Method for measuring and calculating human-robot minimum distance in collaborative environment

Abstract

The invention discloses a method for measuring and calculating the human-robot minimum distance in a collaborative environment. According to the relative position relation and the rotating axes of theparts of a robot, a generalized motion model of the robot is established. Meanwhile, a motion node iteration data set of the robot with a minimum human-robot distance is constructed. Meanwhile, the image data of the human-robot cooperation space is collected through a 3D visual sensor, so that the human body information in the collaborative environment is tracked and identified. The skeleton nodedata of a human body are extracted, and a human skeleton node iteration data set with the minimum human-robot distance is constructed. According to the obtained iteration data set, the minimum distance between the human body and the robot in the collaborative environment, and the space coordinates of corresponding points are calculated in the iterative manner. According to the invention, based onthe method for measuring and calculating the human-robot minimum distance in the collaborative environment, an accurate and easy-to-achieve human-robot distance calculation model is built in real time. After that, a human-robot minimum distance and a corresponding point in the collaborative environment are calculated in real time. The safety of the robot can be improved. The human-robot minimum distance in the environment can be efficiently tracked in real time.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for measuring and calculating the minimum distance between man and machine in a collaborative environment. Background technique [0002] In order to make up for the lack of flexibility and intelligence of traditional robots and make robots adapt to wider and more complex task requirements, collaborative robot technology has emerged as the times require. The human-machine collaboration and integration mechanism combines the "computing power, strength, precision, and repeatability" of robots with the "flexibility, experience, knowledge, analysis, and decision-making capabilities" of humans to achieve complementary advantages. [0003] Compared with traditional industrial robots, the cooperation and integration between humans and robots removes the isolation protection between humans and machines, combines the advantages of humans and machines, increases flexibility and safe...

AI Technical Summary

Problems solved by technology

In a collaborative environment, when the position and posture of the human body are dynamically changing, the corresponding convex figure that constitutes the human body is also changing. It is not conducive to the realization of real-time performance; 2) Human-machine distance calculation method based on planar image: through the planar vision camera installed on the top of the collaborative space, the scene image in the collaborative space is obtained, and the distance between the robot and the human is obtained through image segmentation and morphological processing. The minimum distance, but this method is equivalent to treating the human and the robot as independent connected areas, and can only calculate the distance between the two wholes, but the internal posture of each whole is unknown. When the image is mapped to the human-machine space distance, the accuracy will also be greatly reduced

Images