Safety protection method, device and equipment based on finished piece cigarette robot and medium

Abstract

The application discloses a kind of safety protection methods, device, equipment and medium based on finished piece cigarette robot, wherein, the method comprises: obtaining the first motion information of target robot arm end, and based on the first motion information, the dynamic safety area corresponding to target robot arm end is generated in real time;When detecting that target object enters early warning sub-region, the second motion information of target object is collected, and the estimated collision result of target object and target robot arm end is determined based on the first motion information and the second motion information;According to the estimated collision result, the motion control strategy corresponding to target robot arm end is determined, and the control instruction corresponding to motion control strategy is generated, to adjust the motion state of target robot arm end based on control instruction.It solves the problem that the static safety protection area in the prior art cannot effectively protect the safety of users, and achieves to improve the effect of safety protection for users without affecting the normal operation of the robot arm as much as possible.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a safety protection method, device, equipment and medium for a finished product cigarette robot. Background Technology

[0002] Industrial robots are widely used in welding, handling and assembly scenarios. For example, when a robot is working at high speed, the end tool of the robotic arm may swing or brake due to inertia. If a user accidentally enters the work area or a foreign object enters the work area, it may cause collision damage and equipment damage.

[0003] Currently, to protect user safety, robots are typically equipped with pre-defined safety zones, and warnings are issued when users enter these zones. However, this safety approach cannot adapt to the robot's agile movements, making it impossible to adjust the robot's motion in a timely manner, thus resulting in ineffective safety protection.

[0004] To solve the above problems, the robot's control methods need to be improved. Summary of the Invention

[0005] This invention provides a safety protection method, device, equipment, and medium for a finished product cigarette robot, to solve the problem that the existing technology based on a pre-set static safety protection area corresponding to the robotic arm cannot effectively protect user safety.

[0006] In a first aspect, embodiments of the present invention provide a safety protection method based on a finished product cigarette robot, including: First motion information of the end effector of the target robotic arm is obtained, and a dynamic safety region corresponding to the end effector of the target robotic arm is generated in real time based on the first motion information; wherein, the dynamic safety region is a spatial region constructed based on the end effector of the target robotic arm, and at least one layer of envelope surface is preset as the region boundary of the dynamic safety region, and the dynamic safety region is divided into a warning sub-region, a deceleration sub-region and a stop sub-region, and each sub-region corresponds one-to-one with the envelope surface; When a target object is detected entering the warning sub-area, the second motion information of the target object is collected, and the estimated collision result between the target object and the end effector of the target robotic arm is determined based on the first motion information and the second motion information; wherein, the estimated collision result is either a collision occurs or no collision occurs; Based on the estimated collision results, a motion control strategy corresponding to the end effector of the target robotic arm is determined, and a control command corresponding to the motion control strategy is generated to adjust the motion state of the end effector of the target robotic arm based on the control command.

[0007] Secondly, embodiments of the present invention also provide a safety protection device based on a finished product cigarette robot, comprising: The safety area determination module is used to acquire the first motion information of the end effector of the target robotic arm and generate a dynamic safety area corresponding to the end effector of the target robotic arm in real time based on the first motion information; wherein, the dynamic safety area is a spatial region constructed based on the end effector of the target robotic arm, and the periphery of the dynamic safety area is pre-defined with at least one layer of envelope surface as the region boundary, and the dynamic safety area is divided into a warning sub-region, a deceleration sub-region and a stop sub-region, and each sub-region corresponds one-to-one with the envelope surface; The collision result determination module is used to collect the second motion information of the target object when the target object is detected to enter the warning sub-area, and to determine the estimated collision result between the target object and the end effector of the target robotic arm based on the first motion information and the second motion information; wherein, the estimated collision result is either a collision occurs or no collision occurs; The control module is used to determine the motion control strategy corresponding to the end effector of the target robotic arm based on the estimated collision result, and generate control commands corresponding to the motion control strategy, so as to adjust the motion state of the end effector of the target robotic arm based on the control commands.

[0008] Thirdly, embodiments of the present invention also provide an electronic device, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the safety protection method based on the finished product smoke robot according to any embodiment of the present invention.

[0009] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the safety protection method based on the finished product cigarette robot described in any embodiment of the present invention.

[0010] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the safety protection method based on a finished product cigarette robot as described in any of the embodiments of the present invention.

[0011] The technical solution of this invention involves acquiring first motion information of the target robotic arm's end effector and generating a dynamic safety zone corresponding to the end effector in real time based on the first motion information. When a target object is detected entering a warning sub-region, second motion information of the target object is collected, and the estimated collision result between the target object and the target robotic arm's end effector is determined based on the first and second motion information. According to the estimated collision result, a motion control strategy corresponding to the target robotic arm's end effector is determined, and control commands corresponding to the motion control strategy are generated to adjust the motion state of the target robotic arm's end effector based on the control commands. In this technical solution, a dynamic safety zone corresponding to the target robotic arm's end effector is pre-set based on the total system response time and braking distance of the target robotic arm's end effector. The dynamic safety zone includes a warning sub-region, a deceleration sub-region, and a stop sub-region. When a target object enters the warning sub-region, it indicates that if the target object continues to move towards the target robotic arm's end effector, there may be a risk of collision. To avoid a collision, it is necessary to further accurately determine the possibility of a collision. Specifically, trajectory prediction is performed based on the second motion information corresponding to the target and the first motion information of the target robotic arm's end effector. Collision detection is then performed on the predicted trajectories. If the predicted trajectories intersect or overlap within the estimated time, the estimated collision result for the target object and the target robotic arm's end effector is that a collision has occurred; otherwise, it indicates that a collision will not occur. By setting up multi-level safety protection zones and combining collision prediction based on motion trajectories, the simple distance control for safety protection is upgraded to a graded response. This ensures a safe distance between the user and the target robotic arm's end effector, providing early warnings, gradually reducing the distance until final termination. This maximizes user safety while avoiding frequent robotic arm shutdowns due to accidental triggering, providing more intelligent safety protection for the user. This solves the problem in existing technologies where pre-set static safety protection zones corresponding to the robotic arm cannot effectively protect user safety. It achieves improved user safety protection through multi-level safety protection zones while minimizing disruption to the robotic arm's normal operation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For users of ordinary skills in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0013] Figure 1 This is a flowchart of a safety protection method for a finished product smoke robot according to Embodiment 1 of the present invention; Figure 2This is a schematic diagram of a dynamic security area provided according to Embodiment 1 of the present invention; Figure 3 This is a flowchart of a safety protection method based on a finished product smoke robot according to Embodiment 2 of the present invention; Figure 4 This is a flowchart of a safety protection method based on a finished product smoke robot according to Embodiment 2 of the present invention; Figure 5 This is a structural schematic diagram of a safety protection method, device, equipment and medium device based on a finished product smoke robot according to Embodiment 3 of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device that implements the safety protection method for a finished product smoke robot according to an embodiment of the present invention. Detailed Implementation

[0014] To enable users in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by users of ordinary skill in the art without creative effort should fall within the scope of protection of the present invention. The acquisition, transmission, storage, use, and processing of data in the technical solutions of this application comply with the relevant provisions of national laws and regulations. It should be noted that in the embodiments of this application, certain software, components, or models and other existing solutions in the industry may be mentioned. These should be considered as exemplary, and their purpose is only to illustrate the feasibility of implementing the technical solutions of this application, but it does not mean that the applicant has or necessarily used such solutions.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0016] Example 1 Figure 1This invention provides a flowchart of a safety protection method for a finished product cigarette robot according to Embodiment 1. This embodiment is applicable to setting a dynamic safety zone based on the total system response time and braking distance of the robotic arm end effector. The dynamic safety zone includes a warning sub-zone, a deceleration sub-zone, and a stopping sub-zone. When a target object enters the warning sub-zone, dynamic relative information is determined based on the first motion information of the robotic arm end effector and the second motion information of the target object. Then, the collision result between the robotic arm end effector and the target object is predicted based on the dynamic relative information, so as to adjust the motion state of the robotic arm end effector according to the predicted collision result. This method can be executed by a safety protection device based on the finished product cigarette robot. The safety protection device based on the finished product cigarette robot can be implemented in hardware and / or software. The safety protection device based on the finished product cigarette robot can be configured in a computing device that can execute the safety protection method based on the finished product cigarette robot.

[0017] like Figure 1 As shown, the method includes: S110. Obtain the first motion information of the end effector of the target robotic arm, and generate the dynamic safety area corresponding to the end effector of the target robotic arm in real time based on the first motion information.

[0018] The target robotic arm refers to the robotic arm body and its end effector used to perform the operation. For example, the end effector of the target robotic arm could be the end effector of a finished product cigarette robot. The first motion information refers to the motion information of the target robotic arm's end effector, such as its position, direction, pose, and acceleration. It should be noted that the target robotic arm typically moves along a preset trajectory; therefore, the first motion information of the target robotic arm's end effector at any given time can be determined based on preset parameters. The dynamic safety zone can be understood as a safety protection area defined to ensure that the user does not collide with the target robotic arm's end effector.

[0019] For example, the target robotic arm end effector can be the end effector of an industrial robot, such as the end effector of a finished cigarette robot (also known as a palletizing robot). When the palletizing robot palletizes finished cigarettes, it needs to automatically palletize the finished cigarettes into finished products and store them in a high-bay warehouse. During this process, the robotic arm of the palletizing robot needs to move according to a pre-set motion trajectory. However, the end effector may have a swinging or inertial braking distance. If the user does not notice the end effector during the movement, a collision may occur with the end effector of the finished cigarette robot. Therefore, in order to ensure the personal safety of the user in the work area, it is necessary to monitor the user's movement area to ensure that the user maintains a safe distance from the end effector of the robotic arm that may cause injury and avoid collisions.

[0020] In this technical solution, the dynamic safety region is a spatial region constructed based on the end effector of the target robotic arm. At least one envelope surface is pre-defined as the boundary of the dynamic safety region. Furthermore, the dynamic safety region is divided into warning sub-regions, deceleration sub-regions, and stopping sub-regions, each corresponding one-to-one with the envelope surface. (See [link to relevant documentation]). Figure 2 It should be noted that the warning sub-region, deceleration sub-region, and stopping sub-region all refer to the end effector of the target robotic arm. When the target object enters the warning sub-region, its movement needs to be closely monitored to adjust the motion state of the target robotic arm's end effector in a timely manner when the target object enters the deceleration or stopping sub-region. When the target object enters the deceleration sub-region, the end effector of the target robotic arm needs to be controlled to decelerate. When the target object enters the stopping sub-region, the end effector of the target robotic arm needs to be brought to a complete stop. By using different levels of motion control, collisions between the target object and the end effector of the target robotic arm can be effectively avoided.

[0021] In practical applications, the first motion information of the target robotic arm's end effector is acquired in real time, and the dynamic safety zone corresponding to the end effector is calculated and updated in real time based on this first motion information. The dynamic safety zone adjusts in real time with the movement of the robotic arm's end effector to ensure that the user does not collide with the moving end effector.

[0022] It is important to note that the dynamic safety zone in this technical solution is centered on the end effector of the target robotic arm and divided into a stopping sub-zone, a deceleration sub-zone, and a warning sub-zone, from near to far. This design aims to ensure that the closer the user is to the end effector, the higher the risk and danger of collision. Therefore, as the user approaches the end effector, corresponding safety control strategies must be implemented according to the level of danger, such as timely warnings, deceleration, or emergency stops, to effectively prevent collisions between the user and the moving end effector.

[0023] For example, when the end effector of the target robotic arm performs a transport operation along a preset trajectory, the system acquires information such as the position, attitude, and direction of movement of the end effector in real time, and generates a three-layer safety protection zone around the end effector that is dynamically updated in sync with the movement of the target robotic arm. Specifically, when a user enters the warning sub-zone, the system can issue audible and visual warnings to remind the user; when the user continues to approach and enters the deceleration sub-zone, the system automatically controls the target robotic arm to reduce its speed; if the user further enters the stop sub-zone, the system immediately controls the target robotic arm to stop urgently, thereby achieving full-process dynamic safety protection for the user.

[0024] The advantage of this setup is that it generates a dynamic safety zone in real time following the movement of the target robotic arm's end effector, and upgrades the simple distance control for safety protection to a tiered response, so as to ensure a safe distance between the user and the target robotic arm's end effector, provide early warnings, reduce risks step by step until the final stop, maximize user safety, and avoid frequent robotic arm shutdowns due to accidental triggering, thus providing more intelligent safety protection for the user.

[0025] S120. When a target object is detected to enter the warning sub-region, the second motion information of the target object is collected, and the estimated collision result between the target object and the end of the target robotic arm is determined based on the first motion information and the second motion information.

[0026] The predicted collision result is used to characterize whether a collision will occur between the target object and the end effector of the target robotic arm within a future time period. The predicted collision result is either a collision occurs or no collision occurs.

[0027] The target object can be understood as any object that requires security protection after entering the dynamic security zone. For example, the target object could be the operating user, a user who has mistakenly entered the area, other equipment, or a robot. The second motion information can be understood as the target object's direction of motion, speed, and acceleration.

[0028] In practical applications, to ensure that the target object does not collide with the end of the target robotic arm to the greatest extent possible, when protecting the target object, the overall outline of the target object can be used as the detection range, or the center of the target object can be used as the reference, and a protection area corresponding to the size of the target object itself can be reserved.

[0029] Specifically, when a target object is detected to enter the warning sub-region, it indicates that there is a risk of collision if the target object continues to move towards the end of the target robotic arm. At this time, it is necessary to closely monitor whether the target object will further enter the deceleration sub-region or even the stopping sub-region corresponding to the end of the target robotic arm. At this time, information on the motion state of the target object is collected to obtain the second motion information.

[0030] Based on this, the motion trajectory of the target robotic arm end can be predicted in the future period of time by using the first motion information corresponding to the end of the target robotic arm. At the same time, the motion trajectory of the target object in the future period of time can be predicted by using the second motion information of the target object. By performing collision detection on the trajectories of the two, the predicted collision result between the target object and the end of the target robotic arm can be obtained.

[0031] S130. Based on the estimated collision result, determine the motion control strategy corresponding to the end effector of the target robotic arm, and generate control commands corresponding to the motion control strategy to adjust the motion state of the end effector of the target robotic arm based on the control commands.

[0032] The motion control strategy can be understood as a control strategy used to adjust the motion state of the target robotic arm's end effector. For example, the motion control strategy could be to control the target robotic arm's end effector to decelerate at a preset speed at a uniform speed, or it could be to control the target robotic arm's end effector to stop moving. The control command is the instruction corresponding to the motion control strategy, used to control the state adjustment of the target robotic arm's end effector.

[0033] For example, if the estimated collision result shows that the motion trajectories of the target object and the target robotic arm end effector intersect or overlap within a certain period of time, it indicates that there is a risk of collision between the target object and the target robotic arm end effector. Conversely, if the motion trajectories of the two do not intersect or overlap within a certain period of time, there is no risk of collision. Furthermore, if the estimated collision result indicates that a collision has occurred, and the target object continues to move towards the target robotic arm end effector and enters the deceleration sub-region, the motion control strategy of the target robotic arm end effector is deceleration. At this time, a control command corresponding to the deceleration is generated and sent to the target robotic arm end effector to control the target robotic arm end effector to decelerate. If the target object further enters the stopping sub-region from the deceleration sub-region, the motion control strategy of the target robotic arm end effector is stopping. At this time, a control command corresponding to the stopping is generated and sent to the target robotic arm end effector to control the target robotic arm end effector to immediately stop moving.

[0034] The technical solution of this invention involves acquiring first motion information of the target robotic arm's end effector and generating a dynamic safety zone corresponding to the end effector in real time based on the first motion information. When a target object is detected entering a warning sub-region, second motion information of the target object is collected, and the estimated collision result between the target object and the target robotic arm's end effector is determined based on the first and second motion information. According to the estimated collision result, a motion control strategy corresponding to the target robotic arm's end effector is determined, and control commands corresponding to the motion control strategy are generated to adjust the motion state of the target robotic arm's end effector based on the control commands. In this technical solution, a dynamic safety zone corresponding to the target robotic arm's end effector is pre-set based on the total system response time and braking distance of the target robotic arm's end effector. The dynamic safety zone includes a warning sub-region, a deceleration sub-region, and a stop sub-region. When a target object enters the warning sub-region, it indicates that if the target object continues to move towards the target robotic arm's end effector, there may be a risk of collision. To avoid a collision, it is necessary to further accurately determine the possibility of a collision. Specifically, trajectory prediction is performed based on the second motion information corresponding to the target and the first motion information of the target robotic arm's end effector. Collision detection is then performed on the predicted trajectories. If the predicted trajectories intersect or overlap within the estimated time, the estimated collision result for the target object and the target robotic arm's end effector is that a collision has occurred; otherwise, it indicates that a collision will not occur. By setting up multi-level safety protection zones and combining collision prediction based on motion trajectories, the simple distance control for safety protection is upgraded to a graded response. This ensures a safe distance between the user and the target robotic arm's end effector, providing early warnings, gradually reducing the distance until final termination. This maximizes user safety while avoiding frequent robotic arm shutdowns due to accidental triggering, providing more intelligent safety protection for the user. This solves the problem in existing technologies where pre-set static safety protection zones corresponding to the robotic arm cannot effectively protect user safety. It achieves improved user safety protection through multi-level safety protection zones while minimizing disruption to the robotic arm's normal operation.

[0035] Example 2 Figure 3 The flowchart of a safety protection method for a finished product smoke robot provided in Embodiment 2 of the present invention includes, optionally, refining the acquisition of first motion information of the end of the target robotic arm and the generation of a dynamic safety area corresponding to the end of the target robotic arm in real time based on the first motion information.

[0036] like Figure 3 As shown, the method includes: S210. Obtain the total system response time and braking distance of the target robotic arm end effector, and determine the motion envelope of the target robotic arm end effector based on the total system response time and braking distance.

[0037] The total system response time can be understood as the total delay from the start of motion information acquisition of the target object, through algorithm inference and response of the target robotic arm end-effector, until the target robotic arm end-effector begins to execute braking action. The motion envelope refers to the three-dimensional spatial region swept by the target robotic arm end-effector from the current moment until it comes to a complete stop; the motion includes the arc length integral of the corresponding three-dimensional spatial region, which is approximately equal to the braking distance of the target robotic arm end-effector.

[0038] Specifically, the motion information of the target robotic arm end effector is detected in real time, and the total system response time and braking distance of the target robotic arm end effector are obtained. Combined with the real-time pose, motion speed and motion direction (i.e. the first motion information) of the target robotic arm end effector, the motion envelope of all reachable physical positions of the target robotic arm end effector from the current moment until it comes to a complete braking stop is determined.

[0039] S220. Determine the actual reachable area of ​​the target robotic arm end effector based on the motion envelope, and determine the corresponding dynamic safety area of ​​the target robotic arm end effector based on the actual reachable area.

[0040] The actual reachable area refers to the entire physical space range that the end effector of the target robotic arm can reach under the constraints of the motion envelope during the system's overall response and complete braking process.

[0041] Specifically, during the movement of the target robotic arm's end effector, the entire spatial region centered on the end effector and extending to its envelope is defined as the actual reachable area of ​​the target robotic arm. Based on this actual reachable area, different safety distance parameters are set according to actual needs to construct the dynamic safety zone corresponding to the target robotic arm.

[0042] Optionally, determining the dynamic safety region corresponding to the end effector of the target robotic arm based on the actual reachable region includes: performing planar projection on the actual reachable region to obtain a two-dimensional projection region corresponding to the actual reachable region; and performing morphological expansion based on the outer boundary of the two-dimensional projection region to obtain the dynamic safety region corresponding to the end effector of the target robotic arm.

[0043] The two-dimensional projection area can be understood as the two-dimensional projection of the actually accessible area onto the ground.

[0044] Specifically, the actual reachable area is orthogonally projected onto a preset working plane to obtain a two-dimensional projection area corresponding to the actual reachable area; using the outer boundary of the two-dimensional projection area as a reference, the two-dimensional projection area is morphologically expanded according to a preset safety margin to compensate for the positioning error of the target robotic arm, tool swing and environmental detection deviation, thereby obtaining a closed area that covers the two-dimensional projection area and extends outward by a preset distance, which serves as the dynamic safety area corresponding to the end of the target robotic arm.

[0045] Optionally, morphological expansion is performed based on the outer boundary of the two-dimensional projection area to obtain a dynamic safety area corresponding to the end effector of the target robotic arm. This includes: morphological expansion of the outer boundary of the two-dimensional projection area based on a first preset safety distance parameter of the end effector of the target robotic arm to obtain a stationary sub-region corresponding to the end effector of the target robotic arm; morphological expansion of the outer boundary of the two-dimensional projection area based on a second preset safety distance parameter of the end effector of the target robotic arm to obtain a deceleration sub-region corresponding to the end effector of the target robotic arm; and morphological expansion of the outer boundary of the two-dimensional projection area based on a third preset safety distance parameter of the end effector of the target robotic arm to obtain a warning sub-region corresponding to the end effector of the target robotic arm.

[0046] Among them, the first preset safety distance parameter, the second preset safety distance parameter, and the third preset safety distance parameter respectively represent the distance from the boundary of each sub-region in the dynamic safety area to the end of the target robotic arm.

[0047] For example, the actual reachable area of ​​the target robotic arm's end effector is orthogonally projected onto the working horizontal plane to obtain an elliptical two-dimensional projection area. Using the outer boundary of this ellipse as a reference, a stopping sub-region corresponding to the target robotic arm's end effector is formed by expanding outwards by 0.5 meters (i.e., the first preset safety distance parameter), a deceleration sub-region corresponding to the target robotic arm's end effector is formed by expanding outwards by 1 meter (i.e., the second preset safety distance parameter), and a warning sub-region corresponding to the target robotic arm's end effector is formed by expanding outwards by 1.5 meters (i.e., the third preset safety distance parameter). The stopping sub-region, deceleration sub-region, and warning sub-region are combined and referred to as the dynamic safety area of ​​the target robotic arm's end effector.

[0048] It is understandable that the preset safety distance for each sub-region can be set according to actual needs. For example, the higher the movement speed of the target robotic arm end, the larger the preset safety distance; the higher the danger of the target robotic arm end, the larger the preset safety distance. In this technical solution, the preset safety distance for each sub-region is limited.

[0049] S230. When a target object is detected to enter the warning sub-region, the second motion information of the target object is collected, and the estimated collision result between the target object and the end of the target robotic arm is determined based on the first motion information and the second motion information.

[0050] Specifically, when a target object enters the warning sub-region, it is necessary to strictly monitor the second motion information of the target object and generate the first motion information corresponding to the end effector of the target robotic arm based on the pre-set motion trajectory corresponding to the end effector of the target robotic arm. By performing collision detection on the first and second motion information, the estimated collision result between the target object and the end effector of the target robotic arm is determined.

[0051] S240. Based on the estimated collision result, determine the motion control strategy corresponding to the end effector of the target robotic arm, and generate control commands corresponding to the motion control strategy to adjust the motion state of the end effector of the target robotic arm based on the control commands.

[0052] Based on this, when the target object is in different sub-regions, different motion control strategies are adopted for the end effector of the target robotic arm, and control commands corresponding to the motion control strategies are generated.

[0053] Specifically, when the target object enters the warning sub-region, the core task is to predict the target object's trajectory to determine whether it will further enter the deceleration sub-region or even the stopping sub-region. Based on this, the motion control strategy of the target robotic arm's end effector is to maintain the current motion state. Further, if the target object enters the deceleration sub-region, it indicates a potential collision risk based on the dynamic relative information between the target object and the target robotic arm's end effector. In this case, the motion control strategy of the target robotic arm's end effector needs to be adjusted to a deceleration strategy, generating a deceleration command and controlling the end effector to decelerate. Even further, if the target object enters the stopping sub-region, it indicates that the target object has entered the danger zone of the target robotic arm's end effector, posing a significant collision risk. In this case, the target robotic arm's end effector should be immediately stopped. Therefore, the motion control strategy of the target robotic arm's end effector is a stopping strategy, and the corresponding control command is a stop command, ensuring that the target robotic arm's end effector stops immediately upon receiving the stop command.

[0054] The advantage of this setup is that, by setting up multi-level safety protection sub-zones, this technical solution can implement a three-level control strategy of warning, deceleration, and stopping in a graded and orderly manner according to the actual location and degree of danger of the target object. This ensures that safety actions are taken in time before danger occurs to avoid collision accidents, while also preventing premature shutdown that would affect the normal operation of the robotic arm, thus achieving a precise balance between safety and work efficiency.

[0055] The technical solution of this invention obtains the total system response time and braking distance of the target robotic arm end effector, and determines the motion envelope of the target robotic arm end effector based on the total system response time and braking distance. The advantage of this setup is that the total system response time and braking distance can accurately reflect the actual range of motion of the robotic arm end effector from its current state to complete braking, improving the accuracy of dynamic safety zone setting. Furthermore, the actual reachable area of ​​the target robotic arm end effector is determined based on the motion envelope, and the corresponding dynamic safety zone is determined based on the actual reachable area. Specifically, determining the actual reachable area based on the motion envelope can accurately limit the actual reachable space of the robotic arm end effector during response and braking, improving the accuracy of safety judgment. Furthermore, determining the dynamic safety zone based on the actual reachable area can update the safety boundary in real time according to the motion state of the robotic arm end effector, achieving adaptive and dynamic safety protection. This solves the problem of protection lag, false triggering, or protection failure caused by the inability of static safety protection areas to match the real-time motion state of the robotic arm end effector, achieving accurate, predictive, graded, and reliable dynamic safety protection for the robotic arm, improving operational efficiency while ensuring operational safety.

[0056] Example 3 Figure 4 The flowchart of a safety protection method for a finished product smoke robot provided in Embodiment 3 of the present invention is shown. Optionally, the second motion information of the target object is collected, and the estimated collision result between the target object and the end of the target robotic arm is determined based on the first motion information and the second motion information.

[0057] like Figure 4 As shown, the method includes: S310. Obtain the first motion information of the end effector of the target robotic arm, and generate the dynamic safety area corresponding to the end effector of the target robotic arm in real time based on the first motion information.

[0058] S320. When a target object is detected to enter the warning sub-region, the second motion information of the target object is collected based on the image capturing device.

[0059] Among them, the image capturing device is used to collect image data of the work scene in real time. By identifying, locating and tracking the target object in multiple consecutive frames of images, the position, direction of movement and speed of the target object in the image coordinate system are obtained, and the second motion information of the target object is obtained.

[0060] Specifically, when a target object is detected entering the warning sub-region, if the target object continues to move towards the end effector of the target robotic arm, there is a risk of collision with the end effector. Therefore, to ensure the safety of the target object, it is necessary to collect the target object's second motion information in real time using an image capturing device, and then combine the first and second motion information to comprehensively assess whether a collision will occur between the target object and the end effector of the target robotic arm.

[0061] Optionally, before acquiring the second motion information of the target object, the method further includes: resetting the image capturing device; detecting and correcting the position error of the image capturing device after resetting, until the position error of the image capturing device in capturing the target robotic arm end and the target object is less than a preset position error.

[0062] The image capturing device captures the second motion information of the target object, and the device reset process includes camera calibration and / or recalibrating the relative positions of the image capturing device and the target robotic arm end effector.

[0063] Specifically, before acquiring the second motion information of the target object, the image capturing device undergoes a device state reset, camera intrinsic parameter verification, and distortion correction to ensure the image is free of geometric distortion. Based on this, using pre-deployed fixed reference features, pose error detection is performed on the extrinsic parameter relationship between the image capturing device and the robot's base coordinate system. Reprojection error is used to determine if the current image capturing device has shifted or become loose. If pose deviation is detected, a fast repositioning algorithm is used to correct the extrinsic parameters of the image capturing device online, re-establishing a precise mapping relationship between the image coordinate system and the robot's base coordinate system until the positioning error of the image capturing device for the target robotic arm end effector and the target object is less than a preset allowable range. For example, when the camera's position changes due to maintenance or a minor collision, the system automatically triggers a repositioning process, completing pose compensation through reference features to ensure the accuracy and reliability of subsequent target detection, positioning, and motion information acquisition.

[0064] For example, before the image capturing device is installed, or when the initial relative position between the image capturing device and the end of the target robotic arm changes, the image capturing device is subjected to sensor self-testing, such as online device detection, minimum frame rate detection, device parameter detection (such as exposure, resolution, fill light parameters or image gain parameters, etc.), calibration detection and function detection of the image capturing device, etc., to ensure that the image capturing device can accurately capture the motion change information of the target object.

[0065] The purpose of this setup is to ensure that the image capturing equipment is always in a stable and accurate working state, eliminating positioning errors caused by factors such as camera installation offset, lens distortion, or pose changes. This ensures that the detection, coordinate transformation, and motion information acquisition of the target object are accurate and reliable, providing an accurate data foundation for subsequent dynamic safety zone judgment, anomaly warning, and braking decisions, thereby improving the accuracy, stability, and safety of the entire safety protection system from the source.

[0066] S330. Based on the first motion information and the second motion information, determine the dynamic relative information between the target object and the end effector of the target robotic arm.

[0067] The dynamic relative information includes dynamic relative position and / or dynamic relative velocity.

[0068] Based on the above example, the dynamic relative position, relative direction of motion, and relative speed of the target object are detected and determined in real time based on the first motion information of the target robotic arm end and the second motion information of the target object. This allows for the determination of whether the target object and the robotic arm end are moving closer or further apart, and the collision risk can be predicted in advance. This provides a basis for making warning, deceleration, or braking decisions before the target object enters the deceleration sub-region or the stopping sub-region.

[0069] S340. Determine the estimated collision duration of the target object and the end effector of the target robotic arm based on dynamic relative information, and determine the estimated collision result of the end effector of the target robotic arm based on the estimated collision duration.

[0070] The estimated collision duration refers to the time required for the target object and the end effector of the target robotic arm to collide from the current moment, based on the current dynamic relative information.

[0071] For example, the end effector of the target robotic arm is moving forward, and the target object is moving towards the end effector of the target robotic arm. By calculating the first motion information and the second motion information, it is determined that the target object and the end effector of the target robotic arm will collide after 2.1 seconds. This duration is the estimated collision duration. At this time, the estimated collision result is that a collision has occurred.

[0072] Optionally, the estimated collision result of the target robotic arm end effector is determined based on the estimated collision duration, including: if the estimated collision duration is less than or equal to the preset safe reaction time of the target robotic arm end effector, then it is determined that the target object and the target robotic arm end effector have collided; if the estimated collision duration is greater than the preset safe reaction time of the target robotic arm end effector, then it is determined that the target object and the target robotic arm end effector have not collided.

[0073] The preset safety reaction time refers to the time required from detecting a collision risk and issuing a command to the complete braking and stopping of the target robotic arm's end effector, which is used to ensure that the target robotic arm's end effector completes a safe action before a collision occurs.

[0074] For example, if it takes 0.8 seconds for the target robotic arm end effector to come to a complete stop from the start of braking, then the preset safety reaction time is set to 0.8 seconds. When the estimated collision time is less than or equal to 0.8 seconds, the system determines that a collision is about to occur and immediately performs braking. Conversely, if the estimated collision time is greater than 0.8 seconds, then it is determined that the target object and the target robotic arm end effector will not collide.

[0075] The advantage of this setup is that by allowing sufficient braking time for the target robotic arm's end effector, it ensures that the end effector is fully braked before a collision actually occurs. This achieves both early warning protection and avoids accidental braking, thus improving the safety protection of the target object.

[0076] S350. Based on the estimated collision result, determine the motion control strategy corresponding to the end effector of the target robotic arm, and generate control commands corresponding to the motion control strategy to adjust the motion state of the end effector of the target robotic arm based on the control commands.

[0077] The technical solution of this invention involves acquiring first motion information of the target robotic arm's end effector and generating a dynamic safety zone corresponding to the end effector in real time based on the first motion information. When a target object is detected entering a warning sub-region, second motion information of the target object is collected, and the estimated collision result between the target object and the target robotic arm's end effector is determined based on the first and second motion information. According to the estimated collision result, a motion control strategy corresponding to the target robotic arm's end effector is determined, and control commands corresponding to the motion control strategy are generated to adjust the motion state of the target robotic arm's end effector based on the control commands. In this technical solution, a dynamic safety zone corresponding to the target robotic arm's end effector is pre-set based on the total system response time and braking distance of the target robotic arm's end effector. The dynamic safety zone includes a warning sub-region, a deceleration sub-region, and a stop sub-region. When a target object enters the warning sub-region, it indicates that if the target object continues to move towards the target robotic arm's end effector, there may be a risk of collision. To avoid a collision, it is necessary to further accurately determine the possibility of a collision. Specifically, trajectory prediction is performed based on the second motion information corresponding to the target and the first motion information of the target robotic arm's end effector. Collision detection is then performed on the predicted trajectories. If the predicted trajectories intersect or overlap within the estimated time, the estimated collision result for the target object and the target robotic arm's end effector is that a collision has occurred; otherwise, it indicates that a collision will not occur. By setting up multi-level safety protection zones and combining collision prediction based on motion trajectories, the simple distance control for safety protection is upgraded to a graded response. This ensures a safe distance between the user and the target robotic arm's end effector, providing early warnings, gradually reducing the distance until final termination. This maximizes user safety while avoiding frequent robotic arm shutdowns due to accidental triggering, providing more intelligent safety protection for the user. This solves the problem in existing technologies where pre-set static safety protection zones corresponding to the robotic arm cannot effectively protect user safety. It achieves improved user safety protection through multi-level safety protection zones while minimizing disruption to the robotic arm's normal operation.

[0078] Example 4 Figure 5 This is a structural schematic diagram of a safety protection device based on a finished product smoke robot provided in Embodiment 4 of the present invention. Figure 5 As shown, the device includes: a safe area determination module 410, a collision result determination module 420, and a control module 430.

[0079] The safe area determination module 410 is used to acquire the first motion information of the end of the target robotic arm and generate a dynamic safe area corresponding to the end of the target robotic arm in real time based on the first motion information. The dynamic safe area is a spatial area constructed based on the end of the target robotic arm. The outer periphery of the dynamic safe area is preset with at least one layer of envelope surface as the boundary of the area. The dynamic safe area is divided into a warning sub-area, a deceleration sub-area and a stop sub-area, and each sub-area corresponds to the envelope surface. The collision result determination module 420 is used to collect the second motion information of the target object when the target object is detected to enter the warning sub-region, and determine the estimated collision result between the target object and the end of the target robotic arm based on the first motion information and the second motion information; wherein, the estimated collision result is whether a collision occurs or no collision occurs. The control module 430 is used to determine the motion control strategy corresponding to the end effector of the target robotic arm based on the estimated collision result, and generate control commands corresponding to the motion control strategy, so as to adjust the motion state of the end effector of the target robotic arm based on the control commands.

[0080] The technical solution of this invention involves acquiring first motion information of the target robotic arm's end effector and generating a dynamic safety zone corresponding to the end effector in real time based on the first motion information. When a target object is detected entering a warning sub-region, second motion information of the target object is collected, and the estimated collision result between the target object and the target robotic arm's end effector is determined based on the first and second motion information. According to the estimated collision result, a motion control strategy corresponding to the target robotic arm's end effector is determined, and control commands corresponding to the motion control strategy are generated to adjust the motion state of the target robotic arm's end effector based on the control commands. In this technical solution, a dynamic safety zone corresponding to the target robotic arm's end effector is pre-set based on the total system response time and braking distance of the target robotic arm's end effector. The dynamic safety zone includes a warning sub-region, a deceleration sub-region, and a stop sub-region. When a target object enters the warning sub-region, it indicates that if the target object continues to move towards the target robotic arm's end effector, there may be a risk of collision. To avoid a collision, it is necessary to further accurately determine the possibility of a collision. Specifically, trajectory prediction is performed based on the second motion information corresponding to the target and the first motion information of the target robotic arm's end effector. Collision detection is then performed on the predicted trajectories. If the predicted trajectories intersect or overlap within the estimated time, the estimated collision result for the target object and the target robotic arm's end effector is that a collision has occurred; otherwise, it indicates that a collision will not occur. By setting up multi-level safety protection zones and combining collision prediction based on motion trajectories, the simple distance control for safety protection is upgraded to a graded response. This ensures a safe distance between the user and the target robotic arm's end effector, providing early warnings, gradually reducing the distance until final termination. This maximizes user safety while avoiding frequent robotic arm shutdowns due to accidental triggering, providing more intelligent safety protection for the user. This solves the problem in existing technologies where pre-set static safety protection zones corresponding to the robotic arm cannot effectively protect user safety. It achieves improved user safety protection through multi-level safety protection zones while minimizing disruption to the robotic arm's normal operation.

[0081] Optionally, the safety area determination module includes: a motion envelope determination submodule, used to obtain the total system response time and braking distance of the target robotic arm end effector, and determine the motion envelope of the target robotic arm end effector based on the total system response time and braking distance; wherein, the length of the braking distance is determined by the arc length integral of the three-dimensional spatial region swept by the target robotic arm end effector during its motion; The safety area determination submodule is used to determine the actual reachable area of ​​the target robotic arm end effector based on the motion envelope, and to determine the dynamic safety area corresponding to the target robotic arm end effector based on the actual reachable area.

[0082] Optionally, the safe area determination submodule includes: a projection unit, used to perform planar projection on the actual reachable area to obtain a two-dimensional projection area corresponding to the actual reachable area; The safety area determination unit is used to perform morphological expansion based on the outer boundary of the two-dimensional projection area to obtain the dynamic safety area corresponding to the end effector of the target robotic arm.

[0083] Optionally, the safe area determination unit includes: a stationary sub-region determination sub-unit, used to perform morphological expansion of the outer boundary of the two-dimensional projection area based on a first preset safe distance parameter of the end of the target robotic arm, to obtain the stationary sub-region corresponding to the end of the target robotic arm; The deceleration sub-region determination sub-unit is used to morphologically expand the outer boundary of the two-dimensional projection area based on the second preset safety distance parameter of the target robotic arm end, so as to obtain the deceleration sub-region corresponding to the target robotic arm end; The warning sub-region determination sub-unit is used to morphologically expand the outer boundary of the two-dimensional projection area based on the third preset safety distance parameter of the target robotic arm end, so as to obtain the warning sub-region corresponding to the target robotic arm end.

[0084] Optionally, the collision result determination module includes: an acquisition submodule, used to acquire second motion information of the target object based on the image capturing device; The dynamic relative information determination submodule is used to determine the dynamic relative information between the target object and the end effector of the target robotic arm based on the first motion information and the second motion information; wherein, the dynamic relative information includes dynamic relative position and / or dynamic relative velocity; The collision result determination submodule is used to determine the estimated collision duration of the target object and the end effector of the target robotic arm based on dynamic relative information, and to determine the estimated collision result of the end effector of the target robotic arm based on the estimated collision duration.

[0085] Optionally, the collision result determination submodule includes: a first unit, used to determine that the target object and the target robotic arm end have collided if the estimated collision duration is less than or equal to the preset safe reaction time of the target robotic arm end. The second unit is used to determine that the target object and the target robotic arm end will not collide if the estimated collision duration is greater than the preset safe reaction time of the target robotic arm end.

[0086] Optionally, the safety protection device based on the finished product smoke robot also includes: a reset processing module, used to perform device reset processing on the image capturing device before collecting the second motion information of the target object; wherein, the image capturing device is used to collect the second motion information of the target object, and the device reset processing includes camera calibration and / or recalibrating the relative position of the image capturing device and the end of the target robotic arm; The error correction module is used to detect and correct the position error of the image capturing device after the reset, until the position error of the image capturing device in capturing the target robotic arm end and the target object is less than the preset position error.

[0087] The safety protection device based on the finished product smoke robot provided in the embodiments of the present invention can execute the safety protection method based on the finished product smoke robot provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Example 5 Figure 6 A schematic diagram of the structure of an electronic device 10 according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0089] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0091] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as safety protection methods for finished product cigarette robots.

[0092] In some embodiments, the safety protection method for the finished cigarette robot can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the safety protection method for the finished cigarette robot described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the safety protection method for the finished cigarette robot by any other suitable means (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] The computer program used to implement the safety protection method for the finished product-based cigarette robot of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0097] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0098] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0099] Example 6 This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the safety protection method for a finished product-based cigarette robot as provided in any embodiment of this application.

[0100] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0101] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0102] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Users skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A safety protection method based on a finished product cigarette robot, characterized in that, include: First motion information of the end effector of the target robotic arm is obtained, and a dynamic safety region corresponding to the end effector of the target robotic arm is generated in real time based on the first motion information; wherein, the dynamic safety region is a spatial region constructed based on the end effector of the target robotic arm, and at least one layer of envelope surface is preset as the region boundary of the dynamic safety region, and the dynamic safety region is divided into a warning sub-region, a deceleration sub-region and a stop sub-region, and each sub-region corresponds one-to-one with the envelope surface; When a target object is detected entering the warning sub-area, the second motion information of the target object is collected, and the estimated collision result between the target object and the end effector of the target robotic arm is determined based on the first motion information and the second motion information; wherein, the estimated collision result is either a collision occurs or no collision occurs; Based on the estimated collision results, a motion control strategy corresponding to the end effector of the target robotic arm is determined, and a control command corresponding to the motion control strategy is generated to adjust the motion state of the end effector of the target robotic arm based on the control command.

2. The method according to claim 1, characterized in that, The first motion information includes the total system response time and braking distance. The step of acquiring the first motion information of the target robotic arm's end effector and generating a dynamic safety zone corresponding to the target robotic arm's end effector in real time based on the first motion information includes: The total system response time and braking distance of the target robotic arm end effector are obtained, and the motion envelope of the target robotic arm end effector is determined based on the total system response time and the braking distance; wherein, the length of the braking distance is determined by the arc length integral of the three-dimensional spatial region swept by the target robotic arm end effector during its motion. The actual reachable area of ​​the target robotic arm end effector is determined based on the motion envelope, and the dynamic safety area corresponding to the target robotic arm end effector is determined based on the actual reachable area.

3. The method according to claim 2, characterized in that, Determining the dynamic safety zone corresponding to the end effector of the target robotic arm based on the actual reachable area includes: The actual reachable area is projected onto a plane to obtain a two-dimensional projected area corresponding to the actual reachable area. Morphological expansion is performed based on the outer boundary of the two-dimensional projection area to obtain a dynamic safety area corresponding to the end of the target robotic arm.

4. The method according to claim 3, characterized in that, The step of morphologically expanding the region based on the outer boundary of the two-dimensional projection area to obtain a dynamic safety region corresponding to the end effector of the target robotic arm includes: Based on the first preset safety distance parameter of the target robotic arm end, the outer boundary of the two-dimensional projection area is morphologically expanded to obtain the stationary sub-region corresponding to the end of the target robotic arm. Based on the second preset safety distance parameter of the target robotic arm end, the outer boundary of the two-dimensional projection area is morphologically expanded to obtain the deceleration sub-region corresponding to the end of the target robotic arm. Based on the third preset safety distance parameter of the target robotic arm end, the outer boundary of the two-dimensional projection area is morphologically expanded to obtain the warning sub-region corresponding to the end of the target robotic arm.

5. The method according to claim 1, characterized in that, The step of collecting the second motion information of the target object and determining the estimated collision result between the target object and the end effector of the target robotic arm based on the first and second motion information includes: Based on the image capturing device, the second motion information of the target object is acquired; Based on the first motion information and the second motion information, the dynamic relative information between the target object and the end effector of the target robotic arm is determined; wherein, the dynamic relative information includes dynamic relative position and / or dynamic relative velocity; Based on the dynamic relative information, the estimated collision duration between the target object and the end effector of the target robotic arm is determined, and the estimated collision result of the end effector of the target robotic arm is determined based on the estimated collision duration.

6. The method according to claim 5, characterized in that, The step of determining the estimated collision result of the target robotic arm end effector based on the estimated collision duration includes: If the estimated collision duration is less than or equal to the preset safe reaction time of the target robotic arm end, then it is determined that the target object and the target robotic arm end have collided. If the estimated collision duration is greater than the preset safe reaction time of the target robotic arm end effector, then it is determined that the target object and the target robotic arm end effector will not collide.

7. The method according to claim 5, characterized in that, Before acquiring the second motion information of the target object, the process also includes: The image capturing device is reset; wherein the image capturing device is used to acquire second motion information of the target object, and the device reset process includes camera calibration and / or recalibrating the relative position of the image capturing device and the target robotic arm end effector. The image capturing device is reset and its position error is detected and corrected until the position error of the image capturing device in capturing the target robotic arm end and the target object is less than the preset position error.

8. A safety protection device based on a finished product smoke robot, characterized in that, include: The safety area determination module is used to acquire the first motion information of the end effector of the target robotic arm and generate a dynamic safety area corresponding to the end effector of the target robotic arm in real time based on the first motion information; wherein, the dynamic safety area is a spatial region constructed based on the end effector of the target robotic arm, and the periphery of the dynamic safety area is pre-defined with at least one layer of envelope surface as the region boundary, and the dynamic safety area is divided into a warning sub-region, a deceleration sub-region and a stop sub-region, and each sub-region corresponds one-to-one with the envelope surface; The collision result determination module is used to collect the second motion information of the target object when the target object is detected to enter the warning sub-area, and to determine the estimated collision result between the target object and the end effector of the target robotic arm based on the first motion information and the second motion information; wherein, the estimated collision result is either a collision occurs or no collision occurs; The control module is used to determine the motion control strategy corresponding to the end effector of the target robotic arm based on the estimated collision result, and generate control commands corresponding to the motion control strategy, so as to adjust the motion state of the end effector of the target robotic arm based on the control commands.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the safety protection method based on the finished product smoke robot as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the safety protection method based on the finished product smoke robot as described in any one of claims 1-7.

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