Safety protection method and system based on robot

Abstract

The invention relates to the technical field of robots, and provides a safety protection method and system based on a robot, and the method employs a visual camera to monitor the robot, sets a virtual visual warning line in a visual image of the visual camera, carries out the braking protection when an interference source enters the visual warning line, avoids the collision, and improves the safety of the robot. Interference source intrusion risk assessment is carried out according to the visual image, the length of the first warning distance is adjusted according to the risk assessment result, the length of the first warning distance can be increased along with increase of the interference source intrusion risk, and the prevention effect is improved; when the invasion risk of the interference source is small, the length of the first warning distance is reduced, the size of the surrounding area of the visual warning line is reduced, and false triggering of protection braking of the robot is avoided. According to the safety protection method and system based on the robot, the protection effect can be effectively improved through the virtual visual warning line, the warning distance can be dynamically adjusted, and production safety and production efficiency are both improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot-based safety protection method and system. Background Art

[0002] With the rapid development of science and technology, the application of robots (industrial robots, service robots, etc.) has become more and more common. Robots basically run along the corresponding trajectory according to pre-compiled programs, but they cannot sense and detect moving objects around them. During the movement of robots, there are often people or other equipment working around the robots. If people or objects around enter the working area of ​​the robot, the robot will collide with them, causing damage to people or equipment. In order to avoid this problem, it is necessary to install a fence around the robot.

[0003] However, fences will hinder the picking, placing and transportation of materials. The setting of fences is very restrictive and it is difficult to form effective protection. In addition, human limbs, extended arms of other robots or equipment, etc. can easily cross or pass through the fences and invade the working range of the robot, making the protection effect of physical barrier structures such as fences insufficient and production safety insufficient. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a robot-based safety protection method and system to solve the problem that the protection effect of physical barriers is insufficient, resulting in insufficient production safety.

[0005] On one hand, the present invention provides a robot-based safety protection method, comprising: Collecting a visual image of a visual camera disposed in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Determine whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and control the robot to decelerate to a safe speed when it is determined that an interference source enters the encirclement area of ​​the visual warning line; When the interference source exits the enclosed area of ​​the visual warning line, controlling the robot to resume the running speed; Furthermore, an interference source intrusion risk assessment is performed based on the visual image, and the length of the first warning distance is adjusted based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

[0006] Optionally, it also includes: Collecting radar information of a laser radar set around the working range of the robot, and setting a radar warning area in combination with the preset working range of the robot and a second warning distance; It is determined whether an interference source enters the radar warning area according to the radar information and the radar warning area, and when it is determined that an interference source enters the radar warning area, the robot is controlled to decelerate to a safe speed.

[0007] Optionally, the step of performing interference source intrusion risk assessment according to the visual image and adjusting the length of the first warning distance according to the risk assessment result further includes: The motion information of the interference source is acquired according to the visual image, and the first warning distance is updated according to the motion information, wherein the motion information includes the movement speed of the interference source, and the faster the movement speed of the interference source is, the longer the first warning distance is.

[0008] Optionally, the motion information includes a motion trajectory and a motion speed of a geometric center and a geometric edge of the interference source, and the step of updating the first warning distance according to the motion information further includes: According to the motion trajectory and motion speed of the geometric center and the geometric edge of the interference source, obtaining the predicted trajectory and predicted speed of the geometric edge; Determining whether the interference source is likely to enter the encirclement area of ​​the visual warning line according to the predicted trajectory of the geometric edge; When the interference source is likely to enter the enclosed area of ​​the visual warning line, the first warning distance is updated according to the predicted speed of the geometric edge to update the position of the visual warning line.

[0009] Optionally, the step of performing interference source intrusion risk assessment according to the visual image and adjusting the length of the first warning distance according to the risk assessment result further includes: Performing behavior analysis on the interference source entering the visual range according to the visual image, and obtaining the current behavior danger level of the interference source in combination with a preset behavior danger level table; The first warning distance is adjusted according to the current behavior danger level, wherein the higher the current behavior danger level is, the longer the first warning distance is.

[0010] Optionally, the behaviors in the behavior danger level table include walking, running, waving, fighting, and falling, and when the current behavior of the interference source includes at least two behaviors in the behavior danger level table, the current behavior danger level of the interference source is the sum of the corresponding at least two danger levels.

[0011] Optionally, the method further includes: updating the first warning distance in real time according to the running speed of the robot, wherein the higher the running speed of the robot, the longer the first warning distance.

[0012] Another aspect of the present invention provides a robot-based safety protection system, comprising a visual camera and a main controller, wherein the visual camera is arranged in a space above the robot, the main controller is connected to the visual camera and the robot for communication and control, and the main controller is used for: Collecting a visual image of a visual camera disposed in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Determine whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and control the robot to decelerate to a safe speed when it is determined that an interference source enters the encirclement area of ​​the visual warning line; When the interference source exits the enclosed area of ​​the visual warning line, controlling the robot to resume the running speed; Furthermore, an interference source intrusion risk assessment is performed based on the visual image, and the length of the first warning distance is adjusted based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

[0013] Optionally, the main controller is also used to: obtain motion information of the interference source according to the visual image, and update the first warning distance according to the motion information, wherein the motion information includes the movement speed of the interference source, and the faster the movement speed of the interference source, the longer the first warning distance.

[0014] Optionally, the main controller is further used for: Performing behavior analysis on the interference source entering the visual range according to the visual image, and obtaining the current behavior danger level of the interference source in combination with a preset behavior danger level table; The first warning distance is adjusted according to the current behavior danger level, wherein the higher the current behavior danger level is, the longer the first warning distance is.

[0015] The robot-based safety protection method provided by the present invention uses a visual camera to monitor the robot, and sets a virtual visual warning line in the visual image of the visual camera. When an interference source enters the visual warning line, braking protection is performed to avoid collision. The interference source intrusion risk assessment can also be performed according to the visual image, and the length of the first warning distance is adjusted according to the risk assessment result. The higher the intrusion risk of the interference source, the longer the first warning distance. As the intrusion risk of the interference source increases, the length of the first warning distance can be increased to improve the prevention effect; when the intrusion risk of the interference source is small, the length of the first warning distance can be reduced, the size of the encircled area of ​​the visual warning line can be reduced, and the protection brake of the robot that is falsely triggered can be reduced, thereby ensuring the working efficiency of the robot. The robot-based safety protection method of the present invention uses a virtual visual warning line to effectively avoid the setting restrictions of the physical fence, ensure the working efficiency of the robot, effectively monitor the intrusion behavior in all directions, improve the protection effect, and dynamically adjust the warning distance according to the intrusion risk of the interference source. Under the premise of ensuring safety, the risk of false triggering of the protection brake can be reduced, and the production efficiency can be reduced, taking into account the improvement of production safety and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a main flow chart of a robot-based safety protection method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the application and installation of a robot-based safety protection system in an embodiment of the present invention.

[0017] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] To solve the problem that the protection effect of physical barriers of fences is insufficient, resulting in insufficient production safety. The present invention provides a robot-based safety protection method, which uses a visual camera to monitor the robot, and sets a virtual visual warning line in the visual image of the visual camera. When interference sources such as on-site staff, transfer robots or other equipment enter the visual warning line, braking protection is performed to avoid collisions, and the interference source intrusion risk assessment is performed according to the visual image, and the length of the first warning distance is adjusted according to the risk assessment result. As the intrusion risk of the interference source increases, the length of the first warning distance can be increased to improve the prevention effect; when the intrusion risk of the interference source is small, the length of the first warning distance is reduced, and the size of the encirclement area of ​​the visual warning line is reduced to avoid erroneously triggering the robot's protective brake and suspending production. The robot-based safety protection method and system of the present invention can effectively improve the protection effect by using a virtual visual warning line, and can dynamically adjust the warning distance, taking into account both production safety and production efficiency.

[0022] Specifically, Figure 1 FIG. 1 is a main flow chart of the robot-based safety protection method of this embodiment, including: Step S01: collecting a visual image of a visual camera arranged in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Step S02: judging whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and controlling the robot to decelerate to a safe speed when judging that an interference source enters the encirclement area of ​​the visual warning line; Step S03: When the interference source exits the encirclement area of ​​the visual warning line, controlling the robot to resume the running speed; Step S04: performing interference source intrusion risk assessment based on the visual image, and adjusting the length of the first warning distance based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

[0023] In this embodiment, the visual camera is arranged above the robot to monitor the environment near the robot from top to bottom, and the fixed mounting base of the visual camera is separately arranged from the fixed mounting base of the robot to avoid the influence of vibration during the operation of the robot on the visual camera, thereby ensuring the fixity of the visual image collected by the visual camera, and further ensuring the fixity of the warning range of the set visual warning line, thereby ensuring the warning accuracy.

[0024] In actual production, the robot may be set up in a relatively open area, or against a wall, a large control cabinet or other structure. Correspondingly, the possible intrusion directions of interference sources such as external staff, other robots or equipment will be different. The lens direction of the visual camera can be adjusted according to the possible intrusion direction of the interference source to increase the recognition distance of the interference source, improve the protection effect, reduce the proportion of invalid image information in the visual image, and improve resource utilization.

[0025] In step S02, the step of controlling the robot to decelerate to a safe speed is, for example, emergency braking, which controls the robot to stop. The corresponding limit stopping distance is related to the first warning distance, which can be obtained based on the calculation method of the robot's limit moving distance in the collaborative robot safety standard ISO / TS15066:2016. Generally speaking, the first warning distance is related to the speed of the interference source and the movement speed of the robot. This application does not elaborate on the specific calculation method.

[0026] The safety speed is, for example, 0.25 meters per second. When a safety warning is triggered, the robot's running speed is controlled to be reduced to below 0.25 meters per second, running in a safer low-speed mode. This can prevent the robot from completely suspending its work and reduce the energy consumption required for shutdown and restarting.

[0027] Among them, when the safety warning is triggered, the robot is controlled to decelerate to a safe speed or emergency brake to stop. It can be selected according to the intrusion risk of the interference source. When the intrusion risk is high and exceeds the preset risk threshold, emergency braking is selected to stop, otherwise it is selected to decelerate to a low-speed operation mode.

[0028] In order to improve the redundancy of protection and the reliability of protection, in this embodiment, a laser radar is also set outside the working area of ​​the robot. Correspondingly, the safety protection method also includes: collecting radar information of the laser radar set around the working range of the robot, and setting a radar warning area in combination with the preset working range of the robot and the second warning distance; judging whether an interference source enters the radar warning area according to the radar information and the radar warning area, and controlling the robot to slow down to a safe speed when it is judged that an interference source enters the radar warning area. Provide double protection monitoring and improve the reliability of protection.

[0029] In an optional embodiment, step S04 also includes: obtaining motion information of the interference source according to the visual image, and updating the first warning distance according to the motion information, wherein the motion information includes the movement speed of the interference source, and the faster the movement speed of the interference source, the longer the first warning distance.

[0030] Specifically, the motion information includes the motion trajectory and motion speed of the geometric center and geometric edge of the interference source, and the step of updating the first warning distance according to the motion information further includes: According to the motion trajectory and motion speed of the geometric center and the geometric edge of the interference source, obtaining the predicted trajectory and predicted speed of the geometric edge; Determining whether the interference source is likely to enter the encirclement area of ​​the visual warning line according to the predicted trajectory of the geometric edge; When there is a possibility that the interference source enters the enclosed area of ​​the visual warning line, the first warning distance is updated according to the predicted speed of the geometric edge to update the position of the visual warning line.

[0031] Taking the human body as an example, the geometric center is the human torso, and the geometric edges are the head and the extremities of the limbs. The motion trajectory and speed of the head and limbs are superimposed with the motion trajectory and speed of the human torso. The predicted trajectory and predicted speed of the head and limbs are more accurate, which can improve the recognition accuracy of security alerts.

[0032] For example, when a nearby person waves his hand with the end of his arm moving in an arc and passes near the robot's working area but does not actually invade the robot's working area, the above method can be used to predict his motion trajectory. According to the prediction result, it can be judged that the collision risk is low, the first warning distance can be shortened, and false triggering of protection can be avoided. Even if the protection is triggered at this time, the warning range is reduced, and the time for the intrusion source to exit the warning range will be shortened, and the time taken for the robot to resume work will be shorter, thereby increasing the effective working time of the robot and improving production efficiency.

[0033] The motion regularity of the interference source can also be obtained based on the continuous monitoring data of the motion trajectory of the geometric edge, and the confidence can be obtained based on the motion regularity. The higher the confidence, the higher the credibility of the predicted trajectory and predicted speed, and the higher the accuracy of judging whether the interference source enters the encircled area of ​​the visual warning line; the lower the credibility, the lower the accuracy of judging whether the interference source enters the encircled area of ​​the visual warning line. The predicted trajectory and predicted speed of the geometric edge are compensated based on the confidence. The compensated predicted trajectory is closer to the robot, and the compensated predicted speed increases. The predicted trajectory and predicted speed are used to judge whether the interference source is likely to enter the encircled area of ​​the visual warning line, and the first warning distance is updated. The lower the confidence, the greater the compensation.

[0034] In production, the actions of workers generally have obvious repetitiveness. When workers perform abnormal operations, the repetitiveness of their actions is generally low, and when performing abnormal operations, the risk of their actions invading the working range of the robot is high. Therefore, it can be understood that the regularity of their movements can be confirmed based on the repetitiveness of their movements, and the intrusion risk can be compensated and corrected based on their regularity of movement. Adjusting the first warning distance can improve the accuracy of warning protection and production safety to a certain extent.

[0035] In another optional embodiment, step S04 further includes: Performing behavior analysis on the interference source entering the visual range according to the visual image, and obtaining the current behavior danger level of the interference source in combination with a preset behavior danger level table; The first warning distance is adjusted according to the current behavior danger level, wherein the higher the current behavior danger level is, the longer the first warning distance is.

[0036] Among them, the behaviors in the behavior danger level table may include walking, running, waving, fighting, falling, etc., and when the current behavior of the interference source includes at least two behaviors in the behavior danger level table, the current behavior danger level of the interference source is the sum of the corresponding at least two danger levels.

[0037] For example, the maximum terminal speed of a person waving his hands under normal circumstances is about 1.4 meters per second, while the maximum terminal speed during a fight is about 8 to 10 meters per second. Correspondingly, the danger levels of walking, running, waving, fighting, and falling can be set to 1, 2, 3, 5, and 4 respectively. If a person runs close to the robot while waving, the danger level is 5, that is, waving while running, the speed of the arm end will increase, and the risk of the arm end invading the robot's working area and causing a collision will increase, and the danger level will increase. The specific level division can be continuously optimized based on historical statistical data combined with neural network technology.

[0038] Compared with speed calculation and prediction, collision risk assessment based on human behavior can reduce the impact of speed and trajectory calculation errors on prediction results, make predictions more accurate, and behavior recognition has better extensiveness. It can achieve recognition when the interference source is far away, thereby increasing the security prediction range and further improving the security effect.

[0039] Behavioral analysis of interference sources can be achieved using neural network technology. For example, neural network models such as OpenPose, YOLO, MediaPipe, and AlphaPose can identify a variety of human movements and behaviors.

[0040] In order to further reduce the possibility of the robot pausing due to false triggering of protection, in this embodiment, it also includes: updating the first warning distance in real time according to the running speed of the robot, wherein the higher the running speed of the robot, the longer the first warning distance. When the robot is transporting materials, the actions of taking and placing materials and transferring materials are different, and their running speeds are different. The safety problem of collision mainly occurs in the stage of transferring materials. The running speed of transferring materials (the maximum speed during operation) can be used as the reference speed for adjusting the first warning distance.

[0041] To improve the accuracy of risk assessment, the current behavior of the interference source can be combined with the motion trajectory and speed. For example, the danger level can be further subdivided according to the running speed and waving speed. This can further improve the prediction accuracy of collision risk, improve the balance between safety and production efficiency, and further improve safety and production efficiency.

[0042] The present application also provides a robot-based safety protection system, such as Figure 2 As shown, it includes a visual camera 11 and a main controller 10, wherein the visual camera 11 is arranged in the upper space of the robot 20 to collect the surrounding environment information of the robot 20 from top to bottom. The robot 20 is, for example, a six-axis industrial robot that can support omnidirectional operation requirements.

[0043] The main controller 10 is connected to the visual camera 11 and the robot 20 for communication control, so as to perform safety protection according to the captured images of the visual camera 11, and control the robot 20 to slow down or stop when there is a safety problem. The material rack 40 is generally placed and positioned on the positioning platform 30, and the placement position of the material rack 40 is limited by the positioning platform 30, so that the material rack 40 can be accurately positioned in the effective working area of ​​the robot 20, thereby ensuring the working efficiency of the robot 20.

[0044] To achieve safety protection, the main controller 10 is also specifically used for: Collecting a visual image of a visual camera disposed in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Determine whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and control the robot to decelerate to a safe speed when it is determined that an interference source enters the encirclement area of ​​the visual warning line; When the interference source exits the enclosed area of ​​the visual warning line, controlling the robot to resume the running speed; Furthermore, an interference source intrusion risk assessment is performed based on the visual image, and the length of the first warning distance is adjusted based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

[0045] The main controller 10 is also used to: obtain motion information of the interference source according to the visual image, and update the first warning distance according to the motion information, wherein the motion information includes the movement speed of the interference source, and the faster the movement speed of the interference source, the longer the first warning distance.

[0046] The main controller 10 is also used to: perform behavioral analysis on interference sources that enter the visual range based on the visual image, and obtain the current behavioral danger level of the interference source in combination with a preset behavioral danger level table; adjust the first warning distance based on the current behavioral danger level, wherein the higher the current behavioral danger level, the longer the first warning distance.

[0047] The positioning platform 30 can be used for the installation and fixation of the laser radar, thereby effectively ensuring the fixation of the laser radar and the validity of the detection results of the laser radar.

[0048] The robot-based safety protection method and system provided by the present invention utilize virtual visual warning lines to effectively improve the protection effect, and can dynamically adjust the warning distance, taking into account both production safety and production efficiency, reducing the possibility of false triggering of safety protection causing the robot to suspend work, and thus further improving production efficiency while ensuring safety.

[0049] And the control of security triggering based on the warning line can isolate the software systems of risk identification and security triggering, avoid the impact of software system failure on the effectiveness of security triggering, and thus ensure the reliability of security triggering. When the risk identification system fails, the first warning distance can be fixed at a preset value to ensure the effectiveness of security. The preset value of the first warning distance can be selected according to the specific situation.

[0050] Furthermore, the behavior of interference sources such as people and equipment can remain consistent over a larger time and space range, so that the behavior identification of interference sources can be completed at a longer distance, and risk prediction can be achieved earlier. Compared with the irregular movement of the interference source when it is abnormal, the behavior generally has better continuity. When the interference source enters the identification range, the behavior generally remains consistent, and the risk prediction conclusion is relatively certain, which can ensure the accuracy of the risk prediction. Therefore, based on behavior prediction, the effectiveness of risk prediction can be improved, the risk prediction distance can be effectively increased, and the security effect can be improved.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0052] The above-mentioned embodiments only express several specific implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A robot-based safety protection method, characterized in that: include: Collecting a visual image of a visual camera disposed in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Determine whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and control the robot to decelerate to a safe speed when it is determined that an interference source enters the encirclement area of ​​the visual warning line; When the interference source exits the enclosed area of ​​the visual warning line, controlling the robot to resume the running speed; Furthermore, an interference source intrusion risk assessment is performed based on the visual image, and the length of the first warning distance is adjusted based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

2. The robot-based safety protection method according to claim 1, characterized in that: Also includes: Collecting radar information of a laser radar set around the working range of the robot, and setting a radar warning area in combination with the preset working range of the robot and a second warning distance; It is determined whether an interference source enters the radar warning area according to the radar information and the radar warning area, and when it is determined that an interference source enters the radar warning area, the robot is controlled to decelerate to a safe speed.

3. The robot-based safety protection method according to claim 1, characterized in that: The step of performing interference source intrusion risk assessment according to the visual image and adjusting the length of the first warning distance according to the risk assessment result also includes: The motion information of the interference source is acquired according to the visual image, and the first warning distance is updated according to the motion information, wherein the motion information includes the motion speed of the interference source, and the faster the motion speed of the interference source is, the longer the first warning distance is.

4. The robot-based safety protection method according to claim 3, characterized in that: The motion information includes the motion trajectory and motion speed of the geometric center and geometric edge of the interference source, and the step of updating the first warning distance according to the motion information further includes: According to the motion trajectory and motion speed of the geometric center and the geometric edge of the interference source, obtaining the predicted trajectory and predicted speed of the geometric edge; Determining whether the interference source is likely to enter the encirclement area of ​​the visual warning line according to the predicted trajectory of the geometric edge; When the interference source is likely to enter the enclosed area of ​​the visual warning line, the first warning distance is updated according to the predicted speed of the geometric edge to update the position of the visual warning line.

5. The robot-based safety protection method according to claim 1, characterized in that: The step of performing interference source intrusion risk assessment according to the visual image and adjusting the length of the first warning distance according to the risk assessment result also includes: Performing behavior analysis on the interference source entering the visual range according to the visual image, and obtaining the current behavior danger level of the interference source in combination with a preset behavior danger level table; The first warning distance is adjusted according to the current behavior danger level, wherein the higher the current behavior danger level is, the longer the first warning distance is.

6. The robot-based safety protection method according to claim 5, characterized in that: The behaviors in the behavior danger level table include walking, running, waving, fighting, and falling, and when the current behavior of the interference source includes at least two behaviors in the behavior danger level table, the current behavior danger level of the interference source is the sum of the corresponding at least two danger levels.

7. The robot-based safety protection method according to claim 1, characterized in that: Also includes: The first warning distance is updated in real time according to the running speed of the robot, wherein the higher the running speed of the robot is, the longer the first warning distance is.

8. A robot-based safety protection system, characterized in that: The robot comprises a visual camera and a main controller, wherein the visual camera is arranged in the space above the robot, the main controller is connected with the visual camera and the robot for communication and control, and the main controller is used for: Collecting a visual image of a visual camera disposed in a space above the robot, and setting a visual warning line in the visual image according to a preset working range of the robot and a first warning distance; Determine whether an interference source enters the encirclement area of ​​the visual warning line according to the visual image and the visual warning line, and control the robot to decelerate to a safe speed when it is determined that an interference source enters the encirclement area of ​​the visual warning line; When the interference source exits the enclosed area of ​​the visual warning line, controlling the robot to resume the running speed; Furthermore, an interference source intrusion risk assessment is performed based on the visual image, and the length of the first warning distance is adjusted based on the risk assessment result, wherein the higher the intrusion risk of the interference source, the longer the first warning distance.

9. The robot-based safety protection system according to claim 8, characterized in that: The main controller is also used to: obtain motion information of the interference source according to the visual image, and update the first warning distance according to the motion information, wherein the motion information includes the movement speed of the interference source, and the faster the movement speed of the interference source, the longer the first warning distance.

10. The robot-based safety protection system according to claim 8, characterized in that: The main controller is also used for: Performing behavior analysis on the interference source entering the visual range according to the visual image, and obtaining the current behavior danger level of the interference source in combination with a preset behavior danger level table; The first warning distance is adjusted according to the current behavior danger level, wherein the higher the current behavior danger level is, the longer the first warning distance is.

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