition module 2 is a multispectral camera, fixed to the upper side of work area 1 and capable of capturing images downward. Robot 3 is a multi-axis robot 3 with a fixture or tooling at its end to pick up the corresponding target object and move or rotate it. This typically refers to the fixture used to pick up the assembly object and the electric screwdriver tooling used to tighten the screws. A conveyor line is provided within assembly and transportation area 101, equipped with a support structure capable of placing components such as the toilet lid, knob, microwave sensor, flip-top drive plate, and waterproof cover. Robot 3 assembles the components onto the toilet lid using the fixture or tooling. The toilet lid and components are manually placed onto the support structure. A staff standing area 102 is located behind assembly and transportation area 101, while a machine placement area 103 is located in front of assembly and transportation area 101. This ensures that the interaction between robot 3 and staff occurs within assembly and transportation area 101, and that the collaborative robot 3 also operates within assembly and transportation area 101 when avoiding staff movement, reducing the overall computational effort required.

[0065] The side information acquisition module 4 is located on the left side of the upper side of the assembly and transportation area 101 and is capable of capturing complete image information of the body parts of workers who are located in the upper side of the assembly and transportation area 101. The side information acquisition module 4 is used to acquire side image information of workers, primarily referring to acquiring image information of the workers' body parts, and more specifically, acquiring side image information of the workers' hands and arms.

[0066] The image analysis module 5 is electrically connected to the image acquisition module 2 and the lateral information acquisition module 4, respectively. During operation, the image analysis module 5 captures an image captured from above by the image acquisition module 2 and an image of the space above the assembly and transportation area 101 captured from the left by the lateral information acquisition module 4. It then performs a planar reconstruction of the images. It then labels and extracts the areas within the planar image information where the worker's hands and arms are located. It also labels and extracts the areas within the planar image information where the robot's end 3 is located. Furthermore, it labels and extracts the areas within the lateral image information where the worker's hands and arms are located. The coordinate editing module 7 uses this labeled and extracted information to perform a range-based location of the spatial coordinates of the worker's arms and hands. Simultaneously, the coordinate editing module 7 performs a range-based location of the spatial coordinates of the robot's end 3 based on the height of the robot's end 3, as determined by the locator module 6, and the information about the area within which the robot's end 3 is located. Finally, the calculation module 8 calculates the distance between the robot's end 3 and the worker's hand or arm. If the calculated distance is less than a predetermined threshold, the control module 9 controls the robot 3 to stop suddenly to avoid a collision with the worker. Otherwise, the device operates 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 planar image information is from top to bottom. In this case, 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 at an angle compared to the horizontal plane.

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

[0070] The infrared irradiation module 401 is disposed on a 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 within the assembly and transportation area 101 .

[0071] In this technical solution, the lateral position information acquisition module 4 includes an infrared irradiation module 401, specifically an infrared camera, which is fixed to the left side of the assembly and transportation area 101. The infrared irradiation module 401 captures the body parts of workers in the assembly and transportation area 101, making it easier to distinguish between the body parts of workers and the equipment and devices in the work area 1, and to determine the height of the body parts of workers 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 open signal when the staff moves in the assembly and transportation area 101, and the infrared irradiation module 401 works according to the open signal.

[0074] In this 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, where 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] A 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 further configured 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-stored 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-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 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. The X axis is the left and right direction, the Y axis is the front and back direction, and the Z axis is the up and 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 and 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 planar position of the worker's body parts determined by the image analysis module 5. The plane coordinate set P includes at least the left front position coordinates, left rear position coordinates, right front position coordinates, and right rear position coordinates of the worker's body parts in the XY coordinate system. Similarly, the second range integration module 703 integrates the plane coordinate set M of the planar position of the robot 3 end point determined by the image analysis module 5. The plane coordinate set includes at least the left front position coordinates, left rear position coordinates, right front position coordinates, and right rear position coordinates of the robot 3 end point 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 determined by the image analysis module 5, and the plane coordinate set Q includes at least the front upper position coordinates, front lower position coordinates, rear upper position coordinates and rear lower position coordinates of the staff's body parts in the YZ coordinate system.

[0083] The pre-stored module 702 is electrically connected to the second range integration module 703. The pre-stored module 702 stores the height dimension information of each basic shape of the end of the robot 3. By matching the height located by the locator module 6 and the plane range of the end of the robot 3 determined by the image analysis module 5, the second range integration module 703 can integrate the plane coordinate set N of the end of the robot 3 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 end of the robot 3.

[0084] At this point, the spatial coordinate range of the space occupied by the end of robot 3 and the worker's body parts within assembly and transportation area 101 can be determined. Based on this determined spatial coordinate range, the distance can be calculated. When performing the calculation, calculation module 8 selects each coordinate point of the two and calculates it one by one. The minimum value of the calculated distance is compared with a predetermined threshold.

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

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

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

[0088] The spatial range generating module 704 is electrically connected to the first range integrating 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 configured 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 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.

[0091] In this technical solution, based on the coordinates on the 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 member 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 based on the plane coordinate set P and the plane coordinate set Q, and integrates them to obtain the extreme spatial 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] Based on this, the spatial range generation module 704 integrates the worker's body parts within the assembly and transportation area 101 into a rectangular coordinate set. Similarly, the robot 3's end is integrated into the extreme spatial coordinate set F. This arrangement facilitates calculations by the calculation module 8. Specifically, the calculation module 8 selects the coordinates of the robot 3's end and the worker's at each inflection point to calculate the distance and calculate the minimum distance. Alternatively, the calculation module 8 calculates the distance between each plane of the two extreme spatial coordinate sets and calculates the minimum distance.

[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] While various embodiments of the present disclosure have been described above, the above descriptions are illustrative, non-exhaustive, and not intended to be limiting of the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to existing technologies, or to enable others skilled 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) is arranged on the upper side of the working area (1) and is used to acquire planar image information; A robot (3), wherein the robot (3) is used to drive its end to move or rotate; 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); 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) is provided on a side of the working area (1), corresponding to the assembly and transportation area (101), and is used to acquire side image information of a worker, wherein an image acquisition direction of the side image information intersects with an image acquisition direction of the planar image information; An image analysis module (5) is electrically connected to the image acquisition module (2), wherein 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 side position information acquisition module (4), and the side position information acquisition module (4) transmits the side 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 side image information; a locator module (6), disposed at the end of the robot (3), electrically connected to the coordinate editing module (7), and configured to feed 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 includes: 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 worker standing area (102), and is used to generate an activation signal when a worker 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) includes: A 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); The first range integration module (701) is further configured 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-stored module (702) stores 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 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 generating module (704), electrically connected to the first range integrating module (701), 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; 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; 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).

Images