Method for preventing industrial robot from colliding with worker

Abstract

The invention discloses a method for preventing an industrial robot from colliding with a worker, which comprises the following steps that: a monitoring computer inputs a working area image that a visual unit acquires into a worker movement feature identifying unit for scene modeling, regional analysis and worker movement state prediction; then the worker movement feature identifying unit inputs worker movement feature parameters which are generated accordingly into a safe protective area computing unit; the safe protective area computing unit detects the current movement features of an industrial robot according to the worker movement feature parameters, computes the safe protective area of the worker, and inputs the current movement features of the industrial robot into an industrial robot target position and speed adjusting unit; and the industrial robot target position and speed adjusting unit computes the safe movement scope of the industrial robot according to the safe protective area, judges whether the movement of every joint of the industrial robot enters the safe protective area or not, adjusts the target position and the speed of the industrial robot on line, so that the industrial robot is prevented from colliding with the worker.

Description

technical field [0001] The invention relates to a method for avoiding collisions between workers and industrial robots in a working area, in particular to a method for preventing industrial robots from colliding with workers by judging the movement tendency of workers. Background technique [0002] A problem in the application of industrial robots is that industrial robots need to operate in a closed and isolated work area. In order to prevent workers from being accidentally injured by industrial robots, workers need to stay away from the work area of ​​industrial robots. How to enable industrial robots to judge the movement trend of workers and avoid collisions with workers is the key issue to enable industrial robots and workers to collaborate in the same work area to complete tasks. [0003] At present, many anti-collision technologies and methods based on different principles have been proposed to avoid collisions between industrial robots and moving objects or stationar...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that the movement trajectory or movement trend of the workers in the working area is unpredictable, so it is difficult to estimate the remaining time before the collision between the industrial robot and the worker, and it is impossible to estimate the collision between the industrial robot and the worker. The remaining time between objects before a collision determines the stopping time of an industrial robot

[0006] Since the existing methods do not consider the movement characteristics of workers, such as uncertain factors such as speed and direction, workers still have the risk of colliding with industrial robots

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