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

Abstract

This application provides a safety protection system for composite robots based on dynamically configurable safety domains, applied in the field of composite robot safety control technology. The system includes a safety area template configuration module that creates a safety area template corresponding to the working position of the composite robot, with each template including at least one safety area. A map and real-time perception module detects when the composite robot moves to the working position and loads the corresponding safety area template. By matching point cloud data with the safety area template, intruders entering the safety area are detected. A robotic arm speed control module adjusts the robotic arm speed based on the detected intruders. This system adapts to dynamic scenarios with mobile bases, is suitable for different workstation scenarios, and can be reused for collaborative operations of multiple composite robots, improving space utilization, production efficiency, and safety.

Description

Technical Field

[0001] This application relates to the field of safety control technology for composite robots, specifically to a safety protection system and method for composite robots based on dynamically configurable safety domains. Background Technology

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

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

[0004] Therefore, a new technological solution is needed. Summary of the Invention

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

[0006] This application provides the following technical solution:

[0007] According to this application, a composite robot safety protection system based on dynamically configurable safety domains includes 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 composite robot's working position, and the safety area template includes at least one safety area. The map and real-time perception module detects when the composite robot moves to its working position and loads the corresponding safety area template. By matching point cloud data with the safety area template, it detects intruders entering the safety area. The robotic arm speed control module adjusts the speed of the robotic arm based on the detected intruders.

[0008] Preferably, multiple safety zones are configured, and these 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. Different levels of safety zones correspond to different level coefficients, which are used to control the speed of the robotic arm.

[0009] Preferably, the safe area includes a polygonal safe area; the actual speed coefficient of the robotic arm is the level coefficient of the polygonal safe area being entered multiplied by the distance ratio of the intruder's position within the current polygon.

[0010] Preferably, this security system detects intrusion by foreign objects. nA polygonal safety zone is defined, and the minimum speed within this zone is taken as the current operating speed of the robotic arm. :

[0011] ;

[0012] ;

[0013] ;

[0014] in, The relative position of the nearest end of the intruding object within the polygonal safety area. For polygon security threshold, This represents the coefficient corresponding to the security level of the polygonal region. This refers to the operating speed of the robotic arm under normal conditions. For the n The robotic arm's operating speed corresponds to each polygonal safety zone.

[0015] Preferably, the safety protection system dynamically and flexibly accelerates or decelerates the robotic arm speed according to the intruder's continued approach or departure from the composite robot, so as to make the robotic arm move smoothly.

[0016] Preferably, the safety area template configuration module supports modular storage and retrieval of workstations, storing the data of each working point of the composite robot and the corresponding safety area template data in the database, binding and associating the working point data with the safety area template data, and binding the same safety area template data under the same working point data in multiple scenarios, thereby realizing the reuse and cross-workstation deployment of the safety area template.

[0017] Preferably, each work point and security zone template is assigned an identifier in the database, and the identifier of the work point is associated with the identifier of the corresponding security zone template.

[0018] Preferably, the mobile platform of the composite robot is equipped with a lidar for scanning point clouds within the scene; the safety protection system filters the scanned point clouds within the scene and transforms the radar coordinate system to the coordinate system of the composite robot's base center, 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 zone template in the coordinate system of the composite robot's base center on the front-end page of the composite robot.

[0019] According to this application, a safety protection method for a composite robot based on a dynamically configurable safety domain is also provided, comprising: creating a safety area template corresponding to the working position of the composite robot, wherein the safety area template includes at least one safety area; detecting that the composite robot has moved to the working position and loading the safety area template corresponding to the working position; detecting intruders entering the safety area by matching point cloud data with the safety area template; and adjusting the speed of the robotic arm according to the detected intruders.

[0020] Preferably, the security protection method further includes: using LiDAR to scan the point cloud in the scene, creating a map, and saving the scene point cloud under the map;

[0021] The working points of the composite robot are pre-defined on the map, and the working point data is stored in the database;

[0022] The composite robot moves to the work position, uses LiDAR to scan the surrounding environment, displays the scene point cloud on the front interface, determines the area to be avoided, divides multiple polygonal safety zones, and classifies the multiple safety zones into different levels. Different levels correspond to different robotic arm speed coefficients. Multiple points arranged in sequence and connected first and last are used to represent polygonal safety zones. At the same time, a safety level field is added, which is an array composed of multiple polygonal safety zone level data. A safety zone template is created and the data of the safety zone template is stored in the database.

[0023] After the map is built, the work point data is bound to the map and associated with the corresponding safety zone template data.

[0024] In actual operation, the surrounding point cloud is scanned in real time by LiDAR and matched with the map point cloud to confirm the position of the composite robot on the current map.

[0025] After the detection robot reaches the work point and stops, the safety zone template corresponding to the work point is loaded from the database;

[0026] Real-time matching of the spatial relationship between LiDAR point cloud and safe area to detect intruders;

[0027] The point cloud obtained from the lidar is filtered and all point clouds in the area surrounding the vehicle are traversed. The ray method is used to determine whether the intruder is inside the polygon. If the intruder is inside, the product of the relative distance ratio of the intruder inside the polygon and the speed ratio corresponding to the safety level of the polygon is the final speed attenuation ratio of the robotic arm, realizing multi-level dynamic adjustment of the robotic arm speed.

[0028] The speed ratio is sent to the robotic arm, and the robotic arm responds by slowing down.

[0029] Once the object leaves the safe area, the robotic arm's speed curve returns to the preset value.

[0030] Compared with the prior art, the beneficial effects that at least one of the above-mentioned technical solutions adopted in this application can achieve include at least:

[0031] This application uses a safety area template configuration module to create a safety area template corresponding to the working position of the composite robot, and the safety area template includes at least one safety area; a map and real-time perception module detects the composite robot moving to the working position and loads the safety area template corresponding to the working position. By matching point cloud data with the safety area template, intruders entering the safety area are detected; a robotic arm speed control module adjusts the speed of the robotic arm according to the detected intruders, adapting to the dynamic scene of the mobile base, applicable to scene changes of different workstations, and can also be reused for the collaborative operation of multiple composite robots, which can improve space utilization, production efficiency and safety. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a simplified diagram of the security protection system in this application;

[0034] Figure 2 This is a simplified diagram of the polygon drawing page in this application;

[0035] Figure 3 This is a diagram illustrating the rapid deployment of the security solution in this application;

[0036] Figure 4 This is the overall structure and data flow diagram of the security protection system in this application. Detailed Implementation

[0037] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0038] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one 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 aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0040] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.

[0042] Through in-depth research and improvement exploration of safety protection for composite robots, the applicant discovered that the existing safety protection functions of composite robots are mainly achieved by adding fixed safety fences, manual emergency stop switches, and fixed safety radar area protection, which have the following shortcomings: 1. The traditional fixed safety fence mechanism leads to low utilization of the work space; 2. The existing manual emergency stop switch (or button) mechanism causes a decrease in production efficiency and has poor safety performance, and can only exist as a backup safety mechanism; 3. The existing fixed safety radar area protection technology cannot adapt to the dynamic scene of the mobile base, and the configuration is relatively cumbersome after the surrounding scene changes.

[0043] Based on this, the technical solutions provided by the various embodiments of this application will be described below with reference to the accompanying drawings.

[0044] This specification presents an embodiment of a composite robot safety protection system based on dynamically configurable safety domains, such as... Figure 1 and Figure 4 As shown, 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 position, and each safety zone template includes at least one safety zone. The map and real-time perception module detects when the composite robot moves to its working position and loads the corresponding safety zone template. By matching point cloud data with the safety zone template, it detects intruders entering the safety zone. The robotic arm speed control module adjusts the robotic arm speed based on the detected intruders. The composite robot is equipped with a LiDAR system to acquire point cloud data.

[0045] The composite robot includes a mobile AGV (Automated Guided Vehicle) platform, a robotic arm, and a robot system. The robot system further includes a front-end interactive page, a database, and logic processing programs.

[0046] Safety Zone Template Configuration Module: This module uses the front-end interface to draw multi-level polygonal safety zones in the AGV's base_link coordinate system and stores 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, hereinafter referred to as base_link.

[0047] Map and Real-time Perception Module: Detects the location of intruding objects by matching LiDAR point cloud data with pre-stored safe areas;

[0048] Multi-level dynamic speed control module for robotic arm: Dynamically adjusts the movement speed of the robotic arm based on the safety level of the intruding polygonal area and the location of the intruding object.

[0049] In one embodiment, such as Figure 2 As shown, multiple safety zones are set up 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. Different levels of safety zones correspond to different level coefficients, which are used to control the speed of the robotic arm.

[0050] The concept of a multi-level safety zone is that each polygonal area within the safety zone template can have an independent safety level. Safety levels are divided into three levels: L1, L2, and L3. Different levels correspond to different robotic arm speed coefficients, such as L1 being 0.2, L2 being 0.5, and L3 being 0.8. The specific values ​​of these coefficients can be manually set. For example, three safety zones can be set.

[0051] The number of safe zones is determined more flexibly, and is determined by the number of risk sources at the workstation and the requirements for safety level stratification. Each independent risk source corresponds to a polygon. (1) This system defines risk sources with the car body at the current workstation as the center. The conventional method distinguishes them by direction. The car is a rectangle, so theoretically there should be four directional risk sources. (2) The number of risk sources for the vehicle should be combined with the surrounding environment. For example, the risk sources in the four directions mentioned above. However, if the machine is placed on the right side, and the radar of the vehicle scans the edge of the machine, only the point cloud of the edge of the machine is displayed on the map. If 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, if the probability of people or objects entering the adjacent sides such as the left and the bottom is considered to be roughly the same, an "L" shape can be drawn to include the risk sources in the two directions in the same polygon. (4) If people or objects are more likely to enter in a certain direction, the safety level of the polygon in that direction can be increased (L1 / L2 / L3 multi-level control). Therefore, the number of safe areas is relatively flexible and is determined by the risk and safety level stratification requirements of each direction when the vehicle is working at the work station.

[0052] In one embodiment, the safety zone includes a polygonal safety zone; the actual speed coefficient of the robotic arm is the layer coefficient of the intruded polygonal safety zone multiplied by the distance ratio of the intruder's position within the current polygon. That is, the actual speed coefficient of the robotic arm is the layer coefficient of the intruded polygonal zone multiplied by the distance ratio of the intruder's position within the current polygon.

[0053] Polygon shapes are drawn manually through the front-end interface. As long as the edges of the polygons do not intersect, 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 enclose the machine to prevent people from entering this middle area.

[0054] 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, if the four numbers in the list [(0,0), (2,0), (2,4), (0,2)] are connected in order, they can form a quadrilateral.

[0055] In one embodiment, the security system protects against intrusion by foreign objects. n A polygonal safety zone is defined, and the minimum speed within this zone is taken as the current operating speed of the robotic arm. .

[0056] Multi-level dynamic speed control module for robotic arm: Based on the safety level of the intruding polygonal area and the location of the intruding object, the robot's movement speed is dynamically adjusted to satisfy the following relationship:

[0057] ;

[0058] ;

[0059] ;

[0060] in, The relative position of the nearest end of the intruder within the safe area of ​​the polygon, i.e., the relative position of the nearest end of the intruder within the polygon; The polygon safety threshold can be understood as the relative distance between the polygonal region and the farthest and nearest ends of the vehicle body. This represents the coefficient corresponding to the security level of the polygonal region. This refers to the operating speed of the robotic arm under normal conditions. For the n The robotic arm operates at a speed corresponding to a polygonal safety zone. An intruding object may enter multiple polygonal zones; the minimum speed is taken as the current robotic arm speed.

[0061] In one embodiment, the safety protection system dynamically and flexibly accelerates or decelerates the robotic arm speed according to whether the intruder continues to approach or move away from the composite robot, so as to make the robotic arm move smoothly.

[0062] In one embodiment, such as Figure 3 As shown, the safety area template configuration module supports modular storage and retrieval of workstations. It stores the data of each working point of the composite robot and the corresponding safety area template data in the database, binds and associates the working point data with the safety area template data, and binds the same safety area template data under the same working point data in multiple scenarios, realizing the reuse of safety area templates and cross-workstation deployment, so that multiple composite robots can share the database when working collaboratively in the same scenario.

[0063] The safety zone configuration module supports modular storage and retrieval of workstations. The system renders the scene as a map, with the map coordinate system referred to as the map coordinate system. The location data of each robot's work point within the scene is stored in the database, as are the safety zone template data. Workpoints and safety zone schemes can be associated by binding template IDs (IdentityDocument) to location IDs in the database. A single template can be bound to the same workpoint in multiple scenes, enabling rapid deployment of safety zone scheme templates across workstations. Both workpoint data and safety zone template data include map-based location information and unique IDs.

[0064] In one embodiment, each work point and security zone template is assigned an identifier in the database, and the identifier of the work point is associated with the identifier of the corresponding security zone template.

[0065] In one embodiment, the mobile platform of the composite robot is equipped with a lidar for scanning point clouds within the scene; the safety protection system filters the scanned point clouds within the scene and transforms the radar coordinate system to the coordinate system of the composite robot's base center, 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 in the coordinate system of the composite robot's base center on the front-end page of the composite robot.

[0066] like Figure 4 The entire safety system is divided into two main parts: the composite robot consists of a chassis car equipped with a lidar and a robotic arm, and the robot operating system consists of a front-end page, a database, and a logic processing program. The entire safety system begins with real-time scanning of the scene's point cloud by LiDAR. The logic processing program filters the point cloud and transforms it into the base_link coordinate system before publishing it. The raw point cloud data is in the radar coordinate system, and the radar and the robot have a fixed hardware connection. The real-time point cloud data then flows to two parts for processing. One part is displayed on the front-end page to assist operators in drawing safe areas, and the other part is used by the logic processing program to judge the point cloud within a polygonal region. The robot arrives at the work point, and that point is bound to a safety plan. On the front-end interactive page, the operator draws a safe area template and stores it in a PostgreSQL database. At the same time, the safety template is bound to the work point attribute, and the binding relationship is stored in the database. The logic processing program continuously patrols the robot's position on the map. If the current position overlaps with a work point on the map, it retrieves the safe area template data bound to that point from the database, judges intrusion events in real time, calculates the robot arm speed coefficient, and issues the robot arm speed. The entire safety system ends when the robot arm receives the speed coefficient and responds with acceleration or deceleration.

[0067] This specification also discloses a composite robot safety protection method based on dynamically configurable safety domains, such as... Figure 1 and Figure 4 As shown, the process includes: creating a safety zone template corresponding to the working position of the composite robot, wherein the safety zone template includes at least one safety zone; detecting when the composite robot moves to the working position and loading the safety zone template corresponding to the working position; detecting intruders entering the safety zone by matching point cloud data with the safety zone template; and adjusting the speed of the robotic arm according to the detected intruders.

[0068] In one embodiment, the security protection method further includes: using a lidar to scan the point cloud within the scene, creating a map, and saving the scene point cloud under the map.

[0069] The working points of the composite robot are pre-defined on the map, and the working point data is stored in the database.

[0070] The composite robot moves to the work position, uses LiDAR to scan the surrounding environment, displays the scene point cloud on the front-end interface, determines the area to be avoided, divides multiple polygonal safety zones, and classifies these safety zones into different levels. Different levels correspond to different robotic arm speed coefficients. Multiple sequentially arranged points connected first and last are used to represent the polygonal safety zones. At the same time, a safety level field is added, which is an array composed of multiple polygonal safety zone level data. A safety zone template is created and the data of the safety zone template is stored in the database.

[0071] After the map is built, the work point data is bound to the map and associated with the corresponding safety zone template data.

[0072] In actual operation, the surrounding point cloud is scanned in real time by LiDAR and matched with the map point cloud to confirm the position of the composite robot on the current map.

[0073] After the detection robot reaches the work point and stops, the corresponding safety zone template is loaded from the database.

[0074] Real-time matching of LiDAR point cloud with the spatial relationship of the safe area to detect intruders.

[0075] The point cloud obtained from the lidar is filtered and all point clouds in the area surrounding the vehicle are traversed. The ray method is used to determine whether the intruder is inside the polygon. If the intruder is inside, the product of the relative distance ratio of the intruder inside the polygon and the speed ratio corresponding to the safety level of the polygon is the final speed attenuation ratio of the robotic arm, realizing multi-level dynamic adjustment of the robotic arm speed.

[0076] The speed ratio is sent to the robotic arm, and the robotic arm responds by slowing down.

[0077] Once the object leaves the safe area, the robotic arm's speed curve returns to the preset value.

[0078] Specifically, this safety protection method includes the following steps:

[0079] Step S1: This step is to create a map: Use 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 the work point data.

[0080] Step S2: This step involves creating points on the map: Pre-define the working points of the composite robot on the map. These working points are where the chassis is stationary and the robotic arm is operating. Examples include point A and point B. The point location information is stored in the map coordinate system. The point location names and other data are stored in a PostgreSQL database. The map coordinate system will be referred to below as "based on a certain coordinate system" or "based on the map coordinate system" in the following text.

[0081] Step S3: This step details how to flexibly create a safe area template: Move the robot to work point A, scan the surrounding environment with LiDAR, and display the robot's length and width information and the filtered point cloud on the front-end interface. The operator manually determines which machines and other areas 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 robotic arm speed coefficients, such as L1 being 0.2, L2 being 0.5, and L3 being 0.8. The operator can assign values ​​to the coefficients. Introducing the concept of hierarchical division allows the operator to configure the safe area more flexibly. Areas with lower safety risks are divided into lower levels, meaning the robotic arm decelerates to a smaller extent, and when foreign objects intrude, the lost cycle time due to the single-level robotic arm deceleration is reduced to a certain extent. The operator assigns polygon hierarchical attributes according to the actual needs of the scenario. A collection of multiple polygonal regions at a single work point can serve as a safety area template, i.e., a safety scheme. Here, the configured safety scheme is referred to as Scheme A. This patent uses multiple sequentially arranged points, i.e., polygon corner points, to represent a single polygon, and adds a safety level field. The scheme contains an array of safety level data for multiple polygons, and the data for Scheme A is stored in a PostgreSQL database. The hierarchical division is not based on proximity to the robot, but rather on distance from the robotic arm. For example, if the right side of the vehicle is the workbench, and the robotic arm operates on the workbench after reaching the work point, then the left side of the vehicle is considered to have a lower safety risk and should be classified as a lower safety level. Figure 2 As shown, step S3 is the polygon drawing page.

[0082] Step S4: This step describes the rapid deployment of the safety template across workstations: In many industrial and laboratory scenarios, there are many machines, that is, the surrounding environment of the working points of composite robots is similar or basically the same; only a few points are different from the surrounding environment, such as those close to the wall.

[0083] In other words, work points with consistent surrounding environments can use the same security scheme, while individual scenarios with different scenarios can be configured with separate schemes. As shown in the figure below, work points with consistent surrounding environments (point AF) can share scheme a, points G and H (wall-mounted points) can use scheme b, and individual point I can use scheme c.

[0084] As mentioned above, after mapping, the point data is bound to the map. Each point has a unique ID in the database, and each safety template also has its own unique ID. A field under the point attributes is the safety plan ID. By filling in the safety template ID in this field, the created safety plan can be associated with the point, enabling the reuse of safety plans and rapid deployment across workstations. Furthermore, if multiple composite robots are working collaboratively in the same scenario, they can share the database and use the operational plans configured for other robots. Figure 3 As shown, the security solution can be deployed quickly.

[0085] Step S5: In this step, the robot's position is linked to the map in real time. After the initial configuration is completed, during actual operation, the robot control system will scan the surrounding point cloud in real time using LiDAR and match it with the map point cloud to confirm the robot's position on the current map (i.e., the real-time position of base_link in the map coordinate system).

[0086] Step S6: In this step, the logic program retrieves the safety plan from the database: After the robot reaches point A and stops, it loads the safety plan template corresponding to point A from the database, i.e., plan A.

[0087] Step S7: This step's logic program detects intrusion events: it matches the spatial relationship between the LiDAR point cloud and the safe area in real time, i.e., it detects intrusion events. The point cloud is based on base_link.

[0088] Step S8: This step dynamically sends the robotic arm speed coefficient: The point cloud obtained from the LiDAR is filtered, and all point clouds within a certain area around the vehicle are traversed; the ray casting method is used to determine whether a point is inside a polygon. If a point is inside, according to the formula above, the product of the relative distance ratio of the point within the polygon and the speed ratio corresponding to the safety level of the polygon is the final speed attenuation ratio of the robotic arm, thereby realizing multi-level dynamic adjustment of the robotic arm speed; the speed ratio is sent to the robotic arm, and the robotic arm responds by decelerating; and if the intruder continues to approach or move away from the robot, the robotic arm speed will dynamically and flexibly accelerate or decelerate accordingly. This method prevents the robotic arm from experiencing sudden acceleration or deceleration due to a large speed difference received, improves the smoothness of the robotic arm's movement, and at the same time reduces the impact force after a human-robot collision to a certain extent.

[0089] Step S9: After the object leaves the safe area, the robotic arm speed curve returns to the preset value.

[0090] This application discloses a multi-level protection system and method for composite robots based on dynamic safety domains. By utilizing real-time LiDAR perception and dynamic configuration technology of polygonal safety domains, it solves the problems of low space utilization and inability of static protection to adapt to mobile scenarios caused by traditional fixed fences.

[0091] This application features dynamic adaptability of the composite robot in various scenarios: through real-time perception by the robot's own LiDAR and dynamic loading of safety zones, the composite robot can adapt to changes in different workstation scenarios to a certain extent. Compared with commonly used fixed safety radar for zone division, this significantly improves the utilization rate of workspace. The system supports multi-level safety domain template storage and rapid deployment, combined with a multi-level dynamic control algorithm for the robotic arm speed, improving work efficiency while ensuring human-robot collaboration safety.

[0092] This application describes a safety protection system and method for multi-level dynamic control of robotic arm speed by modularizing safety areas and rapidly deploying them across workstations. It belongs to the category of composite robot safety mechanisms and is applicable to scenarios requiring human-robot collaboration, such as industrial logistics and medical assistance.

[0093] This application features improved production efficiency and safety risk management: graded speed control avoids production interruptions caused by common emergency stop schemes, dynamic speed adjustment enables flexible acceleration and deceleration of the robotic arm, improves the smoothness of robotic arm movement and reduces the impact of human-machine collisions, and achieves refined risk management through regional priority.

[0094] This application relates to a safety protection system and method for a composite robot with dynamically configurable areas. When the composite robot is working at a certain work site, the front-end page displays the safety area configured at that work site (the sum of multiple polygonal areas). When a person or other object enters one or more of the defined polygonal areas, the robotic arm reduces its speed to a relative proportion according to the safety level of the current area (the closer to the vehicle body, the lower the relative speed), and gradually increases to the normal speed after leaving.

[0095] This application features modular safety area design and rapid cross-workstation deployment: the safety area solution is modularized and can be rapidly deployed across workstations through database association. It can also be reused when multiple robots are working together, which greatly reduces the time and cost of on-site debugging.

[0096] In this specification, the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the descriptions of the embodiments described later are relatively simple, and relevant parts can be referred to the descriptions of the foregoing embodiments.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope 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 position, and each safety zone template includes at least one safety zone. The map and real-time perception module detects when the composite robot moves to its working position and loads the corresponding safety zone template. It then detects intruders entering the safety zone by matching point cloud data with the safety zone template. The robotic arm speed control module adjusts the robotic arm speed based on the detected intruders. The safety protection system uses LiDAR to scan point clouds within the scene to create a map. The working points of the composite robot are pre-defined on the map. When the composite robot moves to its working point, it uses LiDAR to scan the surrounding environment, determine areas to be avoided, and divide the area into multiple polygonal safety zones. These safety zones are then stratified, with different levels corresponding to different robotic arm speed coefficients. Safety zone templates are created, and the working point data is associated with the corresponding safety zone template data. The system also determines whether an intruder is inside a safety zone. If the intruder is inside, the product of the relative distance ratio of the intruder within the polygon and the robotic arm speed coefficient corresponding to that safety zone is used as the robotic arm speed attenuation ratio. This enables multi-level dynamic adjustment of the robotic arm speed. The speed attenuation ratio is then sent to the robotic arm, which responds by slowing down. Once the intruder leaves the safety zone, the robotic arm speed recovers.

2. The composite robot safety protection system based on dynamically configurable safety domains according to claim 1, characterized in that, The safety zones are set up in multiple ways, 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 based on the distance between the safety zone and the robotic arm. Different levels of safety zones 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 domains according to claim 2, characterized in that, The safe zone includes a polygonal safe zone; the actual speed coefficient of the robotic arm is the level coefficient of the polygonal safe zone entered by multiplying the distance ratio of the intruder's position within the current polygon.

4. The composite robot safety protection system based on dynamically configurable safety domains according to claim 3, characterized in that, The security system prevents intrusion by foreign objects. n A polygonal safety zone is defined, and the minimum speed within this zone is taken as the current operating speed of the robotic arm. : ； ； ； in, The relative position of the nearest end of the intruding object within the polygonal safety area. For polygon security threshold, This represents the coefficient corresponding to the security level of the polygonal region. This refers to the operating speed of the robotic arm under normal conditions. For the n The robotic arm's operating speed corresponds to each polygonal safety zone.

5. The composite robot safety protection system based on dynamically configurable safety domains according to claim 3, characterized in that, The safety protection system dynamically and flexibly accelerates and decelerates the robotic arm's speed according to whether the intruder continues to approach or move away from the composite robot, so as to make the robotic arm move smoothly.

6. The composite robot safety protection system based on dynamically configurable safety domains according to any one of claims 1 to 5, characterized in that, The safety area template configuration module supports modular storage and retrieval of workstations. It stores the data of each working point of the composite robot and the corresponding safety area template data in the database, binds and associates the working point data with the safety area template data, and binds the same safety area template data under the same working point data in multiple scenarios, thereby realizing the reuse and cross-workstation deployment of safety area templates.

7. The composite robot safety protection system based on dynamically configurable safety domains according to claim 6, characterized in that, Each work point and security zone template is assigned an identifier in the database, and the identifier of the work point is associated with the identifier of the corresponding security zone template.

8. The composite robot safety protection system based on dynamically configurable safety domains according to any one of claims 1 to 5, characterized in that, The mobile platform of the composite robot is equipped with a lidar for scanning point clouds within the scene. The safety protection system filters the scanned point clouds and transforms the radar coordinate system to the center coordinate system of the composite robot's base. It creates a map based on the point clouds within the scene, keeps the point clouds on the map, and pre-sets the working points of the composite robot on the map. A safety zone template is drawn on the front-end page of the composite robot in the center coordinate system of the robot's base.

9. A composite robot safety protection method based on dynamically configurable safety domains, characterized in that, The composite robot safety protection system based on dynamically configurable safety domains as described in any one of claims 1 to 8 includes: creating a safety area template corresponding to the working position of the composite robot, wherein the safety area template includes at least one safety area; detecting that the composite robot has moved to the working position and loading the safety area template corresponding to the working position; detecting intruders entering the safety area by matching point cloud data with the safety area template; and adjusting the speed of the robotic arm according to the detected intruders.

10. The composite robot safety protection method based on dynamically configurable safety domains according to claim 9, characterized in that, The security protection method also includes: using LiDAR to scan the point cloud in the scene, creating a map, and saving the scene point cloud under the map; The working points of the composite robot are pre-defined on the map, and the working point data is stored in the database; The composite robot moves to the work position, uses LiDAR to scan the surrounding environment, displays the scene point cloud on the front interface, determines the area to be avoided, divides multiple polygonal safety zones, and classifies the multiple safety zones into different levels. Different levels correspond to different robotic arm speed coefficients. Multiple points arranged in sequence and connected first and last are used to represent polygonal safety zones. At the same time, a safety level field is added, which is an array composed of multiple polygonal safety zone level data. A safety zone template is created and the data of the safety zone template is stored in the database. After the map is built, the work point data is bound to the map and associated with the corresponding safety zone template data. In actual operation, the surrounding point cloud is scanned in real time by LiDAR and matched with the map point cloud to confirm the position of the composite robot on the current map. After the detection robot reaches the work point and stops, the safety zone template corresponding to the work point is loaded from the database; Real-time matching of the spatial relationship between LiDAR point cloud and safe area to detect intruders; The point cloud obtained from the lidar is filtered and all point clouds in the area surrounding the vehicle are traversed. The ray method is used to determine whether the intruder is inside the polygon. If the intruder is inside, the product of the relative distance ratio of the intruder inside the polygon and the speed ratio corresponding to the safety level of the polygon is the final speed attenuation ratio of the robotic arm, realizing multi-level dynamic adjustment of the robotic arm speed. The speed ratio is sent to the robotic arm, and the robotic arm responds by slowing down. Once the object leaves the safe area, the robotic arm's speed curve returns to the preset value.

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