Safe area-based protection method, apparatus and device, and safe area-based configuration method, apparatus and device

Abstract

The present application relates to the technical field of robot safety, and discloses a safe area-based protection method, apparatus and device, and a safe area-based configuration method, apparatus and device. The method comprises: acquiring safe area configuration information for at least one reference object, wherein relative distance information between different reference objects meets a preset distance condition, the reference object includes a robot, and the robot is a robot in a motion state; on the basis of the safe area configuration information corresponding to each reference object, generating a safe area corresponding to each reference object; and when it is detected that a moving object is present within an area range of the safe area corresponding to the at least one reference object, and attribute information of the moving object meets a preset adjustment condition, adjusting the motion state of the robot. The present application aims to solve safety problems in the working process of existing industrial robots.

Description

A protection and configuration method, device and equipment based on security area

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311477541.9 filed on November 6, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robotics, and in particular to a method, device, and apparatus for protecting and configuring a safety zone. Background Art

[0004] With the continuous development of artificial intelligence technology, robots can replace humans in many repetitive, dangerous, or tedious tasks, freeing people from tedious or dangerous work. Industrial robots are a type of robot. They are automated machines with multiple axes of motion that can perform different tasks by switching between different movements. For example, industrial robots can be used in tasks such as parts assembly, welding, and stacking, improving work efficiency. While the emergence of industrial robots has greatly improved work efficiency and convenience, some industrial robots still require collaboration with other equipment or personnel, which can pose safety risks to other equipment or personnel.

[0005] Application Contents

[0006] The main purpose of this application is to provide a protection and configuration method, device and equipment based on a safety zone, aiming to solve the safety problems existing in existing industrial robots during operation and improve the safety of industrial robots.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, the present application provides a security zone-based protection method, the method comprising:

[0009] Obtaining safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, the reference object comprising a robot, and the robot being in motion;

[0010] Generate a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object;

[0011] When it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the movement state of the robot is adjusted.

[0012] Accordingly, the present application also proposes a protection device based on a safety zone, comprising:

[0013] an acquiring unit, configured to acquire safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, and the robot is a robot in motion;

[0014] an area generating unit, configured to generate a safety area corresponding to each reference object according to the safety area configuration information corresponding to each reference object;

[0015] The adjustment unit is used to adjust the motion state of the robot when it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

[0016] In a second aspect, the present application provides a configuration method based on a security zone, the method comprising:

[0017] Displaying a safety zone configuration interface, the safety zone configuration interface including a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, the reference object including a robot;

[0018] In response to a configuration operation on the configuration area, displaying the safety area configured for the reference object in the display area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects;

[0019] In response to a confirmation operation on the safety area, safety area configuration information is generated, and the safety area configuration information is sent to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety area configuration information.

[0020] Accordingly, the present application also proposes a configuration device based on a security zone, comprising:

[0021] a display unit, configured to display a safety zone configuration interface, the safety zone configuration interface including a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, the reference object including a robot;

[0022] a display unit, configured to display, in the display area, the safety areas configured for the reference objects in response to a configuration operation on the configuration area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects;

[0023] An information generating unit is used to generate safety zone configuration information in response to a confirmation operation on the safety zone, and send the safety zone configuration information to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety zone configuration information.

[0024] In a third aspect, the present application provides a security area-based protection device, which includes a processor and a memory, wherein a security area-based protection program is stored in the memory. When the security area-based protection program is executed by the processor, the security area-based protection method as described above is implemented.

[0025] In a fourth aspect, the present application provides a security area-based configuration device, which includes a processor and a memory, wherein a security area-based configuration program is stored in the memory, and when the security area-based configuration program is executed by the processor, the security area-based configuration method as described above is implemented.

[0026] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by one or more processors, the security area-based protection method or security area-based configuration method as described above is implemented.

[0027] The above one or more technical solutions provided by this application may have the following advantages or at least achieve the following technical effects:

[0028] The present application proposes a protection and configuration method, device and equipment based on a safety area, which obtains safety area configuration information for at least one reference object, wherein the relative distance information between different reference objects meets a preset distance condition, and the reference objects include robots, which are robots in motion; according to the safety area configuration information corresponding to each reference object, a safety area corresponding to each reference object is generated; when a moving object is detected within the area range of the safety area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted, aiming to solve the safety problems existing in existing industrial robots at work and improve the safety of industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0030] FIG1 is a flow chart of a first embodiment of a protection method based on a security area of ​​the present application;

[0031] FIG2 is a flow chart of a first embodiment of a configuration method based on a security zone of the present application;

[0032] FIG3 is a schematic diagram of the hardware structure of the protection device based on the security area involved in this application;

[0033] FIG4 is a schematic diagram of functional modules of a first embodiment of a protection device based on a safety zone of the present application;

[0034] FIG5 is a schematic diagram of functional modules of a first embodiment of a configuration device based on a security zone of the present application;

[0035] FIG6 is a schematic diagram of a scenario of a safe area of ​​the present application;

[0036] FIG7 is another schematic diagram of a safe area in this application;

[0037] FIG8 is another schematic diagram of a safe area in this application;

[0038] FIG9 is another schematic diagram of a safe area in this application;

[0039] FIG10 is a schematic diagram of a scenario of a security zone configuration interface of this application;

[0040] FIG11 is a schematic diagram of the workflow of the first embodiment of the protection system based on the security area of ​​the present application;

[0041] FIG12 is another schematic diagram of a safe area in this application;

[0042] FIG13 is another schematic diagram of a scenario of the security zone configuration interface of this application.

[0043] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of this application.

[0045] It should be noted that, in this application, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprise..." does not preclude the presence of other identical elements in the process, method, article, or system comprising that element. Furthermore, the meaning of "and / or" appearing throughout this document includes three parallel solutions. For example, "A and / or B" includes Solution A, Solution B, or solutions where both A and B are satisfied. In this application, if there are descriptions involving "first," "second," etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In this application, suffixes such as "module", "component" or "unit" used to represent elements are used only to facilitate the description of this application and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used interchangeably. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the technical solutions of the various embodiments can be combined with each other, but this is based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0046] Embodiments of the present application provide a security zone-based protection and configuration method, apparatus, and device. The protection device can be integrated into a protection device, which can include a server, robot, or terminal, among others. The configuration device can be integrated into a configuration device, which can include a terminal or server, among others. The terminal can be a sensor, tablet, desktop computer, laptop, among others. The server can include a standalone server, a distributed server, or a server cluster consisting of multiple servers.

[0047] The following describes in detail a security zone-based protection and configuration method, apparatus, and device provided by the present application through specific embodiments and implementation methods in conjunction with the accompanying drawings.

[0048] Example 1

[0049] 1 , a first embodiment of a security area-based protection method of the present application is provided. The security area-based protection method is applied to a security area-based protection device.

[0050] Security zone-based protection devices refer to terminal devices or network devices that can achieve network connection. They can be terminal devices such as mobile phones, computers, tablets, portable computers, embedded industrial computers, or network devices such as servers and cloud platforms.

[0051] Figure 3 is a schematic diagram of the hardware structure of a security zone-based protection device, which may include a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.

[0052] Specifically, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 is used to connect to the client and communicate data with the client, and the user interface 1003 may include an output unit and an input unit; the network interface 1004 is used to connect to the backend server and communicate data with the backend server, and the network interface 1004 may include an input / output interface; the memory 1005 is used to store various types of data, which may include, for example, instructions of any application or method in the security zone-based protection device, as well as application-related data, and the memory 1005 may be a built-in memory; in one embodiment, the memory 1005 may also be a storage device independent of the processor 1001. Continuing with FIG2, the memory 1005 may include an operating system, a network communication module, a user interface module, and a security zone-based protection program; the processor 1001 is used to call the security zone-based protection program stored in the memory 1005 and perform the following operations:

[0053] Obtaining safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, the reference object comprising a robot, and the robot being in motion;

[0054] Generate a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object;

[0055] When it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the movement state of the robot is adjusted.

[0056] Based on the above-mentioned security zone-based protection device, the security zone-based protection method of this embodiment is described in detail below in conjunction with the flow chart shown in FIG1 . The method may include the following steps:

[0057] 101. Obtain safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, which is a robot in motion.

[0058] In one embodiment, in addition to the robot, there may be other objects in the robot's working environment, such as workers working in collaboration with the robot, material tables, or other working equipment.

[0059] In order to improve the safety of the robot, in an embodiment of the present application, a safety area may be set for at least one reference object.

[0060] The reference object may include a robot and other working equipment that works in conjunction with the robot. For example, in certain application scenarios, a robot and a material table work together, and the reference object may include the robot and the material table. For another example, in certain application scenarios, multiple robots work together, and the reference object may include the multiple robots. For another example, in certain application scenarios, a robot works together with a cotton spinning machine or other industrial processing machine, and the reference object may include the robot, the cotton spinning machine, or other industrial processing machine.

[0061] The robot mentioned in this application may be a robot that has a certain degree of automation and can perform various processing and manufacturing functions by relying on its own power source and control capabilities. For example, the robot mentioned in this application may be an industrial robot. For example, the robot proposed in this application may be a six-axis robot or a four-axis robot (Selective Compliance Assembly Robot Arm, SCARA), etc.

[0062] In one embodiment, the present application may include at least one reference object. For example, the present application may include only one reference object or at least two reference objects. When the present application includes only one reference object, the reference object may be a robot. When the present application includes at least two reference objects, at least one of the reference objects may be a robot.

[0063] In one embodiment, the relative distance information between different reference objects satisfies a preset distance condition. The preset distance condition may be that the distance information between the reference objects is less than or equal to a certain distance threshold, thereby ensuring that the working range of the reference object can have a covered area. For example, the reference objects include a robot and a material table, wherein the relative distance information between the robot and the material table satisfies the preset distance condition, thereby ensuring that the working range of the robot can cover the material table. Therefore, the material table also needs to generate a corresponding safety area for monitoring and protection, thereby avoiding injuries to staff and the like who are close to the material table. For another example, the reference objects include multiple collaborative robots, wherein there is overlap between the working ranges of different collaborative robots, then a safety area needs to be generated for each collaborative robot for monitoring and protection, thereby avoiding failures and collisions between the collaborative robots.

[0064] In one embodiment, a safety zone is generated with a reference object as its center, and generally, the safety zone can completely cover the reference object. For example, when the safety zone is a circular area, the reference object can be the center of the circle. For example, as shown in FIG6 , assuming that reference object 001 is robot 001, the generated safety zone 002 is generated with robot 001 as its center. For another example, when the safety zone is an irregular shape, the reference object can be the center of the irregular shape. For another example, when the safety zone is a semicircle, the reference object can be the center of the semicircle.

[0065] In one embodiment, when the safety zone-based protection method proposed in the embodiments of the present application is implemented, the robot is in motion. For example, the robot may be performing a work task. For example, the robot may be performing a spot welding task, a loading and unloading task, or a handling task, etc.

[0066] 102. Generate a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object.

[0067] In one embodiment, a security zone corresponding to each reference object may be generated based on the security configuration information of each reference object. The security zone is generated based on the reference object as the center, and generally, the security zone may completely cover the reference object.

[0068] For example, as shown in Figure 6, assuming the reference object consists of only one robot 001, a safety zone 002 can be generated with the robot as the center. For another example, as shown in Figure 7, assuming the reference object consists of material platforms 004 and 005 and robot 003, safety zones can be generated with the material platforms and the robot as the centers, respectively. Robot 003 corresponds to safety zone 006, material platform 004 corresponds to safety zone 007, and material platform 005 corresponds to safety zone 008.

[0069] In one embodiment, the safety zone corresponding to each reference object can be generated in a variety of ways. For example, the safety zone can be formed using laser light emitted by a laser transmitter. For another example, the safety zone can be formed using other sensors.

[0070] 103. When a moving object is detected within the safety zone corresponding to at least one reference object and the attribute information of the moving object meets a preset adjustment condition, the motion state of the robot is adjusted.

[0071] The moving object may include an object in motion. The object may include a living object and a non-living object. The living object may include an object with vital signs. For example, the living object may include a human, an animal, etc. The non-living object may include an object without vital signs. For example, the non-living object may include an autonomous vehicle, a robot, etc.

[0072] The attribute information of a moving object can be used to describe the object's own attributes and motion state. For example, the attribute information of a moving object can include at least one of the following: the moving object's speed, the number of moving objects, the relative distance between the moving object and a reference object, and the object type of the moving object. The object type of the moving object can indicate whether the moving object is a living object or a non-living object. If the moving object is a living object, it can be a human or an animal; if the moving object is a non-living object, it can be a robot or a vehicle, etc.

[0073] The preset adjustment conditions may include attribute thresholds or attribute conditions corresponding to the attribute information of the moving object. When the attribute information of the moving object satisfies the attribute thresholds or attribute conditions, the robot's motion state can be adjusted. For example, attribute thresholds may include motion speed thresholds, quantity thresholds, and relative distance thresholds. The attribute conditions may include how to adjust the robot's motion state when the object type is a living object, how to adjust the robot's motion state when the object type is a non-living object, and so on.

[0074] The preset adjustment conditions and the attribute information of the moving object correspond to each other. For example, when the attribute information of the moving object includes the moving speed of the moving object, the preset adjustment condition may be that when the moving speed of the moving object reaches a certain threshold, the robot's motion state is adjusted. For another example, when the attribute information of the moving object includes the moving speed of the moving object and the relative distance information between the moving object and a reference object, the preset adjustment condition may be that when the moving speed reaches a speed threshold or the relative distance information reaches a relative distance threshold, the robot's motion state is adjusted. For another example, when the attribute information of the moving object includes the moving speed of the moving object and the relative distance information between the moving object and a reference object, the preset adjustment condition may be that when the moving speed reaches a speed threshold or the relative distance information reaches a relative distance threshold, the robot's motion state is adjusted.

[0075] In one embodiment, the motion state of the robot can be used to describe the motion speed and motion direction of the robot. Therefore, adjusting the motion state of the robot may include processing the motion speed and / or motion direction of the robot.

[0076] For example, if a moving object is detected within the safety zone containing a reference object and its attribute information satisfies preset adjustment conditions, a robot in motion can be stopped. For another example, if a moving object is detected within the safety zone containing a reference object and its attribute information satisfies preset adjustment conditions, not only can the robot in motion be stopped, but the robot's direction of movement can also be changed. For example, the robot's direction of movement can be changed to one that does not harm the moving object, and then the robot can be stopped.

[0077] For example, when the reference object consists of only one robot, a safety zone can be generated centered around that robot. When a worker enters the safety zone, information such as the worker's movement speed and relative distance from the robot can be detected. For example, if the relative distance between the worker and the robot is less than a preset distance threshold, the robot can be stopped. For another example, if the relative distance between the worker and the robot is greater than a preset distance threshold, but the worker's movement speed is also greater than the preset distance threshold, the robot can be stopped.

[0078] For another example, if the reference objects include a robot and a material table, two safety zones can be generated for the robot and the material table, respectively. For example, when a worker enters the safety zone corresponding to the material table, if the relative distance between the worker and the material table is less than a preset distance threshold, the robot, which is in motion, can be stopped. For another example, if workers enter the safety zone corresponding to the material table, if the number of workers exceeds a preset number threshold, the robot, which is in motion, can be stopped. For another example, if workers enter both the safety zone corresponding to the robot and the safety zone corresponding to the material table, the robot's motion state will be adjusted if the attribute information of the worker in one of the safety zones meets the preset adjustment conditions.

[0079] The safety zone-based protection method provided in this embodiment obtains safety zone configuration information for at least one reference object, wherein the relative distance information between different reference objects satisfies a preset distance condition, and the reference objects include robots, which are robots in motion; generates a safety zone corresponding to each reference object based on the safety zone configuration information corresponding to each reference object; and adjusts the robot's motion state when a moving object is detected within the area of ​​the safety zone corresponding to at least one reference object and the attribute information of the moving object satisfies a preset adjustment condition. By setting a safety zone for the reference object and monitoring the moving object entering the zone through the safety zone, the embodiment of the present application can timely adjust the robot's motion state, prevent the robot from damaging the moving object, and improve the safety of the robot.

[0080] Based on the above-mentioned security area-based protection method, this article further explains this application.

[0081] In some embodiments, step 100 of “obtaining security zone configuration information for at least one reference object” may include:

[0082] Receiving a configuration receiving instruction sent by a configuration device connected to the robot;

[0083] Parse the received configuration instructions to obtain the security zone configuration information.

[0084] The configuration device can be used to configure the secure area. For example, the configuration device can include a tablet computer, a desktop computer, or a laptop computer, etc.

[0085] The connection relationship between the robot and the configuration device may include a communication connection relationship or a binding relationship, so that the safety zone configuration information configured on the configuration device can be fed back to the robot.

[0086] In one embodiment, the safety device may receive a configuration receiving instruction sent by a configuration device connected to the robot, and then parse the configuration receiving instruction to obtain the safety zone configuration information. For example, the configuration receiving instruction may be traversed and read to obtain the safety zone configuration information.

[0087] In some embodiments, step 102 of “generating a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object” may include:

[0088] According to the security area configuration information corresponding to each reference object, a security detection sub-area and a security response sub-area corresponding to each reference object are generated.

[0089] For example, in certain embodiments, the safety zone mentioned herein may include a safety detection sub-zone and a safety response sub-zone. The safety detection sub-zone is used to detect and process the attribute information of a moving object, while the safety response sub-zone is used to adjust the robot's motion state based on the attribute information of the moving object. Furthermore, the safety detection sub-zone and the safety response sub-zone may overlap, with the safety detection sub-zone's area being larger than the safety response sub-zone's area.

[0090] There are many situations in which the area ranges of the security detection sub-area and the security response sub-area overlap. For example, the area range of the security detection sub-area may completely cover the area range of the security response sub-area.

[0091] In certain embodiments, when the safety zone includes a safety detection sub-zone and a safety response sub-zone, step 103, "adjusting the motion state of the robot when a moving object is detected within the area of ​​the safety zone corresponding to at least one reference object and the attribute information of the moving object meets a preset adjustment condition," may include:

[0092] When a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the safety response sub-area.

[0093] The safety detection sub-area is used to detect and process the attribute information of the moving object, and the safety response sub-area is used to adjust the robot's motion state based on the attribute information of the moving object. For example, the safety detection sub-area can be used to detect and process the attribute information of the moving object that enters the area range of the safety detection sub-area. For example, when a moving object enters the area range of the safety detection sub-area, the number, movement speed, and object type of the moving object can be detected. For example, when the attribute information of the moving object is detected to meet the preset adjustment conditions, and the moving object is detected to enter the safety response sub-area, the robot's motion state can be adjusted. For example, when the movement speed of the moving object is detected to be too high, the robot in motion is stopped as soon as the moving object enters the safety response sub-area. For another example, the robot in motion can be stopped as soon as the moving object is detected to enter the safety response sub-area.

[0094] In one embodiment, the shape of the safety detection sub-region and the shape of the safety response sub-region correspond to object attribute information of the reference object, wherein the object attribute information includes at least one of shape information and motion state information of the reference object.

[0095] For example, as shown in Figure 8 , assuming the reference object is a material platform 009 with an irregular shape, the shapes of the safety detection sub-region 011 and the safety response sub-region 010 can also be irregular shapes. For another example, as shown in Figure 9 , assuming the reference object is a six-axis industrial robot 012, the shapes of the safety detection sub-region 014 and the safety response sub-region 013 can encircle the robot and change with its movement.

[0096] In one embodiment, the shapes of the safety detection sub-region and the safety response sub-region may not correspond to the object attribute information of the reference object. For example, the shapes of the safety detection sub-region and the safety response sub-region may be fixed as a circle or a rectangle.

[0097] In one embodiment, the security detection sub-area and the security response sub-area can be static fixed areas or dynamically changing areas. In addition, one of the security detection sub-area and the security response sub-area can be static fixed area and the other can be dynamically changing area.

[0098] A static fixed area may refer to an area that does not change once generated. A dynamically changing area may refer to an area that can change based on changes in the external environment after it is generated. For example, when the safety detection sub-area and the safety response sub-area are dynamically changing areas, they may change based on the attributes of the moving object and / or the motion information of the robot.

[0099] In one embodiment, when there is a moving object in the safety detection sub-area, the safety response sub-area may change according to attribute information of the moving object.

[0100] Specifically, the step of “adjusting the motion state of the robot based on the safety response sub-region when a moving object is detected within the area of ​​the safety detection sub-region corresponding to at least one reference object and the attribute information of the moving object meets a preset adjustment condition” may include:

[0101] When a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object, acquiring attribute information of the moving object;

[0102] When the attribute information of the moving object meets the preset adjustment condition, the safety response sub-region is adjusted to obtain a first adjusted safety response sub-region;

[0103] The motion state of the robot is adjusted based on the first adjusted safety response sub-region.

[0104] In one embodiment, when a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object, attribute information of the moving object may be obtained.

[0105] For example, sensors and other devices can be used to detect whether a moving object has entered a safety detection area. When a moving object is detected within the safety detection sub-area corresponding to a reference object, the sensor and other devices can be used to obtain attribute information of the moving object. For example, a laser sensor can be used to obtain information about the relative distance between the moving object and the reference object, or the speed of the moving object. For another example, a camera can be used to capture a moving image of the moving object, and then the image can be analyzed to determine the type, number, speed, and relative distance of the moving object from the reference object.

[0106] In one embodiment, when the attribute information of a moving object satisfies a preset adjustment condition, the security response sub-region may be adjusted to obtain a first adjusted security response sub-region. For example, the area of ​​the security response sub-region may be increased based on the number, speed, type, and relative distance of the moving objects from the reference object.

[0107] For example, when a moving object exists in the security detection sub-area and the speed of the moving object is greater than or equal to a preset speed threshold, the area of ​​the security response sub-area may be increased. For another example, when a moving object exists in the security detection sub-area and the number of moving objects is greater than or equal to a preset number threshold, the area of ​​the security response sub-area may be increased. For another example, when a moving object exists in the security detection sub-area and the moving object is a living object, the area of ​​the security response sub-area may be increased. For another example, when a moving object exists in the security detection sub-area and the moving object is a living object and the number of the moving objects is large, the area of ​​the security response sub-area may be increased.

[0108] In one embodiment, when the attribute information of the moving object meets the preset adjustment conditions, the area range of the security response sub-area can be increased according to the attribute information of the moving object. For example, assume that the security response sub-area is a circle with a diameter of 2 meters. When the speed of the moving object is equal to the preset speed threshold, the diameter of the security response sub-area can be adjusted to 3 meters. When the speed of the moving object is greater than the preset speed threshold, the diameter of the security response sub-area can be adjusted to 4 meters. The greater the speed of the moving object, the larger the adjustment range of the security response sub-area. In extreme cases, the area range of the response sub-area after the first adjustment can be the same size as the security detection area. Similarly, if the number of moving objects entering the security detection sub-area is greater, the adjustment range of the security response sub-area can also be larger. For example, the adjustment range of the security response sub-area is positively correlated with the attribute information of the moving object.

[0109] In one embodiment, more specifically, when the moving objects are living objects, and the attribute information of the moving objects includes the number of living objects, the movement speed, and the relative distance information between the living objects and the reference object, the step of "when the attribute information of the moving objects satisfies the preset braking condition and the preset adjustment condition, adjusting the safety response sub-region to obtain a first adjusted safety response sub-region" may include:

[0110] comparing the number of living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference objects with the preset adjustment threshold conditions;

[0111] When at least one of the number of living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference object meets the preset adjustment threshold condition, the security response sub-region is expanded to obtain the first adjusted security response sub-region.

[0112] For example, the moving object is a worker working in collaboration with the robot. For example, when the worker's movement speed is greater than or equal to a corresponding threshold, the safety response sub-region can be expanded to obtain a first adjusted safety response sub-region. For another example, when the number of workers is greater than or equal to a response threshold, the safety response sub-region can be expanded to obtain a first adjusted safety response sub-region.

[0113] In one embodiment, the robot's motion state can be adjusted based on the first adjusted response sub-region. For example, upon detecting a moving object entering the first adjusted response sub-region, the robot can be stopped. For another example, upon detecting a moving object entering the first adjusted response sub-region, the robot can be directed to change direction to avoid harming the object and stop the object.

[0114] In one embodiment, the scope of the safety response sub-region can change in real time. For example, after the scope of the safety response sub-region is expanded, if the moving object does not enter the first adjusted safety response sub-region but instead leaves the safety detection sub-region, the scope of the first adjusted safety response sub-region can be restored to its original state. For another example, if the moving object leaves the safety detection sub-region after the robot stops moving, the robot can resume movement and the scope of the first adjusted safety response sub-region can be restored to its original state.

[0115] In one embodiment, the present application can support the change of the safety response sub-region based on the attribute information of the moving object when a moving object is present in the safety detection sub-region. Through this setting, the moving object entering the safety region can be further protected, preventing the robot from damaging the moving object during operation, and further improving the safety of the robot. In addition, the area range of the safety response sub-region can be changed in real time, ensuring the real-time nature of the safety response sub-region and preventing the adjustment of the safety response sub-region from excessively affecting the robot's operating efficiency, thereby improving the robot's safety while ensuring the robot's operating efficiency.

[0116] In one embodiment, the reference object may include a robot and other equipment that is not a robot. For example, the reference object may include a robot and a material table that works with the robot.

[0117] For scenarios where the reference object includes a robot and other devices, it is possible to determine whether the safety zone entered by the moving object belongs to the robot's safety zone. If it does, the safety response sub-zone can be adjusted based on the moving object's attributes. If it does not, the safety response sub-zone can be adjusted based on the relative distance between the reference object and the robot and the moving object's attributes.

[0118] Specifically, the method proposed in the embodiment of the present application may further include:

[0119] When a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object, an object type corresponding to a target reference object is determined, wherein the target reference object is the reference object within the safety detection sub-area where the moving object is detected.

[0120] The object type corresponding to the target reference object may indicate whether the target reference object is a robot.

[0121] Then, the step of “adjusting the security response sub-region based on the attribute information of the moving object to obtain a first adjusted security response sub-region” may include:

[0122] When the object type of the target reference object is a robot, adjusting the safety response sub-region based on the attribute information of the moving object to obtain a first adjusted safety response sub-region;

[0123] When the object type of the target reference object is not a robot, the safety response sub-region is adjusted based on the relative distance information between the target reference object and the robot and the attribute information of the moving object to obtain a first adjusted safety response sub-region.

[0124] In one embodiment, the relative distance information between the target reference object and the robot may include the relative distance between the center of the target reference object and the center of the robot.

[0125] For example, for a scenario where the reference objects include a robot and a material table, when there is a moving object in the safety detection subarea, it can be determined whether the robot's safety detection subarea has entered the moving object or the material table's safety detection subarea has entered the moving object.

[0126] If the safety detection sub-area of ​​the robot enters a moving object, the safety response sub-area may be adjusted based on the attribute information of the moving object.

[0127] If a moving object enters the material platform's safety detection sub-area, the material platform's safety response sub-area can be adjusted based on the moving object's attributes and the relative distance between the material platform and the robot. For example, if the moving object is moving quickly but the relative distance between the material platform and the robot is far, the expansion of the safety response sub-area can be relatively small. For another example, if the moving object is moving quickly but the relative distance between the material platform and the robot is close, the adjustment of the safety response sub-area can be relatively small. For another example, if there are many moving objects but the relative distance between the material platform and the robot is far, the expansion of the safety response sub-area can be relatively small.

[0128] In one embodiment, for scenarios where the reference objects include robots and non-robot devices, the safety response sub-area can also be adjusted in combination with the relative distance information between the robot and the non-robot devices, thereby improving the rationality of the embodiment of the present application and avoiding the adjustment of the safety response sub-area from excessively affecting the work efficiency of the robot, thereby improving the safety of the robot while ensuring the work efficiency of the robot.

[0129] In one embodiment, the safety response sub-area may vary according to the motion information of the robot in addition to the attribute information of the moving object.

[0130] Specifically, before the step of "when a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object, and the attribute information of the moving object meets the preset adjustment conditions, adjusting the motion state of the robot based on the safety response sub-area", the method proposed in the embodiment of the present application may include:

[0131] Detect the robot's motion information;

[0132] The security response sub-region is adjusted based on the motion information to obtain a second adjusted security response sub-region.

[0133] The step of “adjusting the motion state of the robot based on the safety response sub-region when a moving object is detected within the area of ​​the safety detection sub-region corresponding to at least one reference object and the attribute information of the moving object meets the preset adjustment conditions” may further include:

[0134] When a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one reference object and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the second adjusted safety response sub-area.

[0135] In one embodiment, the movement information of the robot may include the movement speed and movement direction of the robot.

[0136] In one embodiment, the motion information of the robot may be detected, and then the safety response sub-region may be adjusted based on the motion information to obtain a second adjusted safety response sub-region.

[0137] For example, the robot's motion information can be detected by a sensor or other device. For example, the robot's motion speed and / or motion direction can be detected by a sensor. Then, the safety response sub-region can be adjusted based on the motion information to obtain a second adjusted safety response sub-region. For example, the safety response sub-region can be adjusted based on the robot's motion speed to obtain a second adjusted safety response sub-region. For another example, the safety response sub-region can be adjusted based on the robot's motion speed and motion direction to obtain a second adjusted safety response sub-region.

[0138] For example, when adjusting the safety response sub-region based on the robot's movement speed, the robot's movement speed can be compared with a corresponding speed threshold. If the robot's movement speed is greater than or equal to the speed threshold, the safety response sub-region is expanded. Furthermore, the greater the robot's movement speed, the more likely it is to damage a moving object, so the safety response sub-region can be expanded further. For another example, if the robot's movement speed is less than the speed threshold, the safety response sub-region may not be adjusted.

[0139] For another example, when the robot is a robotic arm, the response sub-area can be adjusted based on the robot's movement speed and direction. For example, when the robot's movement speed is greater than or equal to a speed threshold, the safety response sub-area can be expanded based on the robotic arm's movement direction. For example, if the shape of the safety response sub-area is the same as the shape of the robotic arm, the range of the safety response sub-area expansion can be the same as the robotic arm's movement direction.

[0140] In one embodiment, after adjusting the safety response sub-region to obtain a second adjusted safety response sub-region, the robot's motion state can be adjusted based on the second adjusted safety response sub-region. For example, upon detecting that a moving object has entered the second adjusted safety response sub-region, the robot can be stopped to avoid accidental injury to the moving object.

[0141] In one embodiment, after adjusting the safety response sub-area according to the robot's motion information to obtain a second adjusted safety response sub-area, the safety detection sub-area can also be adjusted according to the second adjusted safety response sub-area to obtain a first adjusted safety detection sub-area, thereby improving the safety of the robot.

[0142] Specifically, after the step of “adjusting the security response sub-region based on the motion information to obtain a second adjusted security response sub-region”, the method proposed in the embodiment of the present application may further include:

[0143] Based on the second adjusted security response sub-region, the security detection sub-region is adjusted to obtain a first adjusted security detection sub-region.

[0144] For example, if the second adjusted security response sub-region is an enlarged region, the first security detection sub-region may be enlarged accordingly. The extent of the enlargement of the first adjusted security detection sub-region may correspond to the extent of the enlargement of the second adjusted security response sub-region. For example, if the extent of the enlargement of the second adjusted security response sub-region is greater, the extent of the enlargement of the first adjusted security detection sub-region may also be greater.

[0145] Then, the step of “adjusting the motion state of the robot based on the second adjusted safety response sub-region when a moving object is detected within the area of ​​the safety detection sub-region corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions” may include:

[0146] When a moving object is detected within the area of ​​the first adjusted safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the second adjusted safety response sub-area.

[0147] For example, if the robot's operating speed increases during operation, the safety response sub-area can be expanded accordingly to obtain a second adjusted safety response sub-area. Then, the safety detection sub-area can be further expanded based on the second adjusted safety response sub-area to obtain a first adjusted safety detection sub-area.

[0148] Then, detection can be performed based on the first adjusted safety detection sub-area. When a moving object is detected entering the first adjusted safety detection sub-area, the moving object's attribute information can be identified. When the moving object's attribute information meets the preset adjustment conditions and the moving object enters the second adjusted safety response sub-area, the operating robot can be stopped.

[0149] In one embodiment, when the attribute information of the moving object satisfies a preset adjustment condition, the second adjusted safety response sub-region may be adjusted to obtain a fourth adjusted safety response sub-region. The steps for adjusting the second adjusted safety response sub-region may refer to the steps for adjusting the safety response sub-region based on the attribute information of the moving object to obtain the first adjusted safety response sub-region, and will not be repeated here. Subsequently, when the moving object enters the fourth adjusted safety response sub-region, the operating robot may be stopped to prevent accidental injury to the moving object.

[0150] In one embodiment, when adjusting the safety zone based on the robot's motion information, the safety detection sub-zone and the safety response sub-zone may be adjusted simultaneously, resulting in a second adjusted safety detection sub-zone and a third adjusted safety response sub-zone. Then, when a moving object is detected within the second adjusted safety detection sub-zone corresponding to at least one reference object, and the attribute information of the moving object meets a preset adjustment condition, the robot's motion state is adjusted based on the third adjusted safety response sub-zone.

[0151] In one embodiment, when the moving object is a living object, thermal imaging can be performed on the safety detection sub-area to obtain thermal imaging information. Then, attribute information of the living object can be obtained based on the thermal imaging information, and the robot's motion state can be adjusted based on the attribute information of the living object.

[0152] Specifically, the step of “adjusting the motion state of the robot based on the safety response sub-region when a moving object is detected within the area of ​​the safety detection sub-region corresponding to at least one reference object and the attribute information of the moving object meets a preset adjustment condition” may include:

[0153] Perform thermal imaging detection on the area range of the safety detection sub-area to obtain thermal imaging information;

[0154] When a living object is identified within the safety detection sub-region based on the thermal imaging information, the thermal imaging information is analyzed to obtain attribute information of the living object, wherein the attribute information includes at least one of a movement speed of the living object, the number of living objects, and relative distance information between the living objects and the safety response sub-region;

[0155] Comparing and processing the attribute information of the living object with the preset adjustment conditions;

[0156] When the attribute information of the living object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the safety response sub-region.

[0157] For example, an infrared detector may be used to perform thermal imaging detection on the area of ​​the safety detection sub-area to obtain thermal imaging information. For another example, an infrared camera may be used to capture an image within the safety detection area to obtain thermal imaging information, that is, the thermal imaging information may be a picture.

[0158] In one embodiment, the thermal imaging information can be used to identify the presence of a living object within the safety detection area. For example, an artificial intelligence algorithm can be used to identify the thermal imaging information, thereby determining whether a living object exists within the safety detection area. For example, a machine learning algorithm or a deep learning algorithm can be used to identify the thermal imaging information.

[0159] In one embodiment, when a living object is identified within the safety detection sub-region, the thermal imaging information may be further analyzed to obtain attribute information of the living object. The attribute information may include at least one of the following: the speed of the living object, the number of living objects, and the relative distance between the living objects and the safety response sub-region. For example, when the thermal imaging information is an image, the thermal imaging information may be analyzed using an image recognition algorithm to obtain the attribute information.

[0160] The attribute information of the living object can then be compared with the preset adjustment conditions. When the attribute information of the living object meets the preset adjustment conditions, the robot's motion state can be adjusted based on the safety response sub-region. For example, when the attribute information of the living object meets the preset adjustment conditions, the safety response sub-region can be expanded. When the living object enters the expanded safety response sub-region, the robot, which is in motion, can be stopped.

[0161] In one embodiment, it should be noted that when adjusting the security response sub-region herein, it is assumed that the moving object has not entered the security response sub-region, that is, there is no moving object in the security response sub-region.

[0162] In one embodiment, the security response sub-area and / or security detection sub-area mentioned in the embodiment of the present application can be a static fixed area or a dynamically changing area. For example, when the security response sub-area and / or the security detection sub-area is a dynamically changing area, the security response sub-area and / or the security detection sub-area can change according to the attribute information of the moving object. For another example, when the security response sub-area and / or the security detection sub-area is a dynamically changing area, the security response sub-area and / or the security detection sub-area can change according to the motion information of the robot. For another example, when the security response sub-area and / or the security detection sub-area is a dynamically changing area, the security response sub-area and / or the security detection sub-area can change according to the motion information of the robot and the attribute information of the moving object. The present application makes the security response sub-area and / or the security detection sub-area a dynamically changing area, so that the security area can change according to the motion condition of the robot or the environmental condition, so that the security area is more in line with the environmental condition, thereby improving the safety of the robot while ensuring the working efficiency of the robot.

[0163] Example 2

[0164] 2 , based on the same application concept, the embodiment of the present application further proposes a first embodiment of another configuration method based on a security zone, which is applied to a configuration device based on a security zone.

[0165] Configuration devices based on security zones refer to terminal devices that can achieve network connection, which can be mobile phones, computers, tablets, portable computers, embedded industrial computers and other terminal devices.

[0166] Figure 3 shows a schematic diagram of the hardware structure of a secure zone-based configuration device, which may include a processor 1001, such as a CPU (Central Processing Unit), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.

[0167] Specifically, the communication bus 1002 is used to implement connection and communication between these components; the user interface 1003 is used to connect to the client and communicate data with the client, and the user interface 1003 may include an output unit and an input unit; the network interface 1004 is used to connect to the backend server and communicate data with the backend server, and the network interface 1004 may include an input / output interface; the memory 1005 is used to store various types of data, which may include, for example, instructions for any application or method in the security zone-based configuration device, as well as application-related data, and the memory 1005 may be a built-in memory; in one embodiment, the memory 1005 may also be a storage device independent of the processor 1001. Continuing with FIG2 , the memory 1005 may include an operating system, a network communication module, a user interface module, and a security zone-based configuration program; the processor 1001 is used to call the security zone-based configuration program stored in the memory 1005 and perform the following operations:

[0168] Displaying a safety zone configuration interface, the safety zone configuration interface including a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, and the reference object includes a robot;

[0169] In response to a configuration operation on the configuration area, displaying the safety area configured for the reference object in the display area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects;

[0170] In response to a confirmation operation on the safety area, safety area configuration information is generated, and the safety area configuration information is sent to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety area configuration information.

[0171] Based on the above-mentioned security zone-based protection device, the security zone-based configuration method of this embodiment is described in detail below in conjunction with the flow chart shown in Figure 2. The method may include the following steps:

[0172] 201. Display a safety area configuration interface, the safety area configuration interface including a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, and the reference object includes a robot.

[0173] The security zone configuration interface can be used to configure the security zone.

[0174] The safety zone configuration interface may include a configuration area and a display area. The configuration area may be used to configure the safety zone corresponding to a reference object. The display area may include at least one reference object to be configured and the positional layout of different reference objects. At least one of the reference objects may be a robot.

[0175] In one embodiment, the display area includes at least one reference object and the positional layout of different reference objects. For example, the display area displays a robot icon corresponding to a six-axis robot and a material table icon corresponding to a material table. The positional layout of the robot icon and the material table icon corresponds to the positional layout of the six-axis robot and the material table in real life. For example, if the material table is to the left of the six-axis robot in real life, then on the tablet computer, the material table icon is also to the left of the robot icon.

[0176] 202. In response to a configuration operation on the configuration area, display the safety area configured for the reference object in the display area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects.

[0177] In one embodiment, the configuration area may include a start area, a shape selection area, and a range setting area.

[0178] The startup area can be used to set whether to start the robot's safety area function, and whether the safety area is a dynamically adjusted area or a static fixed area.

[0179] In one embodiment, in response to a selection operation on the activation area, the activated safety area corresponding to the reference object may be displayed in the display area. For example, the activation area may include an activation control, which may be a slider control, a switch control, or the like. For example, if the activation control is a slider control, sliding it to the right may activate the safety area, while sliding it to the left may deactivate the safety area. The safety area displayed in the display area may be a default safety area. For example, the default safety area may include default information such as the area range and shape.

[0180] Furthermore, the activation area can also include sub-area activation controls for the safety detection sub-area and the safety response sub-area. Using these sub-area activation controls, you can choose whether to activate the safety detection sub-area and the safety response sub-area. If you do not activate the safety detection sub-area and the safety response sub-area, you can choose to activate only a single safety area. Based on this single safety area, the robot detects the attributes of moving objects entering the area. If the attributes of the moving objects meet preset adjustment conditions, the robot is stopped.

[0181] In addition, after selecting to start the safety area, the start area may also include a selection control. By operating the selection control, you can choose whether the safety area is a static fixed area or a dynamically adjusted area. When the safety area is selected to be a dynamically adjusted area, the adjustment rule configuration sub-area may also be displayed in the start area. In the adjustment rule configuration sub-area, you can set whether the safety area changes according to the attribute information of the moving object or according to the motion information of the robot. Similarly, when starting the safety detection sub-area and the safety response sub-area, you can also set whether the safety detection sub-area and the safety response sub-area are static fixed areas or dynamically adjusted areas. When setting the safety detection sub-area and / or the safety response sub-area to be a dynamically adjusted area, you can also change the rules dynamically.

[0182] In one embodiment, the shape selection area can be used to set the shape of the safety area. In response to a selection operation on the shape selection area, the safety area corresponding to the selection operation can be displayed in the display area.

[0183] For example, the shape selection control can be used to set the shape of the safe area to be circular, rectangular, semicircular, or to match the shape information of the reference object. For example, the shape selection area can also include shape controls corresponding to each optional shape of the safe area. When a shape control is selected, the safe area can display the corresponding shape in the display area. Similarly, when the safety detection sub-area and the safety response sub-area are activated, the shapes of the safety detection sub-area and the safety response sub-area can be set respectively and displayed in the display area.

[0184] In one embodiment, the range setting area is used to set the range of the safety area. In response to an adjustment operation on the range setting area, the safety area corresponding to the adjustment operation can be displayed in the display area.

[0185] For example, the range setting area may include a range adjustment axis, which can be dragged to adjust the range of the safety zone. Similarly, when the safety detection sub-area and the safety response sub-area are enabled, each sub-area has a corresponding range adjustment axis. The range of the sub-area can be adjusted by dragging the corresponding adjustment axis, but the range of the safety detection sub-area is generally larger than that of the safety response sub-area.

[0186] For example, as shown in FIG10 , it is a schematic diagram of a safety zone configuration interface 015 . The safety zone configuration interface 015 may include a display area 016 , a start area 017 , a shape selection area 018 , and a range setting area 019 .

[0187] The relative position relationship between the robot and the material table can be seen through the display area 016, and the configured safety area can also be seen. The startup area 017 can be used to configure the safety area. There can be a variety of tools in the shape selection area 018, and these tools can be used to set the shape of the safety area. For example, the user can select the rectangular icon in the shape selection area 018 and drag the icon to the display area 016 to generate a safety area. For another example, the user can also select the pencil icon in the shape selection area 018 and customize the shape of the safety area they want to set in the display area 016 by controlling the icon. The range setting area 019 may include a range drag bar, and the user can set the area range of the safety area by dragging the range drag bar.

[0188] In addition, the safe area configuration interface may also include a display mode selection area 020. Display mode selection area 020 includes two display modes: a two-dimensional display mode and a three-dimensional display mode. When the two-dimensional display mode is selected, the display area 016 will be displayed in the two-dimensional mode. When the three-dimensional display mode is selected, the display area 016 will be displayed in the three-dimensional mode.

[0189] In one embodiment, the steps of "responsive to a selection operation on a shape selection area, displaying the safety area corresponding to the selection operation in the display area" and "responsive to a selection operation on the shape selection area, displaying the safety area corresponding to the selection operation in the display area" are not subject to time limits. The shape of the safety area can be configured first, or the range of the safety area can be configured first.

[0190] 203. In response to the confirmation operation on the safety area, generate safety area configuration information, and send the safety area configuration information to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety area configuration information.

[0191] In one embodiment, the safety zone configuration interface may include a confirmation control. When the confirmation control is triggered, safety zone configuration information may be generated in response to a confirmation operation on the safety zone. The safety zone configuration information may be sent to a protective device associated with the robot, so that the protective device can adjust the robot based on the safety zone configuration information.

[0192] Example 3

[0193] As shown in FIG11 , based on the same application concept, a third embodiment of the present application is proposed. The third embodiment is applied to a protection system based on a security area. The protection system includes a protection device and a configuration device.

[0194] The following is a detailed description of the security zone protection method of this embodiment. The method may include the following steps:

[0195] 301. Configure a device to display a safety zone configuration interface, where the safety zone configuration interface includes a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, and the reference object includes a robot.

[0196] For example, the scenario targeted by the embodiments of the present application may be a scenario in which the reference object includes a robot and a material table, wherein the robot may be a six-axis robot.

[0197] In one embodiment, a worker can configure the safety zones corresponding to the six-axis robot and the material table using a configuration device. For example, assuming the configuration device is a tablet computer, the worker can directly configure the safety zones using the tablet computer.

[0198] For example, the tablet computer can display a safe zone configuration interface, where the safe zone configuration interface includes a configuration area and a display area. The display area displays a robot icon corresponding to the six-axis robot and a material table icon corresponding to the material table. The positional layout of the robot icon and the material table icon corresponds to the positional layout of the six-axis robot and the material table in real life. For example, if the material table is to the left of the six-axis robot in real life, then on the tablet computer, the material table icon is also to the left of the robot icon.

[0199] 302. The configuration device displays the safety area configured for the reference object in the display area in response to the configuration operation on the configuration area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects.

[0200] For example, the configuration area may include a startup area, a shape selection area, and a range setting area.

[0201] For example, Figure 13 shows another scenario diagram of the safety zone configuration interface. This safety zone configuration interface includes display area 025 and configuration areas 021, 022, 023, and 024. Configuration area 021 allows you to set whether to enable the safety zone. Configuration area 023 allows you to set the number and shape of safety zones by dragging tasks within the area. Configuration area 022 allows you to set the functions of sub-zones and display the selected safety sub-zone. Area 024 allows you to set the safety zone's range and the robot's operating speed.

[0202] 303. The configuration device generates safety zone configuration information in response to the confirmation operation on the safety zone, and sends the safety zone configuration information to the protection device associated with the robot, so that the protection device adjusts the robot based on the safety zone configuration information.

[0203] 304. The protection device obtains safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, which is a robot in motion.

[0204] For example, as shown in FIG12 , the scenario targeted by this embodiment is a scenario of a six-axis robot 022 and a material table 025 .

[0205] 305. The protection device generates a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object.

[0206] For example, as shown in Figure 12, the reference objects include a six-axis robot 022 and a material platform 025. The protection device can use the six-axis robot 022 as a reference to generate a safety detection sub-area 023 and a safety response sub-area 024 corresponding to the six-axis robot 022, and a safety detection sub-area 026 and a safety response sub-area 027 based on the material platform 025. For example, if a safety area is generated by a sensor emitting corresponding rays, the protection device can send a command to the corresponding sensor, causing the sensor to generate a safety area.

[0207] The security detection sub-area and the security response sub-area may both cover their corresponding reference objects.

[0208] 306. When the protection device detects that there is a moving object within the safety zone corresponding to at least one reference object, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted.

[0209] In one embodiment, when the protection device detects the presence of a moving object within a safety detection sub-region corresponding to at least one reference object, and the moving object's attribute information satisfies a preset adjustment condition, the protection device may adjust the safety response sub-region based on the moving object's attribute information, thereby obtaining a first adjusted safety response sub-region. For example, assuming the safety region is generated based on sensors, the protection device may send instructions to the corresponding sensors to adjust the safety response sub-region. When the moving object enters the first adjusted safety response sub-region, the protection device may send instructions to the robot to stop moving, or to change its direction of movement and then stop moving.

[0210] Among them, when the protection device adjusts the security response sub-area according to the attribute information of the moving object, it can adjust all the security response sub-areas, or it can only adjust the security response sub-area corresponding to the security detection sub-area entered by the moving object.

[0211] Furthermore, different preset adjustment conditions can be applied to different reference objects. For example, when adjusting the safety response sub-areas for a robot and a material platform, the preset adjustment conditions for the robot's safety response sub-area and the material platform's safety response sub-area can be different.

[0212] For example, in a scenario involving a robot and a material platform, if a moving object exists within the safety detection sub-area corresponding to the material platform, and the moving object is a living object, the protective device can expand the safety response sub-area of ​​the material platform to obtain a first adjusted safety response sub-area. If the moving object is not a living object, no adjustment is made to the safety response sub-area. For another example, if a moving object exists within the safety detection sub-area corresponding to the material platform, and the number of moving objects is greater than or equal to a preset threshold, all safety response sub-areas can be expanded, or only the safety response sub-area corresponding to the material platform can be expanded.

[0213] For example, for the safety detection sub-area corresponding to the material platform, the safety response sub-area will be adjusted only when the number of moving objects within the safety detection sub-area exceeds 3. For the safety detection sub-area corresponding to the object robot, the safety response sub-area will be adjusted only when the number of moving objects within the safety detection sub-area exceeds 2.

[0214] In addition, the safety response sub-area may be adjusted according to attribute information such as the moving speed of the moving object and the relative distance between the moving object and the reference object, and the distances are not described one by one here.

[0215] In one embodiment, the safety response sub-region can be adjusted based on motion information such as the robot's motion speed and direction to obtain a second adjusted safety response sub-region. The safety detection sub-region can then be adjusted based on the second adjusted safety response sub-region to obtain a first adjusted safety detection sub-region. The robot's motion state can then be adjusted based on the first adjusted safety detection sub-region and the second adjusted safety response sub-region.

[0216] For example, when the robot's movement speed is greater than or equal to a corresponding speed threshold, the safety response sub-area can be expanded. For example, in a scenario involving a robot and a material table, the safety response sub-area corresponding to the robot and the material table can be expanded. Then, based on the second adjusted safety response sub-area corresponding to the robot, the robot's safety detection sub-area can be expanded to obtain the first adjusted safety detection sub-area. Simultaneously, based on the second adjusted safety response sub-area corresponding to the material table, the material table's safety detection sub-area can be expanded to obtain the first adjusted safety detection sub-area.

[0217] For example, in a scenario involving a robot and a material table, the safety response sub-areas for both the robot and the material table will be expanded only when the robot's speed is greater than or equal to the corresponding speed threshold and the distance between the robot and the material table is relatively close. If the robot's speed is greater than or equal to the corresponding speed threshold but the distance between the robot and the material table is relatively far, only the safety response sub-area for the robot will be expanded.

[0218] In one embodiment, the safety response sub-area and the safety detection sub-area can be adjusted simultaneously according to the movement information of the robot, such as the movement speed and movement direction, to obtain the second adjusted safety detection sub-area and the third adjusted safety response sub-area.

[0219] For more implementation details of the specific implementation of the above method steps, please refer to the description of the specific implementation in Example 1. For the sake of brevity of the description, they will not be repeated here.

[0220] The safety zone-based protection system provided in this embodiment includes a protection device and a configuration device. The configuration device can display a safety zone configuration interface, which includes a configuration area and a display area. The display area includes at least one reference object and the position layout between different reference objects, and the reference objects include robots. In response to a configuration operation on the configuration area, the safety zone configured for the reference object is displayed in the display area, wherein the layout relationship between the safety zones of different reference objects corresponds to the position layout between the different reference objects. In response to a confirmation operation on the safety zone, safety zone configuration information is generated and sent to the protection device associated with the robot, so that the protection device adjusts the robot based on the safety zone configuration information. The configuration device provides a visual interface for staff, allowing staff to directly configure the safety zone through the protection device, improving the convenience and intuitiveness of the safety zone configuration. The protection device can obtain safety area configuration information for at least one reference object, wherein the relative distance information between different reference objects meets a preset distance condition, and the reference objects include robots, which are robots in motion; based on the safety area configuration information corresponding to each reference object, a safety area corresponding to each reference object is generated; when a moving object is detected within the area range of the safety area corresponding to at least one reference object, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted to improve the safety of the robot and prevent the robot from damaging the moving object.

[0221] Example 4

[0222] Based on the same application concept, referring to FIG4 , a first embodiment of the protection device based on a security area of ​​the present application is proposed. The protection device based on a security area may be a virtual device applied to a protection device based on a security area.

[0223] The following describes in detail the security zone-based protection device provided in this embodiment with reference to the functional module diagram shown in FIG4 . The device may include:

[0224] an acquiring unit, configured to acquire safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, and the robot is a robot in motion;

[0225] an area generating unit, configured to generate a safety area corresponding to each reference object according to the safety area configuration information corresponding to each reference object;

[0226] The adjustment unit is used to adjust the motion state of the robot when it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

[0227] In one embodiment, the adjusting unit may include:

[0228] The first adjustment sub-unit is used to adjust the motion state of the robot based on the safety response sub-area when a moving object is detected within the area range of the safety detection sub-area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

[0229] In one embodiment, the first adjustment subunit may include:

[0230] An acquisition module, configured to acquire attribute information of the moving object when a moving object is detected within the area of ​​the safety detection sub-area corresponding to at least one of the reference objects;

[0231] a first adjustment module, configured to adjust the security response sub-region to obtain a first adjusted security response sub-region when the attribute information of the moving object meets a preset adjustment condition;

[0232] The second adjustment module is configured to adjust the motion state of the robot based on the first adjusted safety response sub-region.

[0233] In one embodiment, the first adjustment subunit may further include:

[0234] The type determination module is used to determine the object type corresponding to the target reference object when a moving object is detected within the area range of the safety detection sub-area corresponding to at least one of the reference objects, wherein the target reference object is the reference object in which the moving object is detected within the safety detection sub-area.

[0235] In one embodiment, the first adjustment module may include:

[0236] a first adjustment submodule, configured to, when the object type of the target reference object is a robot, adjust the safety response subregion based on the attribute information of the moving object to obtain a first adjusted safety response subregion;

[0237] The second adjustment submodule is used to adjust the safety response sub-area based on the relative distance information between the target reference object and the robot and the attribute information of the moving object when the object type of the target reference object is not a robot, so as to obtain a first adjusted safety response sub-area.

[0238] In one embodiment, the adjustment unit may further include:

[0239] A detection subunit, configured to detect motion information of the robot;

[0240] a second adjusting sub-unit, configured to adjust the security response sub-region based on the motion information to obtain a second adjusted security response sub-region;

[0241] In one embodiment, the first adjustment subunit may include:

[0242] The third adjustment module is used to adjust the motion state of the robot based on the second adjusted safety response sub-area when a moving object is detected within the area range of the safety detection sub-area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

[0243] In one embodiment, the first adjustment subunit may further include:

[0244] The fourth adjustment module is configured to adjust the security detection sub-region based on the second adjusted security response sub-region to obtain a first adjusted security detection sub-region.

[0245] In one embodiment, the third adjustment module may include:

[0246] The third adjustment submodule is used to adjust the motion state of the robot based on the second adjusted safety response sub-area when a moving object is detected within the area range of the first adjusted safety detection sub-area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

[0247] In one embodiment, the first adjustment module may include:

[0248] a comparison submodule, configured to compare the number of the living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference object with a preset adjustment threshold condition;

[0249] an expansion submodule, configured to expand the security response subregion to obtain the first adjusted security response subregion when at least one of the number of the living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference object meets the preset adjustment threshold condition.

[0250] In one embodiment, the first adjustment subunit may include:

[0251] A thermal imaging detection module, configured to perform thermal imaging detection on the area range of the safety detection sub-area to obtain thermal imaging information;

[0252] a parsing module configured to, when a living object is identified as existing within the security detection subregion based on the thermal imaging information, parse the thermal imaging information to obtain attribute information of the living object, wherein the attribute information includes at least one of a movement speed of the living object, a number of the living objects, and relative distance information between the living objects and the security response subregion;

[0253] a comparison module, configured to compare the attribute information of the living object with the preset adjustment condition;

[0254] A fourth adjustment module is configured to adjust the motion state of the robot based on the safety response sub-region when the attribute information of the living object meets the preset adjustment condition.

[0255] In one embodiment, the acquiring unit may include:

[0256] An instruction receiving subunit, configured to receive a configuration receiving instruction sent by a configuration device connected to the robot;

[0257] The parsing subunit is used to parse the configuration receiving instruction to obtain the security zone configuration information.

[0258] It should be noted that the functions that can be achieved by each module in the security area-based protection device provided in this embodiment and the corresponding technical effects achieved can refer to the description of the specific implementation methods in each embodiment of the security area-based protection method of this application. For the sake of brevity of the description, they will not be repeated here.

[0259] Example 5

[0260] Based on the same application concept, referring to FIG5 , a first embodiment of the configuration device based on the security zone of the present application is proposed. The configuration device based on the security zone may be a virtual device applied to a configuration device based on the security zone.

[0261] The following describes in detail the security zone-based configuration device provided by this embodiment with reference to the functional module diagram shown in FIG5 . The device may include:

[0262] a display unit, configured to display a safety zone configuration interface, the safety zone configuration interface including a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, the reference object including a robot;

[0263] a display unit, configured to display, in the display area, the safety areas configured for the reference objects in response to a configuration operation on the configuration area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects;

[0264] An information generating unit is used to generate safety zone configuration information in response to a confirmation operation on the safety zone, and send the safety zone configuration information to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety zone configuration information.

[0265] In one embodiment, the display unit may include:

[0266] A first display sub-unit is configured to display the activated safety area corresponding to the reference object in the display area in response to a selection operation on the activation area;

[0267] a second display subunit, configured to, in response to a selection operation on the shape selection area, display a safety area corresponding to the selection operation in the display area;

[0268] The third display subunit is configured to, in response to an adjustment operation on the range setting area, display a safety area corresponding to the adjustment operation in the display area.

[0269] It should be noted that the functions that can be implemented by each module in the security zone-based configuration device provided in this embodiment and the corresponding technical effects achieved can refer to the description of the specific implementation methods in each embodiment of the security zone-based configuration method of this application. For the sake of brevity of the description, they will not be repeated here.

[0270] Example 6

[0271] Based on the same application concept, referring to the hardware structure diagram of Figure 3, this embodiment provides a protection device based on a security area, which may include a processor and a memory. The memory stores a protection program based on a security area. When the protection program based on a security area is executed by the processor, all or part of the steps of each embodiment of the protection method based on a security area of ​​the present application are implemented.

[0272] Specifically, security zone-based protection equipment refers to terminal devices or network devices that can achieve network connection. They can be terminal devices such as mobile phones, computers, tablets, portable computers, embedded industrial computers, or network devices such as servers and cloud platforms.

[0273] It can be understood that the security zone-based protection device may further include a communication bus, a user interface, and a network interface. Among them, the communication bus is used to realize the connection and communication between these components; the user interface is used to connect to the client and communicate data with the client. The user interface may include output units such as display screens, speakers, etc., and input units such as keyboards, microphones, etc.; the network interface is used to connect to the backend server and communicate data with the backend server. The network interface may include input / output interfaces, such as standard wired interfaces and wireless interfaces such as Wi-Fi interfaces; the memory is used to store various types of data, which may include, for example, instructions of any application or method in the security area-based protection device, as well as application-related data. The memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (ELC). Memory, EEPROM), magnetic memory, flash memory, magnetic disk or optical disk, etc.; in one embodiment, the memory can also be a storage device independent of the processor; the processor is used to call the security area-based protection program stored in the memory and execute the security area-based protection method as described above. The processor can be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic component, and is used to execute all or part of the steps of each embodiment of the security area-based protection method as described above.

[0274] It should be noted that the hardware structure shown in FIG3 does not constitute a limitation on the safety zone-based protection device of the present application, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0275] In addition, the hardware structure diagram in FIG3 may also be a configuration device based on a secure area, wherein the configuration device may refer to a secure device, which will not be discussed again here.

[0276] Example 7

[0277] Based on the same application concept, this embodiment provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a disk, an optical disk, a server, etc. A computer program is stored on the storage medium, and the computer program can be executed by one or more processors. When the computer program is executed by the processor, it can implement all or part of the steps of each embodiment of the protection method based on the security area or the configuration method based on the security area of ​​the present application.

[0278] It should be noted that the serial numbers of the above embodiments of this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above embodiments are only optional embodiments of this application and do not limit the patent scope of this application. All equivalent structures or equivalent process changes made by using the contents of this application specification and drawings under the application concept of this application, or directly or indirectly applied in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A protection method based on a security zone, wherein: The method comprises: Acquire safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, and the robot is a robot in motion; Generate a security zone corresponding to each reference object according to the security zone configuration information corresponding to each reference object; When it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the movement state of the robot is adjusted.

2. The method according to claim 1, wherein: The safety area includes a safety detection sub-area and a safety response sub-area, wherein the safety detection sub-area is used to detect and process the attribute information of the moving object, and the safety response sub-area is used to adjust the motion state of the robot based on the attribute information of the moving object; The area ranges of the security detection sub-area and the security response sub-area overlap, and the area range of the security detection sub-area is larger than the area range of the security response sub-area.

3. The method according to claim 2, wherein: When it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the movement state of the robot is adjusted, including: When a moving object is detected within the area range of at least one safety detection sub-area corresponding to the reference object, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area.

4. The method according to claim 3, wherein: When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area, including: When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, acquiring attribute information of the moving object; When the attribute information of the moving object meets the preset adjustment condition, the security response sub-region is adjusted to obtain a first adjusted security response sub-region; The motion state of the robot is adjusted based on the first adjusted safety response sub-region.

5. The method according to claim 4, wherein: The method further comprises: When a moving object is detected within the area range of the safety detection sub-area corresponding to at least one of the reference objects, determining the object type corresponding to the target reference object, wherein the target reference object is the reference object in which the moving object is detected within the safety detection sub-area; When the attribute information of the moving object meets the preset adjustment condition, the security response sub-region is adjusted to obtain a first adjusted security response sub-region, including: When the object type of the target reference object is a robot, adjusting the safety response sub-region based on the attribute information of the moving object to obtain a first adjusted safety response sub-region; When the object type of the target reference object is not a robot, the safety response sub-region is adjusted based on the relative distance information between the target reference object and the robot and the attribute information of the moving object to obtain a first adjusted safety response sub-region.

6. The method according to claim 3, wherein: When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, before adjusting the motion state of the robot based on the safety response sub-area, the method further includes: Detecting motion information of the robot; Adjusting the security response sub-region based on the motion information to obtain a second adjusted security response sub-region; When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area, including: When a moving object is detected within the area range of at least one safety detection sub-area corresponding to the reference object, and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the second adjusted safety response sub-area.

7. The method according to claim 6, wherein: After the security response sub-region is adjusted based on the motion information to obtain a second adjusted security response sub-region, the method further includes: Based on the second adjusted security response sub-region, adjusting the security detection sub-region to obtain a first adjusted security detection sub-region; When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the second adjusted safety response sub-area, including: When a moving object is detected within the area range of the first adjusted safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the second adjusted safety response sub-area.

8. The method according to claim 3, wherein: When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, before adjusting the motion state of the robot based on the safety response sub-area, the method further includes: Detecting motion information of the robot; Adjust the security detection sub-region and the security response sub-region based on the motion information to obtain a second adjusted security detection sub-region and a third adjusted security response sub-region; When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area, including: When a moving object is detected within the area range of the second adjusted safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment conditions, the motion state of the robot is adjusted based on the third adjusted safety response sub-area.

9. The method according to any one of claims 1 to 8, wherein: The attribute information of the moving object includes at least one of a moving speed of the moving object, the number of the moving objects, relative distance information between the moving object and a reference object, and an object type of the moving object.

10. The method according to any one of claims 2 to 8, wherein: The shape of the safety detection sub-region and the shape of the safety response sub-region correspond to object attribute information of the reference object, wherein the object attribute information includes at least one of shape information and motion state information of the reference object.

11. The method according to claim 4, wherein: When the moving object is a living object, the attribute information of the moving object includes the number of the living objects, the moving speed of the living objects, and the relative distance information between the living objects and the reference object; When the attribute information of the moving object meets the preset adjustment condition, the security response sub-region is adjusted to obtain a first adjusted security response sub-region, including: respectively comparing the number of the living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference object with a preset adjustment threshold condition; When at least one of the number of the living objects, the movement speed of the living objects, and the relative distance information between the living objects and the reference object meets the preset adjustment threshold condition, the security response sub-area is expanded to obtain the first adjusted security response sub-area.

12. The method according to claim 3, wherein: The moving object includes a living object; When it is detected that there is a moving object within the area range of the safety detection sub-area corresponding to at least one of the reference objects, and the attribute information of the moving object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area, including: Performing thermal imaging detection on the area range of the safety detection sub-area to obtain thermal imaging information; When it is identified based on the thermal imaging information that there is a living object within the area range of the safety detection sub-area, the thermal imaging information is parsed to obtain attribute information of the living object, wherein the attribute information includes at least one of the movement speed of the living object, the number of the living objects, and the relative distance information between the living object and the safety response sub-area; Comparing the attribute information of the living object with the preset adjustment condition; When the attribute information of the living object meets the preset adjustment condition, the motion state of the robot is adjusted based on the safety response sub-area.

13. The method according to claim 1, wherein: The obtaining of security area configuration information for at least one reference object includes: Receiving a configuration receiving instruction sent by a configuration device that is connected to the robot; The configuration receiving instruction is parsed to obtain the security area configuration information.

14. A configuration method based on a security zone, wherein: The method comprises: Displaying a safety area configuration interface, the safety area configuration interface comprising a configuration area and a display area, wherein the display area comprises at least one reference object and a position layout between different reference objects, and the reference object comprises a robot; In response to a configuration operation on the configuration area, displaying the safety area configured for the reference object in the display area, wherein the layout relationship between the safety areas of different reference objects corresponds to the position layout between the different reference objects; In response to a confirmation operation on the safety area, safety area configuration information is generated, and the safety area configuration information is sent to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety area configuration information.

15. The method according to claim 14, wherein: The configuration area includes a startup area, a shape selection area and a range setting area; In response to the configuration operation on the configuration area, displaying the safety area configured for the reference object in the display area includes: In response to a selection operation on the activation area, displaying the activated safety area corresponding to the reference object in the display area; In response to a selection operation on the shape selection area, displaying a safety area corresponding to the selection operation in the display area; In response to an adjustment operation on the range setting area, a safety area corresponding to the adjustment operation is displayed in the display area.

16. A protection device based on a safety zone, wherein: The protection device comprises: an acquisition unit, configured to acquire safety zone configuration information for at least one reference object, wherein relative distance information between different reference objects satisfies a preset distance condition, and the reference object includes a robot, and the robot is a robot in motion; An area generating unit, used for generating a safety area corresponding to each reference object according to the safety area configuration information corresponding to each reference object; The adjustment unit is used to adjust the motion state of the robot when it is detected that there is a moving object within the area range of the safety area corresponding to at least one of the reference objects and the attribute information of the moving object meets the preset adjustment conditions.

17. A configuration device based on a security zone, wherein: The configuration device comprises: A display unit, configured to display a safety zone configuration interface, wherein the safety zone configuration interface includes a configuration area and a display area, wherein the display area includes at least one reference object and a position layout between different reference objects, and the reference object includes a robot; a display unit, configured to display, in the display area, a safety area configured for the reference object in response to a configuration operation for the configuration area, wherein a layout relationship between safety areas of different reference objects corresponds to a position layout between different reference objects; An information generating unit is used to generate safety zone configuration information in response to a confirmation operation on the safety zone, and send the safety zone configuration information to a protection device associated with the robot, so that the protection device adjusts the robot based on the safety zone configuration information.

18. A protection device based on a safety zone, wherein: The device includes a processor and a memory, wherein a protection program based on a secure area is stored in the memory, and when the protection program based on a secure area is executed by the processor, the protection method based on a secure area according to any one of claims 1 to 13 is implemented.

19. A configuration device based on a security zone, wherein: The device includes a processor and a memory, wherein a configuration program based on a security area is stored in the memory, and when the configuration program based on a security area is executed by the processor, the configuration method based on a security area as described in any one of claims 14 to 15 is implemented.

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