Safety Position Limiting Method, Device, Equipment and Storage Medium for Two-Arm Collaborative Robot

Abstract

This application discloses a safety position limit method, device, equipment and storage medium for a two-armed collaborative robot, which acquires the operation information of the interference target, maps the operation information to a virtual work scene, and determines the safety position limit range of the two-armed collaborative robot based on the virtual work scene and the operation information mapped to the virtual work scene. Calculate the envelope space shape and sweep space shape occupied by the interference target in the virtual work scene. Obtain the actual motion range of the two-armed collaborative robot. When the actual motion range is within the safety position limit range of the two-armed collaborative robot, strengthen the envelope space shape and sweep space shape occupied by the interference target on the interference target to obtain the safety position limit range of the interference target. Limit the safety position based on the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target.

Description

Technical Field

[0001] This application relates to an automatic control method, and particularly to a safety position limiting method, device, equipment and storage medium for a two-armed collaborative robot. Cross-reference to related applications This application is filed based on a Chinese patent with application number 202210744310.9 and filing date June 28, 2022, claims the priority of the Chinese patent, and all the content applied for by the Chinese patent is incorporated herein by reference.

Background Art

[0002] First, various new energy stations are located in remote areas, with a wide distribution range. Manual inspection has low operation efficiency, and workers are prone to fatigue due to long-distance movement and long-time continuous work, and there is a high possibility of safety problems. In addition, offshore wind power is developing rapidly and has become part of the new energy field. On the other hand, some auxiliary facilities of offshore wind power, such as offshore booster stations, are all far from the mainland, with inconvenient transportation, which has a great impact on related inspection work and the operation efficiency of equipment. Currently, in the operation and maintenance of new energy stations, unmanned operation is increasingly trending, and it is also increasingly trending to use robots to perform corresponding work instead of personnel. In the daily work of new energy stations, in addition to recording some data, some necessary operations need to be carried out. A simple vision robot cannot complete all the daily work of the station, so the application of robots with operating arms is also becoming increasingly popular. Among them, the two-armed robot that can simulate humans and perform relatively complex collaborative operations has shown obvious adaptability in the operation and maintenance of new energy stations.

[0003] However, there are a large number of electrical facilities in the substation such as an offshore booster station. The distance between these facilities is relatively small. On the one hand, workers who perform tasks that robots cannot handle also enter and leave. On the other hand, for the current automated inspections, the booster station may be equipped with other mobile facilities (such as guide rail type inspection robots or other cleaning facilities). Therefore, when the robot is working inside the electrical cabinet, the mechanical arm of the moving robot may collide with the above-mentioned facilities and workers, resulting in safety accidents, which may have a great impact on the automatic operation and maintenance work of the two-arm collaborative robot.

[0004] Therefore, it is necessary to develop a safety position limiting method for a two-arm collaborative robot to limit the posture of the two-arm collaborative robot during operation for new energy stations such as offshore booster stations, restrict the moving space of the two mechanical arms during robot operation, prevent safety accidents such as collisions and misoperations, and improve the work safety and adaptability of the two-arm collaborative robot in a complex environment.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In response to the problems existing in the prior art, the present application provides a safety position limiting method, device, equipment and storage medium for a two-arm collaborative robot, which can prevent safety accidents such as collisions and misoperations and improve the operational safety and adaptability of the two-arm collaborative robot in a complex environment.

Means for Solving the Problems

[0006] To solve the above technical problems, the present application adopts the following technical solutions.

[0007] A safety position limiting method for a two-arm collaborative robot, comprising the following. Obtain the position information and contour information of the interference target within the set range around the location of the two-arm collaborative robot, and construct a virtual work scene of the two-arm collaborative robot based on the position information and contour information of the interference target. Obtain the driving information of the interference target, and map the driving information to the virtual work scene. Based on the virtual work scene and the driving information mapped to the virtual work scene, determine the safety position limit range of the two-armed collaborative robot. Calculate the envelope space shape and sweep space shape occupied by the interference target in the virtual work scene. Obtain the actual motion range of the two-armed collaborative robot. When the actual motion range is within the safety position limit range of the two-armed collaborative robot, strengthen the envelope space shape and sweep space shape occupied by the interference target on the interference target to obtain the safety position limit range of the interference target. Limit the safety position based on the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target.

[0008] Furthermore, obtaining the actual motion range of the two-armed collaborative robot includes the following. Obtain the operation command of the two-armed collaborative robot. Perform inverse kinematic transformation on the operation command of the two-armed collaborative robot to obtain the actual motion range based on the corresponding operation command of the two-armed collaborative robot.

[0009] Furthermore, limiting the safety position according to the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target includes the following. When the actual motion trajectory of the two-armed collaborative robot enters the safety position limit range of the interference target, start the response of safety position limitation.

[0010] Furthermore, limiting the safety position according to the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target includes the following. When the distance from the actual motion trajectory of the two-armed collaborative robot to the safety position limit range of the interference target is smaller than a preset threshold, start the response of safety position limitation.

[0011] Furthermore, obtaining the position information and contour information of the interference target within the peripherally set range around the position of the dual-arm collaborative robot includes the following. Collecting the contour information of the interference target using a camera, Collecting the position information of the interference target using a radar sensor.

[0012] Furthermore, the radar sensor is a laser radar and / or a millimeter-wave radar.

[0013] A safety position limiting device for a dual-arm collaborative robot, including the following. A virtual scene construction module that obtains the position information and contour information of the interference target within the peripherally set range around the position of the dual-arm collaborative robot, and constructs a virtual working scene of the dual-arm collaborative robot based on the position information and contour information of the interference target, A mapping module that obtains the driving information of the interference target and maps the driving information to the virtual working scene, A first range determination module that determines the safe position limit range of the dual-arm collaborative robot based on the virtual working scene and the driving information mapped to the virtual working scene, A calculation module that calculates the envelope space shape and sweep space shape occupied by the interference target in the virtual working scene, A second range determination module that obtains the actual motion range of the dual-arm collaborative robot, and when the actual motion range is within the safe position limit range of the dual-arm collaborative robot, strengthens the envelope space shape and sweep space shape occupied by the interference target on the interference target, and determines the safe position limit range of the interference target, A safety position limiting module that limits the safety position based on the actual motion trajectory of the dual-arm collaborative robot and the safe position limit range of the interference target.

[0014] Furthermore, it includes the following. A first acquisition module for obtaining the contour information of the interference target collected by the camera, A second acquisition module for obtaining the position information of the interference target collected by the radar sensor.

[0015] An apparatus, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, procedures of a safety position limiting method for the dual-arm collaborative robot are realized.

[0016] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, procedures of a safety position limiting method for the dual-arm collaborative robot are realized.

Advantages of the Invention

[0017] Compared with the prior art, the present application has at least the following advantageous effects.

[0018] The safety position limiting method for the dual-arm collaborative robot of the present application collects position information and contour information of an interference object within a preset range around the location of the dual-arm collaborative robot, and at the same time obtains corresponding operation information of the interference object, reconstructs a virtual working scene of the dual-arm collaborative robot in a virtual scene, maps the operation information to the virtual working scene, determines a safety position limit range during the operation of the dual-arm collaborative robot based on the virtual working scene reconstructed in the virtual environment, obtains the actual motion range of the dual-arm collaborative robot, strengthens the envelope space shape and sweep space shape occupied by the interference object on the interference object to obtain a safety position limit range of the interference object, and limits the safety position according to the actual motion trajectory of the dual-arm collaborative robot and the safety position limit range of the interference object. The present application can improve the safety of the operation of the dual-arm collaborative robot, reduce accidents such as collisions and misoperations, guarantee the physical safety of workers and equipment, etc., and improve the adaptability of the dual-arm collaborative robot in a complex environment.

[0019] In order to make the above objects, features and advantages of the present application clearer and more understandable, the present application will be described in detail below in conjunction with preferred embodiments and drawings.

Brief Description of the Drawings

[0020] To more clearly explain the technical solutions in the specific embodiments of this application, the drawings necessary for the description of the specific embodiments are briefly introduced below. Obviously, the drawings described below are only part of the embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

Figure 1

Figure 2

Figure 3

Embodiments for Carrying out the Invention

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the drawings. Obviously, the embodiments described here are only part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative labor are within the scope of protection of this application.

[0022] As an embodiment of this application, as shown in Figure 1, it is a safety position limitation method for a two-armed collaborative robot, specifically including the following steps. Step 1: Obtain the position information and contour information of the interference object within the set range around the location of the two-armed collaborative robot, and construct a virtual working scene of the two-armed collaborative robot based on the position information and contour information of the interference object.

[0023] Specifically, the interference object is a worker and various equipment around the two-armed collaborative robot, etc. In this embodiment, a camera is used to collect the contour information of the interference object, and a radar sensor is used to collect the position information of the interference object. Optionally, the radar sensor is a laser radar and / or a millimeter-wave radar.

[0024] Step 2: Obtain the operation information of the interference target and map the operation information to the virtual work scene.

[0025] Specifically, the operation information of the interference target includes the position information of the operator and the inspection information of other mobile equipment. These interference targets are constantly moving. Currently, they may not interfere with the dual-arm collaborative robot, but they may affect the safety of the dual-arm collaborative robot during operation.

[0026] Step 3: Determine the safe position limit range of the dual-arm collaborative robot according to the virtual work scene and the operation information mapped to the virtual work scene.

[0027] Specifically, it is to determine the occupied space of the fixed interference target according to the virtual work scene and determine the sweep space of the moving interference target according to the operation information. The limit of the overall set space of the occupied space and the sweep space is the safe position limit range of the dual-arm collaborative robot operation.

[0028] Step 4: Calculate the envelope space shape and sweep space shape occupied by the interference target in the virtual work scene.

[0029] Step 5: Obtain the actual motion range of the dual-arm collaborative robot. When the actual motion range is within the safe position limit range of the dual-arm collaborative robot, strengthen the envelope space shape and sweep space shape occupied by the interference target on the interference target to obtain the safe position limit range of the interference target.

[0030] Optionally, obtain the actual motion range of the dual-arm collaborative robot, specifically as follows. Obtain the operation command of the dual-arm collaborative robot. Perform inverse kinematic transformation on the operation command of the dual-arm collaborative robot to obtain the actual motion range based on the corresponding operation command of the dual-arm collaborative robot.

[0031] Step 6: Limit the safety position according to the actual movement trajectory of the two-armed collaborative robot and the safety position limit range of the interference target, specifically as follows. When the actual movement trajectory of the two-armed collaborative robot enters the safety position limit range of the interference target, start the response of safety position limitation. When the distance from the actual movement trajectory of the two-armed collaborative robot to the safety position limit range of the interference target is smaller than a preset threshold value, start the response of safety position limitation.

[0032] In this embodiment, the response of safety position limitation includes giving an alarm and paying attention to taking necessary measures.

[0033] When the environmental information within the peripheral setting range of the location of the two-armed collaborative robot collected by mixing multiple types of actual detection sensors changes, repeat the above procedure and update the virtual work scene information and the real environment projection information simultaneously.

[0034] Hereinafter, specific embodiments will be combined to describe the present application in more detail.

[0035] First, based on the real-time external information (position information and contour information of the interference target) around the location of the two-arm collaborative robot 4 collected by multiple types of sensors, reconstruct the model in a virtual environment to obtain the virtual working scene of the two-arm collaborative robot. As shown in FIGS. 2 and 3, the two-arm collaborative robot 4 employs two-degree-of-freedom serial robotic arms, and the working radius of each robotic arm is 610 mm. A stereo camera 4-1 and a laser radar 4-2 are provided on the head of the robot. A first millimeter-wave radar 4-4 and a second millimeter-wave radar 4-5 are respectively provided in front of and behind the two-arm collaborative robot 4. These sensors are used to collect the surrounding environment information of the two-arm collaborative robot, and the collection range is about 5 times the working radius. The environmental information within a vertical width of about 3 meters around the two-arm collaborative robot 4 is collected, and the virtual working scene is reconstructed in the virtual environment. The interference targets to be collected include the operator 3, the guide-rail type suspended camera 2, the first electric cabinet 1, the second electric cabinet 5, the third electric cabinet 6, the fourth electric cabinet 7, and the fifth electric cabinet 8, etc.

[0036] Second, simultaneously obtain the operation information of the interference target and map it to the reconstructed virtual working scene in the virtual environment. Specifically, simultaneously obtain the position coordinates, moving speed v1, and moving direction of the operator 3, and obtain the moving route, speed v2, and direction of the guide-rail type suspended camera 2. These interference targets are constantly moving. Currently, they may not interfere with the two-arm collaborative robot 4 for now. However, if the operation time of the two-arm collaborative robot 4 is t and its movement direction is the direction where the two-arm collaborative robot 4 is located, in order to prevent the operator 3 and the guide-rail type suspended camera 2 from entering and safely affecting during the operation, it is necessary to determine that the distance between the moving target and the actual movement space of the two-arm collaborative robot 4 is not less than v1*t and v2*t.

[0037] Step 3 is to determine the safety position limit range of the two-arm collaborative robot based on the virtual work scene and the driving information mapped to the virtual work scene. Based on the reconstructed virtual work scene in the virtual environment, determine the movement range of the surrounding objects of the two-arm collaborative robot 4, including the occupied space of the guide rail type suspended camera 2 (the cylindrical envelope broken line of the guide rail type suspended camera 2 in Fig. 2), the occupied space of the operator 3 (the cylindrical envelope broken line of the operator 3 in Fig. 2), and the occupied spaces of the other second electrical cabinet 5 to the fifth electrical cabinet 8 (which coincides with the shape of the electrical cabinet in Fig. 2). Determine the sweep space of the movable operator 3 and the guide rail type suspended camera 2 according to the synchronized collected driving information and the robot operation time t. These occupied spaces and sweep spaces constitute the overall restraint space, and the limit of the restraint space is the safety position limit of the two-arm collaborative robot 4.

[0038] Step 4, currently, request the two-arm collaborative robot 4 to turn the rightmost knob of the first electrical cabinet 1. In this embodiment, perform the inverse kinematics transformation based on the D-H algorithm, calculate the driving angles θ1 - θ6 of each joint motor based on the spatial coordinates (x, y, z) of the center position of the rightmost knob of the first electrical cabinet 1, and determine the actual movement spaces {D 4-3} and {D 4-6} of the two first mechanical arms 4-3 and the second mechanical arm 4-6 (the two-stage envelope space extending from the bottom of the mechanical arm in Fig. 2 to the rightmost knob of the first electrical cabinet 1). Assume that the actual movement space is within the safety position limit range of the two-arm collaborative robot. If the actual movement space exceeds the safety position limit range of the two-arm collaborative robot, change the inverse kinematics algorithm to improve the D-H algorithm, re-determine the actual movement spaces {D 4-3}' and {D 4-6}' of the two first mechanical arms 4-3 and the second mechanical arm 4-6, and make the movement space of the mechanical arm within the safety position limit range of the two-arm collaborative robot. If it still cannot be operated safely, after the operator 3 or the guide rail type suspended camera 2 moves away, or adjust the relative position of the two-arm collaborative robot 4 to change the relative distance between the movement space and the safety position limit.

[0039] 5. When the actual movement range of the robot is within the safety position limit range of the two-armed collaborative robot, the envelope space shape and sweep space shape occupied by the interference target calculated in the virtual work scene are enhanced on the collected image (interference target) of the real environment, and it is used as the safety position electronic limit (safety position limit range of the interference target) in actual operation. When it is observed through the stereo camera 4-1 that the operations of the first robotic arm 4-3 and the second robotic arm 4-6 exceed the safe range, necessary measures such as stopping the operation of the robotic arm or moving the two-armed collaborative robot shall be taken.

[0040] When the surrounding environment information and driving information collected by mixing multiple types of real detection sensors such as the stereo camera 4-1, the laser radar 4-2, the first millimeter wave radar 4-4, and the second millimeter wave radar 4-5, or obtained simultaneously by other information systems change, for example, when a new operator enters the collection range or the moving speed of the guide rail type suspended camera accelerates, the above procedures shall be repeated to update the virtual work scene in the virtual environment and the projection enhancement information in the real environment simultaneously.

[0041] This application provides a safety position limiting device for a two-armed collaborative robot, which is used to realize the safety position limiting method of this application, and specifically includes the following. A virtual scene construction module that acquires the position information and contour information of the interference target within the surrounding setting range of the location of the two-armed collaborative robot, and constructs a virtual work scene of the two-armed collaborative robot based on the position information and contour information of the interference target. A mapping module that acquires the driving information of the interference target and maps the driving information to the virtual work scene. A first range determination module that determines the safety position limit range of the two-armed collaborative robot based on the virtual work scene and the driving information mapped to the virtual work scene. A calculation module that calculates the envelope space shape and sweep space shape occupied by the interference target in the virtual work scene. Obtain the actual motion range of the two-armed collaborative robot. When the actual motion range is within the safe position limit range of the two-armed collaborative robot, strengthen the envelope space shape and sweep space shape occupied by the interference target on the interference target, and determine the safe position limit range of the interference target with a second range determination module. A safety position restriction module that restricts the safety position based on the actual motion trajectory of the two-armed collaborative robot and the safe position limit range of the interference target. A first acquisition module for obtaining the contour information of the interference target collected by the camera. A second acquisition module for obtaining the position information of the interference target collected by the radar sensor.

[0042] In one embodiment of the present application, a computer device is provided. This computer device includes a processor and a memory. The memory is used for storing a computer program. The computer program includes program instructions. The processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU) or other common processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an existing field-programmable gate array (FPGA), or other programmable logic devices. It may also be discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal and is applicable to the realization of one or more instructions. Specifically, it reads and executes one or more instructions, thereby applying it to realize the corresponding method process or corresponding function. The processor described in the embodiments of the present application can be used for the operation of the two-armed collaborative robot safety position restriction method.

[0043] In one embodiment of the present application, the method for restricting the safe position of a two-armed collaborative robot is implemented in the form of a software functional unit. When sold or used as an independent product, it can be stored in a computer-readable storage medium. With such an understanding, the present application can, when implementing all or part of the processes described in the method of the above embodiment, instruct the relevant hardware by means of a computer program. The computer program is stored in a computer-readable storage medium, and when the processor executes this computer program, the procedures of each of the above method embodiments can be realized. Here, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium is a persistent or non-persistent, removable or non-removable medium, and any method or technology can be used to realize the recording of information. The information can be computer-readable instructions, data structures, program modules, or other data.

[0044] The computer storage medium can be any available medium or data storage device accessible by a computer, including but not limited to magnetic memory (such as floppy disks, hard disks, magnetic tapes, magneto-optical tapes (MO)), optical memory (such as CDs, DVDs, BDs, HVDs), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid hard disks (SSD)).

[0045] Those skilled in the art should understand that the embodiments of the present application can provide a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. In addition, the present application can adopt the form of a computer program product executed on a computer-readable storage medium (including but not limited to disk memory, CD-ROM, optical memory, etc.) that includes one or more computer-usable program codes.

[0046] The present application is described based on the flowcharts and / or block diagrams of the methods, facilities (systems), and computer program products of the embodiments of the present application. Therefore, it should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general computer, a dedicated computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices can generate an apparatus for realizing the specified functions of one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0047] These computer program instructions can be stored in a computer-readable memory that causes the computer or other programmable data processing devices to operate in a specific manner. Thereby, the instructions stored in the readable memory of the computer generate a manufactured product including an instruction device, and this instruction device realizes the specified functions of one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0048] These computer program instructions can be loaded into a computer or other programmable data processing apparatus, thereby causing a computer or other programmable device to execute a series of operational steps to generate a process implemented on the computer, and further providing a procedure for realizing the functions specified by one or more processes of the flowchart and / or one or more blocks of the block diagram when executed on the computer or other programmable device.

[0049] Finally, the above embodiments are specific embodiments of the present application, used for explaining the technical solutions of the present application, and not for limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art, that is, technicians familiar with this technical field, can modify, change, and equivalently exchange some of its technical features within the technical scope disclosed by the present application. However, due to these modifications, changes, or exchanges, the corresponding technical solutions shall not deviate from the spirit and scope of the technical solutions of the embodiments of the present application in essence and must be within the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope described in the claims.

Description of Reference Numerals

[0050] 1 - First electrical cabinet, 2 - Guide rail type suspended camera, 3 - Operator, 4 - Dual-arm collaborative robot, 4-1 - Stereo camera, 4-2 - Laser radar, 4-3 - First robotic arm, 4-4 - First millimeter wave radar, 4-5 - Second millimeter wave radar, 4-6 - Second robotic arm, 5 - Second electrical cabinet, 6 - Second electrical cabinet, 7 - Fourth electrical cabinet, 8 - Fifth electrical cabinet

Claims

1. A safety position limiting method for a two-armed collaborative robot, comprising the following: Obtaining position information and contour information of an interference target within a preset range around the location of the two-armed collaborative robot, and constructing a virtual work scene of the two-armed collaborative robot based on the position information and contour information of the interference target; Obtaining operation information of the interference target, and mapping the operation information to the virtual work scene; Determining a safety position limit range of the two-armed collaborative robot based on the virtual work scene and the operation information mapped to the virtual work scene; Calculating an envelope space shape and a sweep space shape occupied by the interference target in the virtual work scene; Obtaining the actual motion range of the two-armed collaborative robot. When the actual motion range is within the safety position limit range of the two-armed collaborative robot, strengthening the envelope space shape and the sweep space shape occupied by the interference target on the interference target to obtain a safety position limit range of the interference target; Limiting the safety position based on the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target. The safety position limiting method for the two-armed collaborative robot.

2. Obtaining the actual motion range of the two-armed collaborative robot as described above includes the following: Obtaining an operation command of the two-armed collaborative robot; Performing inverse kinematic transformation on the operation command of the two-armed collaborative robot to obtain an actual motion range corresponding to the operation command of the two-armed collaborative robot. The safety position limiting method for the two-armed collaborative robot according to Claim 1.

3. Limiting the safety position according to the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target as described above includes the following: When the actual motion trajectory of the two-armed collaborative robot enters the safety position limit range of the interference target, starting a response to safety position limitation. The safety position limiting method for the two-armed collaborative robot according to Claim 1.

4. Limiting the safety position according to the actual motion trajectory of the two-armed collaborative robot and the safety position limit range of the interference target as described above includes the following: When the distance from the actual motion trajectory of the two-armed collaborative robot to the safety position limit range of the interference target is smaller than a preset threshold value, starting a response to safety position limitation. The safety position limiting method for the two-armed collaborative robot according to Claim 1.

5. Obtaining the position information and contour information of the interference target within a preset range around the location of the two-armed collaborative robot includes the following: Collecting contour information of the interference target using a camera, The method for limiting the safe position of a two-armed collaborative robot according to claim 1, which collects position information of the interference target using a radar sensor.

6. The method for limiting the safe position of a two-armed collaborative robot according to claim 5, wherein the radar sensor is a laser radar and / or a millimeter-wave radar.

7. A two-armed collaborative robot safe position limiting device, comprising the following, A virtual scene construction module that acquires position information and contour information of an interference target within a preset range around the location of the two-armed collaborative robot, and constructs a virtual working scene of the two-armed collaborative robot based on the position information and contour information of the interference target; A mapping module that acquires the driving information of the interference target and maps the driving information to the virtual working scene; A first range determination module that determines the safe position limit range of the two-armed collaborative robot based on the virtual working scene and the driving information mapped to the virtual working scene; A calculation module that calculates the envelope space shape and sweep space shape occupied by the interference target in the virtual working scene; A second range determination module that acquires the actual motion range of the two-armed collaborative robot, and when the actual motion range is within the safe position limit range of the two-armed collaborative robot, strengthens the envelope space shape and sweep space shape occupied by the interference target on the interference target, and determines the safe position limit range of the interference target; The two-armed collaborative robot safe position limiting device, which is a safe position limiting module that limits the safe position based on the actual motion trajectory of the two-armed collaborative robot and the safe position limit range of the interference target.

8. Further comprising the following, A first acquisition module for acquiring the contour information of the interference target collected by the camera; The two-armed collaborative robot safe position limiting device according to claim 7, which is a second acquisition module for acquiring the position information of the interference target collected by the radar sensor.

9. A safe position limiting facility for a two-armed collaborative robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, When the processor executes the computer program, the procedure of the method for limiting the safe position of the two-armed collaborative robot according to any one of claims 1 to 6 is realized. The safe position limiting facility of the two-armed collaborative robot.

10. A computer-readable storage medium having a computer program stored thereon, the computer program realizing the procedure of the safety position limiting method of the two-arm collaborative robot according to any one of claims 1 to 6 when executed by a processor.

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