Real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots

Abstract

The invention discloses a real-time dynamic obstacle avoidance device and obstacle avoidance method of dual robots. The obstacle avoidance device comprises an obstacle avoidance master control module. The obstacle avoidance master control module comprises a position detection module, a collision detection module and a dynamic obstacle avoidance module which are sequentially connected. The position detection module is in communication with motors of dual robot bodies and is used for collecting position information of the dual robot bodies in real time. The collision detection module is used for receiving the position information sent by the position detection module and comparing the position information with the collision safety distance of the dual robot bodies. The dynamic obstacle avoidance module is used for receiving a comparison value of the collision detection module to plan an obstacle avoidance path of the dual robot bodies and send the obstacle avoidance path to motor executers of the dual robot bodies to execute a new obstacle avoidance path. According to the real-time dynamic obstacle avoidance device and obstacle avoidance method of the dual robots, the robot waiting time in the obstacle avoidance process can be shortened, real-time dynamic obstacle avoidance can be achieved, and therefore the work efficiency of the dual robots is improved.

Description

Technical field [0001] The invention belongs to the field of industrial robot control, and more specifically relates to a dual-robot real-time dynamic obstacle avoidance device and an obstacle avoidance method thereof. Background technique [0002] At present, the traditional robot industry uses single-arm robots, that is, the working position is fixed, the corresponding tools are installed at the end of the robot, and the robot moves to the working position for corresponding handling, assembly, welding, and polishing. With the improvement of processing efficiency, the cooperative operation of multiple robots is generally required in processing operations. However, when the existing dual industrial robots work together, each robot is independently controlled by its own controller. In order to prevent collisions, when a single-arm robot wants to enter a common work area, it must send a collision signal to another single-arm robot for confirmation in real time, and it must wait for...

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Problems solved by technology

[0004] In the current prior art, the application number is 201010615758.8, the publication number is CN101512453B, and the patent document titled "Method and Device for Avoiding Collision between Industrial Robots and Objects" provides the possibility for robots to predict collisions, and the limitations of this technology reflect The reason is that dynamic obstacle avoidance cannot be realized. When a collision between the robot and surrounding objects is predicted, only a signal is sent to the robot to stop the movement, and the continuity of the cooperative work of the two robots cannot be guaranteed; another application number is 201510079471.0, and the publication number is CN104760043A , named "a dual-arm robot controller based on an intelligent obstacle avoidance system", this technology solves the collision-free motion planning of a dual-arm robot, the limitation of this obstacle avoidance technology is that the robot must follow the pre-planned offline programming path Work, cannot perform real-time collision detection and dynamic collision avoidance in the actual work process

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