Robot safety protection method, device and system

A safety protection device and safety protection technology, applied in the field of robots, can solve problems such as dangerous accidents of robots

Inactive Publication Date: 2020-04-24
NARI TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is limited by the installation position of the sensor, and the angle of perception of the surrounding environment will also be limited. If the human limb is blocked by the mechanical arm or approaches the robot from the opposite direction of the sensor installation position, the robot may not be able to detect it, which may easily cause dangerous accidents.

Method used

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  • Robot safety protection method, device and system
  • Robot safety protection method, device and system
  • Robot safety protection method, device and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] An embodiment of the present invention provides a robot safety protection method, which specifically includes the following steps:

[0081] (1) Obtain the target joint value of each joint of the robot based on the moving target of the robot;

[0082] (2) Obtain the target pose of each joint of the robot based on the target joint value of each joint;

[0083] (3) When it is judged that the robot is in the set safe area based on the target pose of each joint, the target joint value of each joint is saved;

[0084] (4) With the goal of the robot reaching the moving target and the constraint that each joint of the robot is within the set safe area, the current joint state information corresponding to the current state of the robot is compared with the target joint value of each joint, and the calculation is performed continuously. Find the optimal joint value of each joint closest to the current state, and send corresponding control information to the robot based on the op...

Embodiment 2

[0105] Based on Example 1, such as figure 2 Shown, the difference between the implementation of the present invention and embodiment 1 is:

[0106] Also include before the step of obtaining the target joint value of each joint of the robot based on the moving target of the robot:

[0107] Obtain the reachable working area of ​​the robot;

[0108] When it is judged that there is a moving object intruding in the reachable working area, a control command is sent to the robot to make the robot suspend its work.

[0109] Further, before the step of obtaining the target joint value of each joint of the robot based on the moving target of the robot, it also includes:

[0110] Obtain an alarm area of ​​the robot, the alarm area is wrapped outside the accessible working area;

[0111] When it is judged that there is no moving object intruding in the reachable working area, and there is moving object intruding in the alarm area, a control command is sent to the robot, so that the ro...

Embodiment 3

[0118] Based on the same inventive concept as in Embodiment 1, a robot safety protection device is provided in the embodiment of the present invention, including:

[0119] The first calculation module is used to obtain the target joint value of each joint of the robot based on the moving target of the robot;

[0120] The second calculation module is used to obtain the target pose of each joint of the robot based on the target joint value of each joint;

[0121] The first judging module is used to save the target joint value of each joint when it is judged that the robot is located in the set safe area based on the target pose of each joint;

[0122] The control module is used to take the robot's arrival at the moving target as the goal, and take the joints of the robot within the set safe area as the constraint, and continuously perform the comparison between the current joint state information corresponding to the current state of the robot and the target joint value of each ...

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Abstract

The invention discloses a robot safety protection method, device and system. The method comprises the following steps: solving a target joint value of each joint of a robot based on a moving target ofthe robot; solving a target pose of each joint of the robot based on the target joint value of each joint; when it is judged that the robot is located in a set safe area based on the target pose of each joint, storing the target joint value of each joint; and with the arriving of the robot at the moving target as a goal and location of all joints of the robot in the set safe area as a constraint,continuously comparing current joint state information corresponding to the current state of the robot with the target joint value of each joint, calculating the optimal joint value of each joint closest to the current state, and sending corresponding control information to the robot based on the optimal joint value of each joint closest to the current state until the moving target of the robot is reached. A protective fence does not need to be arranged, a robot motion safety algorithm is simple in processing, a safety response speed is high, and good safety protection performance is obtained.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot safety protection method, device and system. Background technique [0002] With the development of society and the rapid improvement of science and technology, the role of robots is becoming more and more important. In the industrial production process, more and more robots are applied, and in order to improve the efficiency of production operations, it is necessary to ensure that robots work safely and effectively. [0003] Driven by the servo system, the multi-degree-of-freedom robot can realize various complex high-speed movements in a large space range. Therefore, the industrial robot is very likely to cause accidents due to control system or operation errors during operation. The robot has Certainly dangerous. [0004] The traditional method of safety protection for industrial robots is usually to directly isolate the surroundings of the robot with an is...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1674B25J9/1694
Inventor 黄国方甘志坚陈向志张静刘晓铭单超王文政谢芬郝永奇廖志勇陆盛资杨浩胜谢永麟彭奕汤济民周兴俊杨明鑫吴嵩青
Owner NARI TECH CO LTD
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