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Obstacle avoiding method for robot and robot equipment

A robot and obstacle avoidance technology, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as inability to achieve obstacle avoidance operations

Active Publication Date: 2020-06-16
深圳市科瑞技术科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method can only provide early warning of obstacles in the workspace, but cannot realize obstacle avoidance operation, and is limited by the type of sensor, and can only recognize specific types of obstacles

Method used

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  • Obstacle avoiding method for robot and robot equipment
  • Obstacle avoiding method for robot and robot equipment
  • Obstacle avoiding method for robot and robot equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0055] This embodiment takes the planar articulated robot as an example to describe the robot equipment provided by the embodiment of the present invention in detail, please refer to figure 2 , figure 2 It is a schematic structural diagram of a planar articulated robot in an embodiment, including: a robot body 21 , a camera 22 and a controller 23 .

[0056] Wherein, the camera 22 is used to collect images of the surrounding environment of the obstacle, and the image of the surrounding environment of the obstacle includes the starting point of the robot body, the position information of the target and the obstacle. The camera 22 in the present embodiment is arranged on the top of the working plane 24 of the robot body 21, and it can take images on the working plane 24, that is, the image of the surrounding environment of the obstacle. The working plane 24 includes the robot body 21 that needs to be grasped or For the assembled target, the starting position of the robot body ...

specific Embodiment approach

[0064] In a specific implementation mode, please refer to Figure 6 , take the two intersection points of the straight line between the starting point and the target and the outer rectangle of the obstacle as the first control point A and the second control point B respectively; the distance between the four vertices of the outer rectangle of the obstacle is the first control The closest vertex between point A and the second control point B is used as the third control point C; according to the first control point A, the second control point B and the third control point C, a NURBS curve (non-uniform rational B-spline curve) is generated ). In this embodiment, the generated NURBS curve is used as a path for avoiding obstacles, specifically:

[0065] In the linear path between the starting point and the target object, the straight line segment path between the first control point A and the second control point B is replaced with a NURBS curve. In this embodiment, the driving p...

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Abstract

The invention discloses an obstacle avoiding method for a robot and robot equipment. According to the obstacle avoiding method, the robot can effectively avoid an obstacle by acquiring an image of a surrounding environment of the obstacle through a camera, generating a peripheral rectangle of the obstacle according to the image of the surrounding environment of the obstacle, and generating, according to position information of a starting point, a target object and the obstacle, an NURBS curve to serve as an obstacle avoiding path, so that the robot can avoid the obstacle effectively.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot obstacle avoidance method and robot equipment. Background technique [0002] With the popularization of automated production, various types of robots have been widely used in industrial production. For example, the Selective Compliance Assembly Robot Arm (SCARA for short) is also called a planar articulated robot. SCARA is widely used in industrial assembly scenarios due to its excellent performance. Traditional SCARA is generally used for assembly or grabbing work with fixed paths, but with the increase in the complexity of parts and the popularity of flexible manufacturing, multi-station production lines have become a trend, which requires SCARA used in this type of production line to have Certain obstacle avoidance ability. In addition, in the field of logistics, SCARA is also used in scenarios such as palletizing and handling, which also requires SCARA to ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1697
Inventor 赖文鹏龚文涛何彩英张晓波桂俊荣林小龙
Owner 深圳市科瑞技术科技有限公司
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