Composite robot safety protection system and method based on dynamically configurable safety domain

Abstract

The invention provides a composite robot safety protection system based on a dynamically configurable safety domain, which is applied to the technical field of composite robot safety control, and is characterized in that a safety area template configuration module makes a safety area template corresponding to a working point location of a composite robot, and the safety area template comprises at least one safety area; the map and real-time sensing module detects that the composite robot moves to a working point location, loads a safe area template corresponding to the working point location, and detects an intruding object intruding into a safe area through matching of point cloud data and the safe area template; the mechanical arm speed regulation and control module carries out speed regulation and control on the mechanical arm according to the detected intruding object, is suitable for a dynamic scene of the movable base and scene changes of different stations, can also be reused for collaborative operation of a plurality of composite robots, and can improve the space utilization rate, the production efficiency and the safety.

Description

Technical Field

[0001] The present application relates to the technical field of composite robot safety control, and in particular to a composite robot safety protection system and method based on a dynamically configurable safety domain. Background Art

[0002] With the continuous development of industrial automation and the expansion of the market, in many human-machine collaboration scenarios, safety protection of robotic arms has become a rigid requirement for fixed operations of composite robots.

[0003] The safety protection function of existing composite robots is mainly achieved by adding fixed safety fences, but the traditional fixed safety fence mechanism will lead to low utilization of the working space.

[0004] Based on this, a new technical solution is needed. Summary of the Invention

[0005] In view of this, the present application provides a composite robot safety protection system and method based on dynamically configurable safety domains.

[0006] This application provides the following technical solutions: According to the present application, a composite robot safety protection system based on a dynamically configurable safety domain is provided, comprising a composite robot, a safety area template configuration module, a map and real-time perception module, and a robotic arm speed control module; the safety area template configuration module creates a safety area template corresponding to the working point of the composite robot, and the safety area template includes at least one safety area; the map and real-time perception module detects the composite robot moving to the working point, and loads the safety area template corresponding to the working point, and detects intruders entering the safety area by matching point cloud data with the safety area template; the robotic arm speed control module controls the speed of the robotic arm according to the detected intruder.

[0007] Preferably, the safety areas are set in multiple numbers, and the multiple safety areas are set around the mobile platform of the composite robot. Each of the safety areas has an independent safety level, forming a multi-level safety area; the level of the safety area is determined according to the distance between the safety area and the robotic arm, and different levels of safety areas correspond to different level coefficients, which are used to control the speed of the robotic arm.

[0008] Preferably, the safety zone includes a polygonal safety zone; the actual speed coefficient of the robotic arm is the layer coefficient of the intruding polygonal safety zone multiplied by the distance ratio of the intruder's position within the current polygon.

[0009] Preferably, the safety protection system is n A polygonal safety area, taking the minimum speed as the current robot arm running speed : ; ; ; in, is the relative position of the nearest end of the intruding object within the polygonal safety area, is the polygon safety threshold, is the coefficient corresponding to the safety level of the polygonal area, The running speed of the robot arm in normal state; For the n The running speed of the robotic arm corresponding to the polygonal safety area.

[0010] Preferably, the safety protection system dynamically and flexibly accelerates and decelerates the speed of the manipulator arm as the intruder continues to approach or move away from the composite robot, so as to make the manipulator arm move smoothly.

[0011] Preferably, the safety area template configuration module supports modular storage and calling of workstations, stores each work point data of the composite robot and the corresponding safety area template data in a database, binds and associates the work point data with the safety area template data, and at the same time binds the same safety area template data to the same work point data in multiple scenarios, thereby realizing the reuse and cross-workstation deployment of the safety area template.

[0012] Preferably, each work point and safety area template is provided with an identification number in the database, and the identification number of the work point is associated with the identification number of the corresponding safety area template.

[0013] Preferably, the mobile platform of the composite robot is equipped with a laser radar for scanning the point cloud in the scene; the safety protection system filters the scanned point cloud in the scene, and converts the radar coordinate system to the base center coordinate system of the composite robot, creates a map based on the point cloud in the scene, keeps the scene point cloud under the map, and pre-sets the working point of the composite robot on the map; draws a safety area template on the front-end page of the composite robot under the base center coordinate system of the composite robot.

[0014] According to the present application, a composite robot safety protection method based on a dynamically configurable safety domain is also provided, including: making a safety area template corresponding to the working point of the composite robot, and the safety area template includes at least one safety area; detecting that the composite robot moves to the working point and loading the safety area template corresponding to the working point, detecting intruders entering the safety area by matching point cloud data with the safety area template; and regulating the speed of the robotic arm according to the detected intruders.

[0015] Preferably, the security protection method further comprises: using a laser radar to scan a point cloud in the scene, creating a map, and saving the scene point cloud under the map; Set the working position of the composite robot on the map in advance and store the working position data in the database; The composite robot moves to the work point, uses a lidar to scan the surrounding environment, displays the scene point cloud on the front-end interface, determines the area to be avoided, divides it into multiple polygonal safety zones, and hierarchizes the multiple safety zones. Different levels correspond to different robot arm speed coefficients. The polygonal safety zone is represented by multiple sequentially arranged and first-connected points. At the same time, a safety level field is added, which is an array of multiple polygonal safety zone level data. A safety zone template is created and the safety zone template data is stored in the database. After building the map, bind the work point data to the map and associate the work point data with the corresponding safety area template data; During actual operation, the laser radar scans the surrounding point cloud in real time and matches it with the map point cloud to confirm the position of the composite robot on the current map; After the composite robot reaches the working point and stops, the safety zone template corresponding to the working point is loaded from the database; Real-time matching of the LiDAR point cloud and the spatial relationship between the safety zone to detect intruders; The point cloud obtained from the LiDAR is filtered and all point clouds in the area surrounding the vehicle body are traversed. The ray method is used to determine whether the intruder point is inside the polygon. If the intruder point is inside, the product of the relative distance ratio of the intruder point within the polygon and the speed ratio corresponding to the polygon safety level is the final speed attenuation ratio of the manipulator, realizing multi-level dynamic adjustment of the manipulator speed. The speed ratio is sent to the robotic arm, and the robotic arm responds by decelerating; When the object exits the safety zone, the robot arm speed curve returns to the preset value.

[0016] Compared with the prior art, the at least one technical solution adopted in this application can achieve the following beneficial effects: This application uses a safety area template configuration module to create a safety area template corresponding to the working point of the composite robot, and the safety area template includes at least one safety area; the map and real-time perception module detects the composite robot moving to the working point, and loads the safety area template corresponding to the working point, and detects intruders entering the safety area by matching the point cloud data with the safety area template; the robotic arm speed control module controls the speed of the robotic arm according to the detected intruder, adapts to the dynamic scene of the mobile base, is suitable for scene changes at different workstations, and can also be reused for the collaborative operation of multiple composite robots, which can improve space utilization, production efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 It is a simplified working diagram of the safety protection system in this application; Figure 2 This is a simplified diagram of the polygon drawing page in this application; Figure 3 This is a quick deployment diagram of the security solution in this application; Figure 4 It is the overall structure and data flow diagram of the security protection system in this application. DETAILED DESCRIPTION

[0019] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0020] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0021] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0022] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0023] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0024] Through in-depth research and improvement exploration on the safety protection of composite robots, the applicant found that the safety protection function of existing composite robots is mainly achieved by adding fixed safety fences, manual emergency stop switches and fixed safety radar area protection, which has the following shortcomings: 1. The traditional fixed safety fence mechanism will lead to low utilization of the working space; 2. The existing manual emergency stop switch (or button) mechanism will cause a decrease in production efficiency and poor safety performance, and can only exist as a bottom-line safety mechanism; 3. The existing fixed safety radar area protection technology cannot adapt to the dynamic scenes of the mobile base, and the configuration is relatively cumbersome after the surrounding scene changes.

[0025] Based on this, the technical solutions provided by the various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0026] The embodiment of this specification proposes a composite robot safety protection system based on a dynamically configurable safety domain, such as Figure 1 and Figure 4 As shown, the system includes a hybrid robot, a safety zone template configuration module, a map and real-time perception module, and a robotic arm speed control module. The safety zone template configuration module creates a safety zone template corresponding to the hybrid robot's workstation, and the safety zone template includes at least one safety zone. The map and real-time perception module detects the hybrid robot's movement to the workstation and loads the corresponding safety zone template. It then matches point cloud data with the safety zone template to detect intruders entering the safety zone. The robotic arm speed control module controls the robotic arm's speed based on detected intruders. The hybrid robot's equipped laser radar acquires point cloud data.

[0027] Among them, the composite robot includes a mobile AGV (Automated Guided Vehicle) platform, a robotic arm and a robot system. The robot system also includes a front-end interactive page, a database and a logic processing program.

[0028] Safety Zone Template Configuration Module: Use the front-end interface to draw multi-level polygonal safety zones in the AGV's base_link coordinate system and store them in a PostgreSQL database. PostgreSQL is a relational database management system. The base_link coordinate system here refers to the center coordinate system of the composite robot's base, and is hereafter referred to as base_link.

[0029] Map and real-time perception module: detects the location of intruders by matching lidar point cloud data with pre-stored safe areas; Multi-level dynamic control module for robotic arm speed: dynamically adjusts the robotic arm movement speed according to the security level of the intruding polygonal area and the location of the intruding object.

[0030] In one embodiment, if Figure 2 As shown in the figure, multiple safety zones are set, and multiple safety zones are set around the mobile platform of the composite robot. Each safety zone has an independent safety level, forming a multi-level safety zone. The level of the safety zone is determined according to the distance between the safety zone and the robotic arm. Safety zones of different levels correspond to different level coefficients, which are used to control the speed of the robotic arm.

[0031] The concept of multi-level safety zones is that each polygonal area within the safety zone template can have an independent safety level. The safety levels are divided into three levels: L1, L2, and L3. Different levels correspond to different robot arm speed coefficients, such as L1 is 0.2, L2 is 0.5, and L3 is 0.8. The specific coefficient values can be manually set. For example, there are three safety zones.

[0032] The number of safety zones is relatively flexible and is determined by the number of risk sources at the workstation and the safety level stratification requirements. Each independent risk source corresponds to a polygon. (1) This system defines the risk source with the car body at the current workstation as the center. The conventional method is to distinguish them by direction. The car is a rectangle, so theoretically there should be four directional risk sources. (2) The number of risk sources of the trolley should be combined with the surrounding environment. For example, the risk sources in the four directions mentioned above, but for example, if the machine is placed on the right side, after the trolley radar scans the edge of the machine, only the point cloud of the edge of the machine is displayed on the map, and the point cloud behind the edge of the machine is blocked, then the risk source in this direction is considered to have disappeared; (3) In addition, for adjacent sides such as the left and bottom sides, if it is believed that the possibility of people or objects breaking into the two sides is roughly the same, an "L" shape can be drawn to divide the risk sources in the two directions into the same polygon; (4) If a direction is more likely to have people or objects breaking into, the safety level of the polygon in that direction can be increased (L1 / L2 / L3 multi-level control); therefore, the number of safety areas is relatively flexible and is determined by the risk and safety level stratification requirements in each direction when the trolley is working at the work station.

[0033] In one embodiment, the safety zone includes a polygonal safety zone; the actual speed coefficient of the robotic arm is the multiplication of the level coefficient of the intruding polygonal safety zone and the ratio of the distance of the intruding object within the current polygon. That is, the actual speed coefficient of the robotic arm is the multiplication of the level coefficient of the intruding polygonal safety zone and the ratio of the distance of the intruding object within the current polygon.

[0034] Polygonal shapes are drawn manually through the front-end interface. Polygonal shapes can be any shape as long as their edges do not intersect. However, they are generally rectangles and convex polygons. In some special cases, such as when the machine is smaller than the cart and there is a large gap between the machine and the cart, a concave polygon can be used to wrap the machine to prevent people from entering the middle area.

[0035] The number of corner points is the number of polygons. After the front-end page is drawn, the corner points are connected end to end to form a polygon. For example, the four numbers in the list [(0, 0), (2, 0), (2, 4), (0, 2)] are connected in sequence and end to end to form a quadrilateral.

[0036] In one embodiment, the safety protection system is n A polygonal safety area, taking the minimum speed as the current robot arm running speed .

[0037] Multi-level dynamic control module for robot arm speed: Dynamically adjusts the robot arm movement speed based on the security level of the intruding polygonal area and the location of the intruding object, satisfying the following relationship: ; ; ; in, The relative position of the nearest end of the intruding object within the polygonal safety zone, that is, the relative position of the nearest end of the intruding object within the polygon; The polygonal safety threshold can be understood as the relative distance between the farthest and nearest ends of the polygonal area and the vehicle body; is the coefficient corresponding to the safety level of the polygonal area, The running speed of the robot arm in normal state; For the n The robot arm's operating speed corresponds to the polygonal safety area. Foreign objects may break into multiple polygonal areas, and the minimum speed is taken as the current robot arm's operating speed.

[0038] In one embodiment, the safety protection system dynamically and flexibly accelerates and decelerates the speed of the robot arm as the intruder continues to approach or move away from the composite robot, so as to ensure smooth movement of the robot arm.

[0039] In one embodiment, Figure 3 As shown, the safety area template configuration module supports modular storage and calling of workstations, stores each work point data of the composite robot and the corresponding safety area template data in the database, binds the work point data with the safety area template data, and binds the same safety area template data to the same work point data in multiple scenarios, realizing the reuse and cross-workstation deployment of the safety area template, so that multiple composite robots can share the database when working together in the same scenario.

[0040] The safety zone configuration module supports modular storage and access for workstations. The system maps the scene into a map coordinate system. Data for each robot's workstation within the scene is stored in a database, along with the safety zone template data. Workstations can be associated with safety zone solutions by binding the template ID (Identity Document) to the location ID in the database. A single template can be bound to the same workstation in multiple scenes, enabling rapid deployment of safety zone solution templates across workstations. Both workstation data and safety zone template data contain map-based location information and unique IDs.

[0041] In one embodiment, each work point and safety zone template is provided with an identification number in the database, and the identification number of the work point is associated with the identification number of the corresponding safety zone template.

[0042] In one embodiment, the mobile platform of the composite robot is equipped with a laser radar for scanning point clouds within a scene; the safety protection system filters the scanned point clouds within the scene, and converts the radar coordinate system to the base center coordinate system of the composite robot, creates a map based on the point clouds within the scene, keeps the scene point clouds under the map, and pre-sets the working points of the composite robot on the map; and draws a safety area template on the front-end page of the composite robot under the base center coordinate system of the composite robot.

[0043] like Figure 4As mentioned above, the entire safety system is divided into two parts. The composite robot is composed of a chassis vehicle equipped with a laser radar and a robotic arm, and the robot operating system is composed of a front-end page, a database, and a logic processing program. The entire safety system begins with a real-time lidar scan of the scene point cloud. The logic processing program filters the point cloud and converts it to the base_link coordinate system for publication. The raw point cloud data is in the radar coordinate system, and the radar and the robot are hardware-connected. The real-time point cloud data is then processed in two parts. One part is displayed on the front-end page to assist the operator in drawing the safety zone, and the other part is used by the logic processing program to determine the point cloud within the polygonal area, the robot's arrival at the work point, and the safety plan bound to that point. On the front-end interactive page, the operator draws the safety zone template and stores it in the PostgreSQL database. At the same time, the safety template is bound to the work point attributes and the binding relationship is stored in the database. The logic processing program patrols the robot's position on the map. If the current position overlaps with a work point on the map, it retrieves the safety zone template data bound to that point from the database, determines the intrusion event in real time, calculates the robot arm speed coefficient, and sends the robot arm speed. The entire safety system ends when the robot arm receives the speed coefficient and responds to acceleration and deceleration.

[0044] The embodiment of this specification also discloses a composite robot safety protection method based on a dynamically configurable safety domain, such as Figure 1 and Figure 4 As shown, the method includes: making a safety area template corresponding to the working point of the composite robot, and the safety area template includes at least one safety area; detecting that the composite robot moves to the working point and loading the safety area template corresponding to the working point, detecting intruders entering the safety area by matching point cloud data with the safety area template; and regulating the speed of the robotic arm according to the detected intruders.

[0045] In one embodiment, the security protection method further includes: using a laser radar to scan a point cloud in a scene, creating a map, and saving the scene point cloud under the map.

[0046] The working points of the composite robot are set on the map in advance, and the working point data is stored in the database.

[0047] The composite robot moves to the working point, uses the lidar to scan the surrounding environment, displays the scene point cloud on the front-end interface, determines the area that needs to be avoided, divides multiple polygonal safety areas, and hierarchizes the multiple safety areas. Different levels correspond to different robot arm speed coefficients, and uses multiple sequentially arranged and first-connected points to represent the polygonal safety area. At the same time, a safety level field is added, which is an array of multiple polygonal safety area level data. A safety area template is created and the data of the safety area template is stored in the database.

[0048] After building the map, bind the work point data to the map and associate the work point data with the corresponding safety area template data.

[0049] During actual operation, the laser radar scans the surrounding point cloud in real time and matches it with the map point cloud to confirm the position of the composite robot on the current map.

[0050] After detecting that the composite robot reaches the working point and stops, the safety area template corresponding to the working point is loaded from the database.

[0051] Real-time matching of the LiDAR point cloud and the spatial relationship between the safe area to detect intruders.

[0052] The point cloud obtained from the lidar is filtered and all point clouds in the area around the vehicle body are traversed. The ray method is used to determine whether the intruder point is inside the polygon. If the intruder point is inside, the product of the relative distance ratio of the intruder point within the polygon and the speed ratio corresponding to the polygon safety level is the final speed attenuation ratio of the robot arm, realizing multi-level dynamic adjustment of the robot arm speed.

[0053] The speed ratio is sent to the robotic arm, and the robotic arm responds by decelerating.

[0054] When the object exits the safety zone, the robot arm speed curve returns to the preset value.

[0055] Specifically: the security protection method includes the following steps: Step S1: This step is to create a map: use the lidar to scan a large scene point cloud, create a map, and save the scene point cloud under the map. The map coordinate system is called a map. The map is used to compare and map the robot's current position in real time and save work point data.

[0056] Step S2: This step involves creating points on the map. Predefine the hybrid robot's workpoints on the map. These workpoints are defined as the chassis is stationary, while the robotic arm is operating. These workpoints, such as point A and point B, are stored in the PostgreSQL database within the map coordinate system. The map coordinate system is referred to below as "in a certain coordinate system" or "based on a certain coordinate system," such as "in a map coordinate system," "based on the map coordinate system," or "based on the map."

[0057] Step S3: This step details how to flexibly create a safety area template: move the robot to work point A, use the lidar to scan the surrounding environment, and display the vehicle length and width information and the filtered point cloud on the front-end interface. The operator manually judges the areas such as machines that need to be avoided based on the above information and divides the area; this system divides the safety level of a single polygon into three levels: L1, L2, and L3. Different levels correspond to different robot arm speed coefficients, for example, L1 is 0.2, L2 is 0.5, L3 is 0.8, etc. The operator can assign values to the coefficients; the introduction of the concept of hierarchical division can enable the operator to configure the safety area more flexibly, and divide the areas with lower safety risks into low levels, that is, the robot arm slows down to a smaller extent, and when foreign objects break in, the beat lost by the single-level robot arm deceleration is reduced to a certain extent; the operator assigns polygon hierarchical attributes according to the actual scene needs. The collection of multiple polygonal areas on a single work point can be used as a safety area template, that is, a safety plan. The configured safety plan is referred to here as Plan A. This patent uses multiple sequentially arranged and first connected points, that is, polygon corner points, to express a single polygon, and adds a safety level field. The plan contains an array of multiple polygon level data, and the data of Plan A is stored in the PostgreSQL database. Among them, the hierarchical division does not mean that the closer to the robot, the higher the safety level, but the distance from the robotic arm. For example, the right side of the vehicle body is the machine platform, and the robotic arm has been working on the machine platform since it arrived at the point. Therefore, the safety risk on the left side of the vehicle body is considered to be smaller and should be divided into a lower safety level. Figure 2 As shown, step S3 polygon drawing page.

[0058] Step S4: This step describes the rapid deployment of safety templates across workstations: In many industrial and laboratory scenarios, there are many machines, that is, the surrounding scenes of the compound robot working points are similar, or basically the same; only the surrounding scenes of individual points, such as those close to the wall, are different.

[0059] In other words, work points with consistent surrounding scenes can use the same set of safety solutions, while individual solutions can be configured for inconsistent scenes. For example, in the figure below, points A and F with consistent scenes can share solution a, points G and H, which are located close to the wall, can use solution b, and individual point I can use solution c.

[0060] As mentioned above, after the map is built, the point data is bound to the map. Each point has an independent and different ID in the database. A single safety template also has its own independent ID. There is a field under the point attribute for the safety plan ID. As long as the safety template ID is filled in this field, the prepared safety plan can be associated with the point, and the reuse of the safety plan and rapid deployment across stations can be achieved. At the same time, if multiple composite robots work together in the same scene, they can also share the database and use the operation plan configured by other robots. Figure 3As shown, the security solution is quickly deployed.

[0061] Step S5: In this step, the robot position is associated with the map in real time: After the preliminary configuration is completed, during actual operation, the robot control system will use the lidar to scan the surrounding point cloud in real time and match it with the map point cloud to confirm the robot's position in the current map (that is, the real-time position of base_link in the map coordinate system).

[0062] Step S6: In this step, the logic program obtains the safety plan from the database: after retrieving that the robot reaches point A and stops, the safety plan template corresponding to point A, i.e., plan A, is loaded from the database.

[0063] Step S7: The logic program of this step detects the intrusion event: real-time matching of the spatial relationship between the lidar point cloud and the safe area, that is, detecting the intrusion event, and the point cloud is based on base_link.

[0064] Step S8: This step dynamically sends the robot arm speed coefficient: filter the point cloud obtained from the lidar, and traverse all point clouds in a certain area around the vehicle body; use the ray method to determine whether the point is inside the polygon. If the point is inside, then according to the above formula, the product of the relative distance ratio of the point inside the polygon and the speed ratio corresponding to the polygon safety level is the final robot arm speed attenuation ratio, thereby realizing multi-level dynamic adjustment of the robot arm speed; the speed ratio is sent to the robot arm, and the robot arm responds by deceleration; and if the intruder continues to approach or move away from the robot, the robot arm speed will dynamically and flexibly accelerate and decelerate accordingly. This method eliminates the situation where the robot arm receives a large speed difference and suddenly accelerates or decelerates, improves the smoothness of the robot arm movement, and at the same time reduces the impact force after a human-machine collision to a certain extent.

[0065] Step S9: When the object exits the safety area, the robot arm speed curve returns to the preset value.

[0066] This application is a multi-level protection system and method for composite robots based on dynamic safety domains. Through real-time laser radar perception and dynamic configuration of polygonal safety domains, it solves the problems of low space utilization caused by traditional fixed fences and the inability of static protection to adapt to mobile scenarios.

[0067] This application demonstrates dynamic adaptability to complex robot scenarios: through the robot's own real-time lidar sensing and dynamic loading of safety zones, the complex robot can adapt to varying workstation scenarios to a certain extent. This significantly improves workspace utilization compared to the commonly used fixed safety radar zone divisions. The system supports templated storage and rapid deployment of multi-level safety domains, combined with a multi-level dynamic control algorithm for robotic arm speed, ensuring the safety of human-robot collaboration while improving operational efficiency.

[0068] This application is a safety protection system and method that realizes multi-level dynamic control of the robot arm speed by templating the safety area and quickly deploying it across workstations. It is a composite robot safety mechanism and is suitable for scenarios that require human-machine collaboration, such as industrial logistics and medical assistance.

[0069] This application has the advantages of improving production efficiency and managing safety risks: hierarchical speed control avoids production interruptions caused by common emergency stop schemes, dynamic speed adjustment can achieve flexible acceleration and deceleration of the robot arm, improve the smoothness of the robot arm's movement and reduce the impact force of human-machine collisions, and at the same time realize refined risk management through regional priorities.

[0070] The present application is a composite robot safety protection system and method with dynamically configurable areas. When the composite robot is operating at a certain workstation, the safety area (the sum of multiple polygonal areas) configured at the workstation is displayed on the front-end page. When a person or other object breaks into one or more of the designated polygonal areas, the robotic arm reduces its speed to a relatively proportional speed (the closer to the vehicle body, the lower the relative speed) according to the safety level of the current area, and then gradually increases to normal speed after leaving.

[0071] This application features safe area templates and rapid deployment across workstations: the safe area solution is modularized and rapidly deployed across workstations through database association. It can also be reused when multiple robots work together, greatly reducing the time cost of on-site debugging.

[0072] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0073] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A composite robot safety protection system based on dynamically configurable safety domains, characterized in that: The system includes a composite robot, a safety zone template configuration module, a map and real-time perception module, and a robotic arm speed control module; the safety zone template configuration module creates a safety zone template corresponding to the composite robot's working point, and the safety zone template includes at least one safety zone; the map and real-time perception module detects when the composite robot moves to the working point, loads the safety zone template corresponding to the working point, and detects intruders entering the safety zone by matching point cloud data with the safety zone template; the robotic arm speed control module controls the speed of the robotic arm according to the detected intruders.

2. The composite robot safety protection system based on dynamically configurable safety domain according to claim 1 is characterized in that: There are multiple safety zones, and the multiple safety zones are arranged around the mobile platform of the composite robot. Each safety zone has an independent safety level, forming a multi-level safety zone. The level of the safety zone is determined according to the distance between the safety zone and the robotic arm. Safety zones of different levels correspond to different level coefficients, which are used to control the speed of the robotic arm.

3. The composite robot safety protection system based on dynamically configurable safety domain according to claim 2 is characterized in that: The safety area includes a polygonal safety area; the actual speed coefficient of the robotic arm is the layer coefficient of the intruding polygonal safety area multiplied by the distance ratio of the intruder position within the current polygon.

4. The composite robot safety protection system based on dynamically configurable safety domain according to claim 3 is characterized in that: The safety protection system is in the event of foreign objects intruding n A polygonal safety area, taking the minimum speed as the current robot arm running speed : ； ； ； in, is the relative position of the nearest end of the intruding object within the polygonal safety area, is the polygon safety threshold, is the coefficient corresponding to the safety level of the polygonal area, The running speed of the robot arm in normal state; For the n The running speed of the robotic arm corresponding to the polygonal safety area.

5. The composite robot safety protection system based on dynamically configurable safety domain according to claim 3 is characterized in that: The safety protection system dynamically and flexibly accelerates and decelerates the speed of the robotic arm according to whether the intruder continues to approach or move away from the composite robot, so that the robotic arm moves smoothly.

6. The composite robot safety protection system based on dynamically configurable safety domain according to any one of claims 1 to 5, characterized in that: The safety area template configuration module supports modular storage and calling of workstations, stores each work point data of the composite robot and the corresponding safety area template data in the database, binds and associates the work point data with the safety area template data, and at the same time binds the same safety area template data to the same work point data in multiple scenarios to realize the reuse and cross-workstation deployment of the safety area template.

7. The composite robot safety protection system based on dynamically configurable safety domain according to claim 6, characterized in that: Each work point and safety zone template is provided with an identification number in the database, and the identification number of the work point is associated with the identification number of the corresponding safety zone template.

8. The composite robot safety protection system based on dynamically configurable safety domain according to any one of claims 1 to 5, characterized in that: The mobile platform of the composite robot is equipped with a laser radar for scanning the point cloud within the scene; the safety protection system filters the scanned point cloud within the scene, and converts the radar coordinate system to the base center coordinate system of the composite robot, creates a map based on the point cloud within the scene, keeps the scene point cloud under the map, and pre-sets the working point of the composite robot on the map; draws a safety area template on the front-end page of the composite robot under the base center coordinate system of the composite robot.

9. A composite robot safety protection method based on dynamically configurable safety domains, characterized in that: include: Creating a safety zone template corresponding to a working point of the composite robot, wherein the safety zone template includes at least one safety zone; The detection composite robot moves to the working point and loads the safety zone template corresponding to the working point. By matching the point cloud data with the safety zone template, it detects intruders entering the safety zone; and adjusts the speed of the robotic arm according to the detected intruders.

10. The composite robot safety protection method based on dynamically configurable safety domain according to claim 9, characterized in that: The security protection method further includes: using a laser radar to scan a point cloud in a scene, creating a map, and saving the scene point cloud under the map; Set the working position of the composite robot on the map in advance and store the working position data in the database; The composite robot moves to the work point, uses a lidar to scan the surrounding environment, displays the scene point cloud on the front-end interface, determines the area to be avoided, divides it into multiple polygonal safety zones, and hierarchizes the multiple safety zones. Different levels correspond to different robot arm speed coefficients. The polygonal safety zone is represented by multiple sequentially arranged and first-connected points. At the same time, a safety level field is added, which is an array of multiple polygonal safety zone level data. A safety zone template is created and the safety zone template data is stored in the database. After building the map, bind the work point data to the map and associate the work point data with the corresponding safety area template data; During actual operation, the laser radar scans the surrounding point cloud in real time and matches it with the map point cloud to confirm the position of the composite robot on the current map; After the composite robot reaches the working point and stops, the safety zone template corresponding to the working point is loaded from the database; Real-time matching of the LiDAR point cloud and the spatial relationship between the safety zone to detect intruders; The point cloud obtained from the LiDAR is filtered and all point clouds in the area surrounding the vehicle body are traversed. The ray method is used to determine whether the intruder point is inside the polygon. If the intruder point is inside, the product of the relative distance ratio of the intruder point within the polygon and the speed ratio corresponding to the polygon safety level is the final speed attenuation ratio of the manipulator, realizing multi-level dynamic adjustment of the manipulator speed. The speed ratio is sent to the robotic arm, and the robotic arm responds by decelerating; When the object exits the safety zone, the robot arm speed curve returns to the preset value.

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