CN109285173A - A kind of safety protecting method, device and computer equipment - Google Patents
A kind of safety protecting method, device and computer equipment Download PDFInfo
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- CN109285173A CN109285173A CN201811578371.2A CN201811578371A CN109285173A CN 109285173 A CN109285173 A CN 109285173A CN 201811578371 A CN201811578371 A CN 201811578371A CN 109285173 A CN109285173 A CN 109285173A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
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Abstract
This application provides a kind of safety protecting method, device and computer equipments, this method comprises: the attitudes vibration based on robot, determines the zone of action of the robot；Image and the zone of action based on the affiliated environment of the robot determine that whether there are obstacles around the robot；If it is determined that there are barriers around the robot, then the working method of the robot is controlled.
Description
Technical field
This application involves technical field of image processing, in particular to a kind of safety protecting method, device and computer
Equipment.
Background technique
Segregator barriers are usually arranged when carrying out operation in conventional industrial robot around robot, or by outer
If sensor, by robot and user isolation, robot is avoided to bump against user in operation process.It is number by segregator barriers
It is tired, it is relatively high by existing sensor cost, and also the maintenance in later period is also more troublesome, the environmental change locating for robot
When, need to reinstall and debug sensor, efficiency is lower, if the range of sensor covering is inadequate, leads to the accuracy of detection
It is relatively low；According to relatively advanced tactile and force sensor, cost can be higher, the sensor of such contact be with
Premised on the contact for generating power between user and robot, if the robot speed of service is too fast or execution end is more sharp
When, robot has certain risk.
Summary of the invention
In view of this, the application's is designed to provide a kind of safety protecting method, device and computer equipment, for solving
The low problem of robot peripheral obstacle accuracy is certainly detected in the prior art.
In a first aspect, the embodiment of the present application provides a kind of safety protecting method, this method comprises:
Attitudes vibration based on robot determines the zone of action of the robot；
Image and the zone of action based on the affiliated environment of the robot determine around the robot with the presence or absence of obstacle
Object；
If it is determined that there are barriers around the robot, then the working method of the robot is controlled.
Optionally, the attitudes vibration based on robot, determines the zone of action of the robot, comprising:
It is handled using posture information of the preset algorithm to the robot, obtains at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
Optionally, the image based on the affiliated environment of the robot and the zone of action, determine the robot
Whether there are obstacles for surrounding, comprising:
The zone of action is removed from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
Optionally, the working method of the control robot, comprising:
If the barrier in the first predeterminable area, controls the robot Reduced Speed Now；
If the barrier in the second predeterminable area, controls the robot stop motion；Wherein, second preset areas
Domain is less than first predeterminable area.
Optionally, the zone of action includes the view field of the robot.
Second aspect, the embodiment of the present application provide a kind of safety device, which includes:
First determining module determines the zone of action of the robot for the attitudes vibration based on robot；
Second determining module, for based on the affiliated environment of the robot image and the zone of action, determine the machine
Whether there are obstacles around people；
Control module, for if it is determined that there are barriers around the robot, then controlling the working method of the robot.
Optionally, first determining module is specifically used for:
It is handled using posture information of the preset algorithm to the robot, obtains at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
Optionally, second determining module is specifically used for:
The zone of action is removed from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
The third aspect, the embodiment of the present application provide a kind of computer equipment, including memory, processor and are stored in institute
The computer program that can be run on memory and on the processor is stated, the processor executes real when the computer program
The step of existing above method.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, the computer-readable storage
The step of being stored with computer program on medium, the above method executed when the computer program is run by processor.
Safety protecting method provided by the embodiments of the present application is determined belonging to robot by the attitudes vibration of robot
Zone of action, in this way, the zone of action of the robot determined is not fixed and invariable, but with the variation of robot pose
And change, in subsequent progress detection of obstacles, need to determine robot week based on the image and zone of action for including robot
Enclose that whether there are obstacles, when determining zone of action is more accurate, the accuracy of the barrier detected is higher, reduces machine
The probability of the raw collision time of device human hair.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of flow diagram of safety protecting method provided by the embodiments of the present application；
Fig. 2 is a kind of schematic diagram that zone of action is removed from target image provided by the embodiments of the present application；
Fig. 3 is a kind of structural schematic diagram of safety device provided by the embodiments of the present application；
Fig. 4 is a kind of structural schematic diagram of computer equipment provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
The embodiment of the present application provides a kind of safety protecting method, as shown in Figure 1, this method is applied to computer equipment
In, above-mentioned computer equipment is connected with camera, and camera is located at the surface of robot, for shooting robot region
Image, computer equipment is communicatively coupled with robot；The system environments of software is under ubunt14.04 operating system, base
Programmed in Qt, mainly call the library OpenCV3.0 freely increased income, hardware environment mainly have robot, computer, RGB camera,
Cable etc..Wherein, computer processor requires Pentium4 1.6GHz or the better processor of performance；Request memory 512M and
More than；Video card requires to support 1024 × 768,16 enhancing colors of resolution ratio or more；It is 128G or more that hard disk, which requires space,
RGB camera is fixed on right above robot, and camera is ok using the USB camera of any type brand, plug and play,
Without calibration.Method includes the following steps:
S101, the attitudes vibration based on robot determine the zone of action of the robot；
Here, robot refers generally to the robot with mechanical arm, for example, the pickup robot etc. with mechanical arm.Robot
Posture can pass through the corresponding angle of artis in robot, the length in joint etc. determine, wherein the corresponding angle of artis
Angle between adjacent segment, during the motion, the angle between joint can change, if depositing in robot for robot
Angle between two adjacent segments is changed, then can determine that the posture of robot changes；Robot is in water
Zone of action of the upright projection corresponding region of plane as robot, zone of action are generally robot in the projection of horizontal plane
Region, the different corresponding zone of action in the position of different moments robot are also different；The shape of zone of action can be circle, four
Side shape, polygon etc., wherein quadrangle can be square, rectangle, diamond shape.
At the zone of action for determining robot, handled using posture information of the preset algorithm to the robot,
Obtain at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
Here, preset algorithm can include but is not limited to background subtraction, Vibe algorithm, Kinematic Algorithms etc., it is preferable that
Preset algorithm is Kinematic Algorithms, and the application not limits this, using preset algorithm to the posture information of robot at
The process prior art of reason has detailed introduction, is no longer excessively illustrated herein；Projected position can be by coordinate (e.g.,
Two coordinates) it indicates, in the projection coordinate of horizontal plane, projected position is generally machine for joint, pedestal generally in robot etc.
A predetermined position in device people, the predetermined position can be pedestal present position in robot, each joint etc. in robot
In the upright projection of horizontal plane, alternatively it is also possible to select any one position of robot as the predetermined position, preferably
Ground regard the location of pedestal of robot as predetermined position, in this way, by the location of pedestal of robot as predetermined
Position can be improved the zone of action accuracy of calculating；Setting position is the location of pedestal in robot.
In specific implementation, in robot kinematics, the information in the joint that robot in real time has itself and
The angle of adjacent segment point, is transferred to calculating equipment, refers to alternatively, computer equipment can send acquisition of information to robot in real time
It enables, to obtain the joint information (e.g., the corresponding angle of artis) of robot itself from robot.
The posture information that current time gets is handled using preset algorithm, obtains each artis in robot
Distance is utilized according to the corresponding projection coordinate of each artis and the projection coordinate of setting position in the projection coordinate of horizontal plane
Formula calculates the distance between setting position and each artis.
From obtained each distance, the distance for characterizing maximum value is formed into zone of action as diameter, according to pre-determined bit
The diameter of the projection coordinate and zone of action set can determine the zone of action of robot, according to the projection coordinate in predetermined position
And the method that the diameter of zone of action determines zone of action has detailed introduction in the prior art, no longer carries out herein excessive
Explanation.And in practical applications, this method is applied in man-machine collaboration scene, and the prior art is when detecting barrier, usually
The fixed area of pre-set robot is removed from the image of acquisition, however, it is determined that fixed area will affect very much detection greatly
As a result, however, it is determined that fixed area it is too small will lead to, robot during the motion will not be always situated in a fixed region
In, robot can move to out the region outside fixed area, and the robot being located at outside fixed area will affect it is subsequent to obstacle
The detection of object, and then the detection accuracy of barrier is influenced, therefore, after the application gets the zone of action of robot every time,
Increase pre-determined distance threshold value on the basis of the distance of characterization maximum value, can guarantee robot one after increasing the pre-determined distance threshold value
Directly in zone of action, the accuracy of late detection barrier is improved.
S102, image and the zone of action based on the affiliated environment of the robot, determining around the robot is
It is no that there are barriers；
Here, barrier can be but be not limited to object, living body etc., wherein object can be desk, chair, book etc., and living body can
For people, animal etc.；
When determining that whether there are obstacles around the robot, robot is shot by being located at the camera above robot
The image of affiliated environment removes the zone of action from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
Here, from include robot image in removed the technology of zone of action belonging to robot in the prior art
There is detailed introduction, is no longer excessively illustrated herein.
In specific implementation, image (calling target image in the following text) and determining robot including robot are being got
Behind affiliated zone of action, determined using the profile parameters (e.g., the coordinate of set point, diameter of zone of action etc.) of zone of action
Part B is zone of action in image, generates masking-out, and the principle for generating masking-out is as follows:
With reference to Fig. 2, the masking-out that a rgb value identical with original image (image captured by camera) size is all 0 is generated
Image (shadow image) draws the filling region that rgb value is all 255 using profile parameters on masking-out image, i.e. generation masking-out.
Then, by image captured by masking-out and camera filtered out with operation in image with masking-out corresponding region,
With operation carries out step-by-step and operation to each pixel of two images, corresponds to masking-out image in the image including robot
The pixel value in the region that rgb value is 255 retains (it is, the region B '), and corresponds to the region picture that rgb value is 0 in masking-out image
Plain value becomes 0(it is, the region A ').
After removing the corresponding region of masking-out in target image, for the target image that current time obtains, calculating is removed
In target image outside the corresponding region of masking-out the pixel value of each pixel and value, by this and value as first and value, and count
It calculates in the target image that the last moment adjacent with current time obtains, removes each picture in the image outside last moment zone of action
The pixel value of vegetarian refreshments and value, by this and value as second and value, calculate first and value and second and value difference, if the difference
Greater than setting difference threshold, it is determined that there are barriers in detection zone, otherwise determine and barrier is not present in detection zone.
For example, detection barrier needs to carry out foreground extraction to target image, it can be using comparison background subtraction, mixing
Gaussian processes, the background modeling methods such as averaging method and Vibe algorithm comprehensively consider the real-time and robustness of algorithm, and Vibe is selected to calculate
Method to carry out foreground extraction to image.
To foreground extraction, specific step is as follows: every in binary map using the binary map of Vibe algorithm acquisition target image
A pixel is corresponding to store a background sample collection containing 20 sample values, and sampled value is exactly the neighbour of the pixel in sample set
The pixel value for occupying point, the new pixel value of the pixel value and sample set in next frame target image are compared to determine whether being
Foreground point, each background dot has certain probability to go to update the model sample value of the model sample value of oneself and neighbor point, with this
Rule is updated background sample collection, then carries out the comparison and judgement of next frame；Binary map is carried out using region-growing method
Holes filling and removing of small regions, comprising: a seed point in image is chosen, neighborhood extending is carried out at seed point, if
It then include into where sub-pixel by the pixel in view of the gray value absolute value of the difference of pixel and seed point is less than threshold value
Region, when meeting addition region there is no pixel, region stops growing, and can efficiently be detected in real time by algorithm above
Moving obstacle in safety zone, while guaranteeing that the movement of robot will not be detected, meet system requirements.
S103, however, it is determined that there are barriers around the robot, then control the working method of the robot.
Here, the working method of robot includes Reduced Speed Now and stop motion.
Determining around robot there are after barrier, if the barrier in the first predeterminable area, described in control
Robot Reduced Speed Now；
If the barrier in the second predeterminable area, controls the robot stop motion；Wherein, second preset areas
Domain is less than first predeterminable area.
Here, the first predeterminable area and the second predeterminable area are and are determined centered on robot, the first predeterminable area
It is corresponding with type information with the second predeterminable area, preset first predeterminable area is greater than the second predeterminable area, and first is pre-
If the corresponding type information in region is retarded motion, the corresponding type information of the second predeterminable area is stop motion, works as barrier
When appearing in the first predeterminable area, apart from robot, there are also certain distances, at this point, control robot executes the first predeterminable area pair
The slow down answered, if barrier continues close to robot, when entering the second predeterminable area, at this point, obstacle distance machine
Relatively, robot bumps against barrier to the distance of people in order to prevent, and control robot executes the second predeterminable area pair
The stop motion operation answered.
In specific implementation, it is determining around robot there are after barrier, the position of barrier is determined from target image
Confidence ceases (e.g., coordinate), if barrier in the first predeterminable area, obtains the corresponding type information of the first predeterminable area: subtracting
Speed movement, and retarded motion instruction is sent to robot, to control robot retarded motion, if barrier continues close to machine
People, and enter the second predeterminable area, obtains the corresponding type information of the second predeterminable area: stop motion, and to machine human hair
Stop motion is sent to instruct, to control robot stop motion.
The embodiment of the present application provides a kind of safety device, as shown in figure 3, the device includes:
First determining module 31 determines the zone of action of the robot for the attitudes vibration based on robot；
Second determining module 32, for based on the affiliated environment of the robot image and the zone of action, determine the machine
Whether there are obstacles around device people；
Control module 33, for if it is determined that there are barriers around the robot, then controlling the working method of the robot.
Optionally, first determining module 31 is specifically used for:
It is handled using posture information of the preset algorithm to the robot, obtains at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
Optionally, second determining module 32 is specifically used for:
The zone of action is removed from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
Optionally, the control module 33 is specifically used for:
If the barrier in the first predeterminable area, controls the robot Reduced Speed Now；
If the barrier in the second predeterminable area, controls the robot stop motion；Wherein, second preset areas
Domain is less than first predeterminable area.
Optionally, the zone of action includes the view field of the robot.
As shown in figure 4, one embodiment of the application provides a kind of computer equipment, for executing the security protection in Fig. 1
Method, the equipment include memory 401, processor 402 and are stored on the memory 401 and can transport on the processor 402
Capable computer program, wherein above-mentioned processor 402 realizes the step of above-mentioned safety protecting method when executing above-mentioned computer program
Suddenly.
Specifically, above-mentioned memory 401 and processor 402 can be general memory and processor, do not do have here
Body limits, and when the computer program of 402 run memory 401 of processor storage, is able to carry out above-mentioned safety protecting method, uses
In solving the problems, such as that detection robot peripheral obstacle accuracy is low in the prior art, the application is become by the posture of robot
Change, determines zone of action belonging to robot, in this way, the zone of action of the robot determined is not fixed and invariable, but
Change with the variation of robot pose, in subsequent progress detection of obstacles, need based on include robot image and
Zone of action determines that whether there are obstacles around robot, when determining zone of action is more accurate, the barrier that detects
Accuracy it is higher, reduce robot and collide the probability of time.
Corresponding to above-mentioned safety protecting method, the embodiment of the present application also provides a kind of computer equipment readable storage mediums
Matter is stored with computer program on the computer equipment readable storage medium storing program for executing, execution when which is run by processor
The step of above-mentioned safety protecting method.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, above-mentioned safety protecting method is able to carry out, for solving the robot week of detection in the prior art
The low problem of barrier accuracy is enclosed, the application determines zone of action belonging to robot by the attitudes vibration of robot, this
The zone of action of sample, determining robot is not fixed and invariable, but is changed with the variation of robot pose, rear
When continuous progress detection of obstacles, need based on the image and zone of action for including robot, determining whether there is around robot
Barrier, when determining zone of action is more accurate, the accuracy of the barrier detected is higher, reduces robot and touches
Hit the probability of time.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of safety protecting method, which is characterized in that this method comprises:
Attitudes vibration based on robot determines the zone of action of the robot；
Image and the zone of action based on the affiliated environment of the robot determine around the robot with the presence or absence of obstacle
Object；
If it is determined that there are barriers around the robot, then the working method of the robot is controlled.
2. safety protecting method as described in claim 1, which is characterized in that the attitudes vibration based on robot determines
The zone of action of the robot, comprising:
It is handled using posture information of the preset algorithm to the robot, obtains at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
3. safety protecting method as described in claim 1, which is characterized in that the figure based on the affiliated environment of the robot
Picture and the zone of action determine that whether there are obstacles around the robot, comprising:
The zone of action is removed from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
4. safety protecting method as described in claim 1, which is characterized in that the working method of the control robot,
Include:
If the barrier in the first predeterminable area, controls the robot Reduced Speed Now；
If the barrier in the second predeterminable area, controls the robot stop motion；Wherein, second preset areas
Domain is less than first predeterminable area.
5. safety protecting method as described in claim 1, which is characterized in that the zone of action includes the throwing of the robot
Shadow zone domain.
6. a kind of safety device, which is characterized in that the device includes:
First determining module determines the zone of action of the robot for the attitudes vibration based on robot；
Second determining module, for based on the affiliated environment of the robot image and the zone of action, determine the machine
Whether there are obstacles around people；
Control module, for if it is determined that there are barriers around the robot, then controlling the working method of the robot.
7. safety device as claimed in claim 6, which is characterized in that first determining module is specifically used for:
It is handled using posture information of the preset algorithm to the robot, obtains at least two projected positions；
According to the setting position of at least two projected position and the preset robot, the robot is determined
Zone of action.
8. safety device as claimed in claim 6, which is characterized in that second determining module is specifically used for:
The zone of action is removed from the described image of the robot；
The image of zone of action and the image of adjacent last moment removal zone of action are removed according to current time, are determined
Whether there are obstacles around robot.
9. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realized when executing the computer program the claims 1 to
The step of 5 described in any item methods.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
The step of being, the claims 1-5 described in any item methods executed when the computer program is run by processor.
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| CN201811578371.2A CN109285173A (en) | 2018-12-24 | 2018-12-24 | A kind of safety protecting method, device and computer equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811578371.2A CN109285173A (en) | 2018-12-24 | 2018-12-24 | A kind of safety protecting method, device and computer equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055276A (en) * | 2019-12-06 | 2020-04-24 | 国电南瑞科技股份有限公司 | Robot safety protection method, device and system |
| CN114143518A (en) * | 2021-10-26 | 2022-03-04 | 深圳华侨城文化旅游科技集团有限公司 | Safe and flexible projection fusion data acquisition system and method |
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