CN111564011A - Mechanical arm safety detection method, device and system and electronic equipment - Google Patents
Mechanical arm safety detection method, device and system and electronic equipment Download PDFInfo
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- CN111564011A CN111564011A CN202010700323.7A CN202010700323A CN111564011A CN 111564011 A CN111564011 A CN 111564011A CN 202010700323 A CN202010700323 A CN 202010700323A CN 111564011 A CN111564011 A CN 111564011A
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- 238000007689 inspection Methods 0.000 claims description 5
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
- G08B7/066—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources guiding along a path, e.g. evacuation path lighting strip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/028—Piezoresistive or piezoelectric sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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Abstract
The invention provides a mechanical arm safety detection method, a device, a system and electronic equipment, which are characterized in that electric signals of pressure sensors distributed on the ground of a preset area are obtained; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a method, a device and a system for detecting the safety of a mechanical arm and electronic equipment.
Background
The mechanical arm moves according to a preset path during operation, and if a worker is too close to the mechanical arm in the working process of the mechanical arm, the worker can be damaged by the mechanical arm to cause production accidents. For this reason, if the mechanical arm can send out a reminding signal in time when the staff is found to be too close to the mechanical arm, the attention of the staff can be attracted, and therefore safety is improved.
Disclosure of Invention
In view of the defects of the prior art, an object of the embodiments of the present application is to provide a method, an apparatus, a system and an electronic device for detecting the safety of a robot arm, which can send out a prompt signal in time when a worker is too close to the robot arm, and have high safety.
In a first aspect, an embodiment of the present application provides a method for detecting safety of a robot arm, including:
acquiring electric signals of pressure sensors distributed on the ground of a preset area;
judging whether a person enters the preset area or not according to the electric signal;
and if a person enters the preset area, sending a first reminding signal.
The mechanical arm safety detection method further comprises the following steps:
acquiring the position information of the entering personnel according to the electric signal;
acquiring moving path information of the mechanical arm;
judging whether the entering personnel are in dangerous positions or not according to the moving path information and the position information;
and if the entering personnel are in dangerous positions, sending a shutdown instruction to the mechanical arm.
Further, the method for detecting the safety of the mechanical arm further comprises the following steps:
judging whether the entering person is ready to move or moving according to the electric signal;
and sending a shutdown instruction to the mechanical arm according to the judgment result.
Further, the method for detecting the safety of the mechanical arm further comprises the following steps:
and controlling indicator lamps arranged on the ground of a preset area to work according to the moving path information, thereby forming a light-emitting indicator line corresponding to the moving path.
The mechanical arm safety detection method further comprises the following steps:
acquiring identity identification information of wearable equipment of an entering person;
inquiring in a preset weight inquiry table according to the identity identification information to obtain first body weight information of the owner of the wearable device;
judging whether the entering person is the owner of the wearable device or not according to the first body weight information and the electric signal;
and if the entering person is not the owner of the wearable device, sending a second reminding signal.
Further, in the method for detecting safety of a robot arm, the step of determining whether the entering person is the owner of the wearable device according to the first weight information and the electrical signal includes:
calculating second body weight information of the entering person according to the electric signal;
calculating weight deviation information between the first body weight information and the second body weight information;
judging whether the weight deviation information is larger than a preset weight deviation threshold value or not;
if the weight deviation information is larger than a preset weight deviation threshold value, judging that the entering person is not the owner of the wearable device, otherwise, judging that the entering person is the owner of the wearable device.
In a second aspect, an embodiment of the present application provides a robot arm safety detection device, including:
the first acquisition module is used for acquiring electric signals of the pressure sensors distributed on the ground of a preset area;
the first judgment module is used for judging whether a person enters the preset area or not according to the electric signal;
and the first execution module is used for sending out a first reminding signal when a person enters the preset area.
The mechanical arm safety detection device further comprises:
the second acquisition module is used for acquiring the position information of the entering personnel according to the electric signal;
the third acquisition module is used for acquiring the moving path information of the mechanical arm;
the second judgment module is used for judging whether the entering personnel is in a dangerous position or not according to the moving path information and the position information;
and the second execution module is used for sending a shutdown instruction to the mechanical arm when the entering personnel are in the dangerous position.
In a third aspect, an embodiment of the present application provides a safety detection system for a robot arm, including a robot arm and a detection device communicatively connected to the robot arm; the detection device comprises a plurality of pressure sensors which are uniformly distributed on the ground of a preset area;
the detection device is used for acquiring an electric signal of the pressure sensor, judging whether a person enters the preset area or not according to the electric signal, and sending a first reminding signal when the person enters the preset area.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the robot arm safety detection method by calling the computer program stored in the memory.
Has the advantages that:
according to the mechanical arm safety detection method, the mechanical arm safety detection device, the mechanical arm safety detection system and the electronic equipment, electric signals of pressure sensors distributed on the ground of a preset area are obtained; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
Drawings
Fig. 1 is a flowchart of a robot arm safety detection method according to an embodiment of the present application.
Fig. 2 is a block diagram of a robot arm safety inspection device according to an embodiment of the present disclosure.
Fig. 3 is a schematic view of a robot arm safety detection system provided in an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 5 is a schematic view illustrating a method for laying the intelligent floor tiles.
Fig. 6 is a schematic structural diagram of an intelligent floor tile.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a method for detecting safety of a robot arm according to an embodiment of the present application includes:
A1. acquiring electric signals of pressure sensors distributed on the ground of a preset area;
A2. judging whether a person enters a preset area or not according to the electric signal;
A3. and if the person enters the preset area, sending a first reminding signal.
The preset area is an area arranged around the mechanical arm, if the preset area is entered, the preset area can be considered to be too close to the mechanical arm, and a large safety risk exists, so that when a person enters the preset area, a first reminding signal is sent out to draw attention of workers, and the safety is improved.
Wherein, a plurality of pressure sensors are uniformly distributed on the ground of the preset area, for example, as shown in fig. 5, the pressure sensors are integrated in the intelligent floor tiles 90, at least one pressure sensor is arranged in each intelligent floor tile 90, and then the ground of the preset area is paved by the intelligent floor tiles, wherein the middle part is a mounting base 91 of the robot arm. When a person enters a preset area, the person can step on the intelligent floor tiles 90, so that the corresponding pressure sensors form electric signals corresponding to the pressure.
In step a2, if the pressure corresponding to the electrical signal of at least one pressure sensor is not zero or exceeds a preset pressure threshold, it is determined that a person enters the preset area.
Wherein, the first reminding signal can be a sound signal or a light signal.
In some embodiments, the method for detecting the safety of the mechanical arm further comprises the following steps:
A4. acquiring the position information of the entering personnel according to the electric signals;
A5. acquiring moving path information of the mechanical arm;
A6. judging whether the entering personnel is in a dangerous position or not according to the moving path information and the position information;
A7. and if the entering personnel are in dangerous positions, sending a shutdown instruction to the mechanical arm.
In some cases, a worker needs to move in a preset area, for example, when performing some teaching operations on the robot arm, the worker needs to change the position where the worker stands in order to clearly see the positions of some parts of the robot arm; if the position where the entering person stands is in an area with a preset width and centered on the projection of the moving path of the mechanical arm on the ground, the entering person is called to be in a dangerous position, and at the moment, accidents are easy to happen, so that a stop instruction needs to be sent to the mechanical arm.
Wherein, can number each pressure sensor to measure the position of each pressure sensor in advance, form the position look-up table, thereby A4. the step of obtaining the positional information who gets into personnel according to the electric signal includes:
A401. judging which pressure sensors are stepped on according to the electric signals;
A402. acquiring the number information of the pressed pressure sensor;
A403. inquiring in a preset position inquiry table according to the number information to obtain the position information of the treaded pressure sensor;
A404. and acquiring the position information of the person entering the device according to the position information of the pressed pressure sensor.
In step a401, if the pressure value corresponding to the electrical signal is not zero or exceeds a preset pressure threshold, it is determined that the corresponding pressure sensor is stepped on.
In step a404, if only one pressure sensor is pressed, the position information of the pressure sensor is used as the position information of the entering person; if there are a plurality of depressed pressure sensors, the center position information of the plurality of depressed pressure sensors is calculated from the position information of the plurality of depressed pressure sensors, and the center position information is used as the position information of the entering person.
A6, judging whether the entering personnel are in the dangerous position according to the moving path information and the position information, wherein the step comprises the following steps:
A601. judging whether the position of the entering person is in an area which is centered on the projection of the mechanical arm on the ground and has a preset width or not;
A602. and if the position of the entering person is in an area which is centered on the projection of the mechanical arm on the ground and has a preset width, judging that the entering person is in a dangerous position, otherwise, judging that the entering person is not in the dangerous position.
If entering personnel are about to move or are moving, because whether entering personnel enter dangerous positions at the next moment can not be judged, if entering personnel are about to move or are moving in a preset area, the mechanical arm can stop moving, and safety is guaranteed. Therefore, in some embodiments, the safety inspection method for the robot arm further includes the steps of:
A8. judging whether the entering person is ready to move or moving according to the electric signal;
A9. and sending a shutdown instruction to the mechanical arm according to the judgment result.
For example, in some embodiments, in step A8, the method for determining whether the entering person is moving is: and acquiring the distance between the position of the entering person at the current moment and the position before the preset time interval according to the electric signal, and if the distance is greater than a preset first distance threshold value, judging that the entering person is moving. But is not limited thereto.
For example, in some embodiments, in step A8, the method for determining whether the entering person is ready to move is: and acquiring a pressure difference value between the feet of the entering person according to the electric signal, and judging that the entering person is ready to move if the pressure difference value is greater than a preset pressure difference threshold value. But is not limited thereto.
For example, in some embodiments, in step a9, if the entering person is ready to move or is moving, a stop command is sent to the robotic arm.
For example, in some embodiments, in step a9, if the entering person is ready to move, the distance between the current position of the entering person and the projection on the ground on the moving path of the robot arm is calculated, and then it is determined whether the distance is greater than a preset second distance threshold, and if the distance is less than the preset second distance threshold, a stop instruction is sent to the robot arm. The preset second distance threshold value can be the sum of the preset maximum step distance of the entering personnel and the preset safety distance; the maximum step pitch of each worker forms a maximum step pitch query table, the wearable equipment for the entering worker can receive the identification information sent by the wearable equipment when the entering worker enters a preset area, then the maximum step pitch corresponding to the entering worker can be obtained by querying in the maximum step pitch query table according to the identification information, and the second distance threshold corresponding to the entering worker can be obtained by adding the maximum step pitch and a preset safe distance.
In some embodiments, the method for detecting the safety of the mechanical arm further comprises the following steps:
A10. and controlling the indicator lamps arranged on the ground of the preset area to work according to the moving path information, thereby forming a light-emitting indicator line corresponding to the moving path.
A plurality of indicator lights can be uniformly distributed on the ground in a preset area, the indicator lights can be independently arranged, or can be integrated in the intelligent floor tile 90, and the indicator lights can be numbered and the positions of the indicator lights can be measured in advance; and acquiring the number information of the indicator lamps along the projection of the ground on the moving path according to the moving path information, and controlling the corresponding indicator lamps to be turned on according to the number information, so that a light-emitting indicator line can be formed. The entering personnel can avoid entering dangerous positions according to the luminous indicating lines.
In some embodiments, the pressure sensors are integrated into the intelligent tiles 90 and can measure the amount of pressure on the intelligent tiles 90; at this time, the method for detecting the safety of the mechanical arm may further include the steps of:
A11. acquiring identity identification information of wearable equipment of an entering person;
A12. inquiring in a preset weight inquiry table according to the identity identification information to obtain first body weight information of the owner of the wearable device;
A13. judging whether the entering person is the owner of the wearable device or not according to the first body weight information and the electric signal;
A14. and if the entering person is not the owner of the wearable device, sending a second reminding signal.
Some production units, staff all need to wear wearable equipment (like intelligent bracelet, intelligent bracelet head ring etc.) to gather staff's health parameter, so that control arm work according to staff's health parameter variation. At this time, the identification information (such as the MAC code) of the wearable device corresponds to the identity of the worker one by one, and if the wearable device worn by the entering person is not the person, the entering person belongs to an illegal operation, and a warning signal needs to be sent to warn.
The weight of each person is basically unchanged in one section, the weight information (namely the first body weight information) of each worker can be collected in advance to form a weight query table, and therefore the first body weight information of the owner of the wearable device can be queried and obtained according to the identity identification information. Wherein the weight look-up table is updated periodically.
Further, a13, the step of judging whether the entering person is the owner of the wearable device according to the first weight information and the electric signal comprises:
A1301. calculating second body weight information of the person entering according to the electric signal;
A1302. calculating weight deviation information between the first body weight information and the second body weight information;
A1303. judging whether the weight deviation information is larger than a preset weight deviation threshold value or not;
A1304. if the weight deviation information is larger than a preset weight deviation threshold value, the entering person is judged not to be the owner of the wearable device, and otherwise, the entering person is judged to be the owner of the wearable device.
Because the pressure sensor can measure the pressure on the intelligent floor tile 90, the pressure value corresponding to the electric signal of the pressure sensor is the pressure value on the corresponding intelligent floor tile 90, and at the moment, the second body weight information of the entering person is obtained by adding all the pressure values corresponding to the electric signals of the treaded pressure sensor.
According to the mechanical arm safety detection method, the electric signals of the pressure sensors distributed on the ground of the preset area are obtained; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
Referring to fig. 2, an embodiment of the present application further provides a device for detecting safety of a robot arm, including a first obtaining module 1, a first determining module 2, and a first executing module 3;
the system comprises a first acquisition module 1, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring electric signals of pressure sensors distributed on the ground of a preset area;
the first judging module 2 is used for judging whether a person enters a preset area or not according to the electric signal;
the first execution module 3 is used for sending out a first reminding signal when a person enters a preset area.
In some embodiments, the safety detection device for the mechanical arm further includes a second obtaining module, a third obtaining module, a second determining module, and a second executing module.
The second acquisition module is used for acquiring the position information of the entering personnel according to the electric signal;
the third acquisition module is used for acquiring the moving path information of the mechanical arm;
the second judgment module is used for judging whether the entering personnel is in a dangerous position or not according to the moving path information and the position information;
and the second execution module is used for sending a shutdown instruction to the mechanical arm when the entering personnel are in the dangerous position.
Further, when the second obtaining module obtains the position information of the entering person according to the electric signal, the second obtaining module judges which pressure sensors are stepped on according to the electric signal, obtains the number information of the stepped-on pressure sensors, carries out query in a preset position query table according to the number information, obtains the position information of the stepped-on pressure sensors, and obtains the position information of the entering person according to the position information of the stepped-on pressure sensors.
Further, the second judging module judges whether the position of the entering person is in an area with a preset width and centered on the projection of the moving path of the mechanical arm on the ground when judging whether the entering person is in a dangerous position according to the moving path information and the position information, judges that the entering person is in the dangerous position if the position of the entering person is in the area with the preset width and centered on the projection of the moving path of the mechanical arm on the ground, and otherwise judges that the entering person is not in the dangerous position.
In some embodiments, the mechanical arm safety detection device further includes a third determination module and a third execution module;
the third judging module is used for judging whether the entering personnel is ready to move or moving according to the electric signal;
and the third execution module is used for sending a shutdown instruction to the mechanical arm according to the judgment result.
For example, in some embodiments, the third determining module obtains a distance between a position of the entering person at the current time and a position before a preset time interval according to the electrical signal when determining whether the entering person is moving, and determines that the entering person is moving if the distance is greater than a preset first distance threshold. But is not limited thereto.
For example, in some embodiments, the third determining module obtains a pressure difference between feet of the entering person according to the electrical signal when determining whether the entering person is ready to move, and determines that the entering person is ready to move if the pressure difference is greater than a preset pressure difference threshold. But is not limited thereto.
For example, in some embodiments, the third execution module sends a shutdown command to the robotic arm when the entering personnel is ready to move or is moving.
For example, in some embodiments, when the entering person is ready to move, the third execution module calculates a distance between the current position of the entering person and a projection of the moving path of the robot arm on the ground, then determines whether the distance is greater than a preset second distance threshold, and sends a stop instruction to the robot arm when the distance is less than the preset second distance threshold. The preset second distance threshold value can be the sum of the preset maximum step distance of the entering personnel and the preset safety distance; the maximum step pitch of each worker forms a maximum step pitch query table, the wearable equipment for the entering worker can receive the identification information sent by the wearable equipment when the entering worker enters a preset area, then the maximum step pitch corresponding to the entering worker can be obtained by querying in the maximum step pitch query table according to the identification information, and the second distance threshold corresponding to the entering worker can be obtained by adding the maximum step pitch and a preset safe distance.
In some embodiments, the safety detection device for the mechanical arm further includes a fourth obtaining module, a fifth obtaining module, a fourth judging module, and a fourth executing module;
the fourth acquisition module is used for acquiring the identity identification information of the wearable equipment of the entering personnel;
the fifth acquisition module is used for inquiring in a preset weight inquiry table according to the identity identification information to obtain first body weight information of the owner of the wearable device;
the fourth judging module is used for judging whether the entering person is the owner of the wearable device or not according to the first body weight information and the electric signal;
the fourth execution module is used for sending out a second reminding signal when the entering person is not the master of the wearable device.
Further, the fourth judging module calculates second body weight information of the entering person according to the electric signal when judging whether the entering person is the owner of the wearable device according to the first body weight information and the electric signal, calculates weight deviation information between the first body weight information and the second body weight information, judges whether the weight deviation information is larger than a preset weight deviation threshold value, judges that the entering person is not the owner of the wearable device if the weight deviation information is larger than the preset weight deviation threshold value, and judges that the entering person is the owner of the wearable device if the weight deviation information is not larger than the preset weight deviation threshold value.
In some embodiments, the robot arm safety inspection device further comprises a fifth execution module;
and the fifth execution module is used for controlling the indicator lamps arranged on the ground of the preset area to work according to the moving path information, so that a light-emitting indicator line corresponding to the moving path is formed.
According to the mechanical arm safety detection device, the electric signals of the pressure sensors distributed on the ground of the preset area are obtained; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
Referring to fig. 3 and 5, an embodiment of the present invention further provides a system for detecting safety of a robot arm, including a robot arm 200 and a detection device 300 communicatively connected to the robot arm; the detection device 300 comprises a plurality of pressure sensors uniformly distributed on the ground of the preset area 400;
the detection device 300 is used for acquiring an electric signal of the pressure sensor, judging whether a person enters a preset area according to the electric signal, and sending a first reminding signal when the person enters the preset area.
In some embodiments, as shown in fig. 5, the pressure sensors are integrated in the intelligent floor tiles 90, and at least one pressure sensor is disposed in each intelligent floor tile 90, and then the intelligent floor tile is used to lay the floor of the preset area 400, wherein the middle part is the mounting base 91 of the robot arm. When a person steps on the intelligent floor tile 90, the corresponding pressure sensor forms an electrical signal corresponding to the pressure.
In some embodiments, the detection device 300 is further configured to obtain position information of the entering person according to the electrical signal, obtain movement path information of the robot arm, determine whether the entering person is at a dangerous position according to the movement path information and the position information, and send a shutdown instruction to the robot arm when the entering person is at the dangerous position.
Further, when acquiring the position information of the entering person according to the electrical signal, the detection device 300 determines which pressure sensors are pressed according to the electrical signal, acquires the number information of the pressed pressure sensors, performs query in a preset position query table according to the number information, obtains the position information of the pressed pressure sensors, and acquires the position information of the entering person according to the position information of the pressed pressure sensors.
Further, the detection device 300 determines whether the position of the entering person is in an area of a preset width centered on the projection of the moving path of the robot arm on the ground when determining whether the entering person is in a dangerous position according to the moving path information and the position information, determines that the entering person is in a dangerous position if the position of the entering person is in an area of a preset width centered on the projection of the moving path of the robot arm on the ground, and otherwise determines that the entering person is not in a dangerous position.
In some embodiments, the detecting device 300 is further configured to determine whether the entering person is ready to move or moving according to the electrical signal, and send a shutdown command to the robot arm according to the determination result.
For example, in some embodiments, when determining whether the entering person is moving, the detection apparatus 300 obtains a distance between a position of the entering person at the current time and a position before a preset time interval according to the electrical signal, and determines that the entering person is moving if the distance is greater than a preset first distance threshold. But is not limited thereto.
For example, in some embodiments, the detection device 300 obtains a pressure difference between feet of the entering person according to the electrical signal when determining whether the entering person is ready to move, and determines that the entering person is ready to move if the pressure difference is greater than a preset pressure difference threshold. But is not limited thereto.
For example, in some embodiments, the detection device 300 sends a shutdown command to the robotic arm when the entering personnel are ready to move or are moving.
For example, in some embodiments, when the entering person is ready to move, the detection apparatus 300 first calculates a distance between the current position of the entering person and a projection on the ground on the moving path of the robot arm, then determines whether the distance is greater than a preset second distance threshold, and sends a stop instruction to the robot arm when the distance is less than the preset second distance threshold. The preset second distance threshold value can be the sum of the preset maximum step distance of the entering personnel and the preset safety distance; the maximum step pitch of each worker forms a maximum step pitch query table, the wearable equipment for the entering worker can receive the identification information sent by the wearable equipment when the entering worker enters a preset area, then the maximum step pitch corresponding to the entering worker can be obtained by querying in the maximum step pitch query table according to the identification information, and the second distance threshold corresponding to the entering worker can be obtained by adding the maximum step pitch and a preset safe distance.
In some embodiments, the detection apparatus 300 is further configured to obtain identification information of a wearable device of an entering person, perform query in a preset weight query table according to the identification information to obtain first weight information of an owner of the wearable device, determine whether the entering person is the owner of the wearable device according to the first weight information and an electric signal, and send a second reminding signal when the entering person is not the owner of the wearable device.
Further, when determining whether the entering person is the owner of the wearable device according to the first body weight information and the electrical signal, the detection apparatus 300 calculates second body weight information of the entering person according to the electrical signal, calculates weight deviation information between the first body weight information and the second body weight information, determines whether the weight deviation information is greater than a preset weight deviation threshold, determines that the entering person is not the owner of the wearable device if the weight deviation information is greater than the preset weight deviation threshold, and otherwise determines that the entering person is the owner of the wearable device.
In some embodiments, the detection device 300 further includes a plurality of indicator lights 500 uniformly distributed on the ground of the preset area 400; the indicator lights 500 may be provided independently or, as shown in fig. 5, the indicator lights 500 may be integrated into the intelligent floor tiles 90 with at least one indicator light 500 provided in each intelligent floor tile 90.
Further, the detection device 300 is further configured to control the indicator lights arranged on the ground of the preset area to operate according to the moving path information, so as to form a light-emitting indicator line corresponding to the moving path.
In some implementations, the intelligent floor tile 90 is constructed as shown in fig. 6, and includes a lower housing 90.1, and an upper cover plate 90.2 covering the lower housing 90.1; a gap a is formed between the bottom of the upper cover plate 90.2 and the top of the lower shell 90.1; at least three mounting columns 90.3 which are not linearly arranged are arranged in the lower shell 90.1, the top of each mounting column 90.3 is provided with a piezoresistor 90.4, and the upper end of each piezoresistor 90.4 is connected with the bottom of the upper cover plate 90.2; a circuit board 90.5 is also arranged in the lower shell 90.1, all the piezoresistors 90.4 are electrically connected with the circuit board 90.5, and the piezoresistors 90.4 and the circuit board 90.5 form a pressure sensor of the intelligent floor tile 90; the upper cover plate 90.2 is provided with an indicator lamp 500, and the indicator lamp 500 is electrically connected with the circuit board 90.5.
Because there is a gap a between the bottom of the upper cover plate 90.2 and the top of the lower housing 90.1, when the upper cover plate 90.2 is pressed, all the pressure is equalized on the piezoresistor 90.4, so the pressure sensor 500 in the intelligent floor tile 90 can measure the pressure pressed on the intelligent floor tile 90. At this time, when the detection device 300 calculates the second body weight information of the entering person based on the electrical signals, the second body weight information can be obtained by adding the pressure values corresponding to the electrical signals of the pressure sensors of all the depressed intelligent floor tiles 90 (i.e., the pressure values of the depressed intelligent floor tiles 90).
According to the mechanical arm safety detection system, the electric signals of the pressure sensors distributed on the ground of the preset area are obtained; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
Referring to fig. 4, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the robot arm safety detection method by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: acquiring electric signals of pressure sensors distributed on the ground of a preset area; judging whether a person enters the preset area or not according to the electric signal; and if a person enters the preset area, sending a first reminding signal.
According to the above, the electronic device obtains the electrical signals of the pressure sensors distributed on the ground of the preset area; judging whether a person enters the preset area or not according to the electric signal; if someone enters the preset area, a first reminding signal is sent out; therefore, the reminding signal can be sent out in time when the worker is too close to the mechanical arm, and the safety is high.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (10)
1. A mechanical arm safety detection method is characterized by comprising the following steps:
acquiring electric signals of pressure sensors distributed on the ground of a preset area;
judging whether a person enters the preset area or not according to the electric signal;
and if a person enters the preset area, sending a first reminding signal.
2. The mechanical arm safety detection method according to claim 1, further comprising the steps of:
acquiring the position information of the entering personnel according to the electric signal;
acquiring moving path information of the mechanical arm;
judging whether the entering personnel are in dangerous positions or not according to the moving path information and the position information;
and if the entering personnel are in dangerous positions, sending a shutdown instruction to the mechanical arm.
3. The mechanical arm safety detection method as claimed in claim 2, further comprising the steps of:
judging whether the entering person is ready to move or moving according to the electric signal;
and sending a shutdown instruction to the mechanical arm according to the judgment result.
4. The mechanical arm safety detection method as claimed in claim 2, further comprising the steps of:
and controlling indicator lamps arranged on the ground of a preset area to work according to the moving path information, thereby forming a light-emitting indicator line corresponding to the moving path.
5. The mechanical arm safety detection method according to claim 1, further comprising the steps of:
acquiring identity identification information of wearable equipment of an entering person;
inquiring in a preset weight inquiry table according to the identity identification information to obtain first body weight information of the owner of the wearable device;
judging whether the entering person is the owner of the wearable device or not according to the first body weight information and the electric signal;
and if the entering person is not the owner of the wearable device, sending a second reminding signal.
6. The safety inspection method for robot arms of claim 5, wherein the step of determining whether the entering person is the owner of the wearable device according to the first body weight information and the electrical signal comprises:
calculating second body weight information of the entering person according to the electric signal;
calculating weight deviation information between the first body weight information and the second body weight information;
judging whether the weight deviation information is larger than a preset weight deviation threshold value or not;
if the weight deviation information is larger than a preset weight deviation threshold value, judging that the entering person is not the owner of the wearable device, otherwise, judging that the entering person is the owner of the wearable device.
7. A mechanical arm safety detection device is characterized by comprising:
the first acquisition module is used for acquiring electric signals of the pressure sensors distributed on the ground of a preset area;
the first judgment module is used for judging whether a person enters the preset area or not according to the electric signal;
and the first execution module is used for sending out a first reminding signal when a person enters the preset area.
8. The mechanical arm safety detection device according to claim 7, further comprising:
the second acquisition module is used for acquiring the position information of the entering personnel according to the electric signal;
the third acquisition module is used for acquiring the moving path information of the mechanical arm;
the second judgment module is used for judging whether the entering personnel is in a dangerous position or not according to the moving path information and the position information;
and the second execution module is used for sending a shutdown instruction to the mechanical arm when the entering personnel are in the dangerous position.
9. The mechanical arm safety detection system is characterized by comprising a mechanical arm and a detection device in communication connection with the mechanical arm; the detection device comprises a plurality of pressure sensors which are uniformly distributed on the ground of a preset area;
the detection device is used for acquiring an electric signal of the pressure sensor, judging whether a person enters the preset area or not according to the electric signal, and sending a first reminding signal when the person enters the preset area.
10. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the robot arm safety inspection method according to any one of claims 1 to 6 by calling the computer program stored in the memory.
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| CN202010700323.7A CN111564011B (en) | 2020-07-20 | 2020-07-20 | Mechanical arm safety detection method, device and system and electronic equipment |
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