CN216464644U

CN216464644U - Robot control device

Info

Publication number: CN216464644U
Application number: CN202120718650.5U
Authority: CN
Inventors: 李鲁超; 傅建波
Original assignee: Beihang Gol Weifang Intelligent Robot Co ltd
Current assignee: Beige (Weifang) Intelligent Technology Co.,Ltd.
Priority date: 2021-04-08
Filing date: 2021-04-08
Publication date: 2022-05-10
Anticipated expiration: 2031-04-08

Abstract

The utility model discloses a robot control device, wherein the robot control device is used for controlling a robot to work in a working area, and the robot control device comprises: the camera shooting assembly is used for carrying out video monitoring on the surrounding area of the operation area and acquiring a posture signal of an operator when the operator is monitored to exist in the surrounding area of the operation area; and the controller is electrically connected with the camera shooting assembly and used for determining the advancing direction of the operator according to the posture signal of the operator acquired by the camera shooting assembly and sending out a control signal for executing evasive action to the robot in the advancing direction of the operator. The utility model adopts the camera shooting component to determine the posture signal of the operator around the working area, determines the advancing direction of the operator according to the posture signal of the operator, and can prejudge the advancing track of the operator, so that the robot can avoid according to the advancing track of the operator, and the misjudgment is reduced.

Description

Robot control device

Technical Field

The utility model relates to the field of robot control, in particular to a robot control device.

Background

During operation of the robot, there is usually a relatively defined working area. When an operator approaches the work area outside the work area of the robot, the robot is likely to collide with the operator. In a conventional robot control device, a detection device or a warning line is generally provided outside a robot work area, and when it is detected that an operator is around the work area, a warning operation is performed. When the operator is around the working area, the operator does not necessarily move toward the working area, and the working trajectory of the robot is not necessarily disturbed, so that erroneous judgment is likely to occur, and normal operation of the robot is affected.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a robot control device, aiming at improving the accuracy of the control of the existing robot.

In order to achieve the above object, a robot control device according to the present invention for controlling a robot to work in a work area includes:

the camera shooting assembly is used for carrying out video monitoring on the surrounding area of the working area and acquiring a posture signal of an operator when the operator is monitored to exist in the surrounding area of the working area; and

and the controller is electrically connected with the camera shooting assembly and used for determining the advancing direction of the operator according to the posture signal of the operator acquired by the camera shooting assembly and sending out a control signal for executing evasive action to the robot in the advancing direction of the operator.

Optionally, the camera assembly comprises:

the camera shooting part is used for carrying out video monitoring on the surrounding area of the operation area; and

and a first posture detection element electrically connected to the controller and the image pickup unit, respectively, for acquiring a posture signal of the operator when the image pickup unit monitors that the surrounding area of the working area has the operator, and the controller is configured to determine a traveling direction of the operator based on the posture signal of the operator acquired by the first posture detection element.

Optionally, the working area has a boundary, and the camera module further includes:

and a first distance measuring element electrically connected to the controller and the imaging unit, respectively, for measuring a distance between an operator and a boundary of the work area when the imaging unit monitors that the operator is present in a region around the work area, and the controller is further configured to issue a control signal for executing an avoidance operation to a robot in a traveling direction of the operator, based on the distance and the traveling direction of the operator.

Optionally, the robot control apparatus further comprises:

and the second posture detection element is respectively electrically connected with the controller and the robot and used for acquiring a posture signal of the robot, the controller is also used for determining the traveling direction of the robot according to the posture signal of the robot, and sending a control signal for executing an avoidance action to the robot when the traveling direction of the robot is the same as or opposite to or intersected with the traveling direction of the operator.

Optionally, the working area has a boundary, and the robot controller further includes:

and the second distance measuring element is respectively electrically connected with the controller and the robot and is used for measuring the distance between the robot and the boundary of the working area, and the controller is also used for sending a control signal for executing the evasive action to the robot according to the distance between the robot and the boundary of the working area.

Optionally, the working area has a plurality of the boundaries, the robot control device has a plurality of the camera assemblies, and each of the boundaries is provided with at least one of the camera assemblies.

Optionally, the robot control apparatus further comprises:

and the alarm element is electrically connected with the controller, and the controller is also used for sending out a control signal for executing alarm to the alarm element when an operator enters the operating area.

The present invention also provides a robot control apparatus for controlling a robot to operate in a working area, the robot having a plurality of working areas, at least one of the working areas being disposed adjacent to the other working areas for movement of the robot between the plurality of working areas, comprising:

the camera shooting assembly is used for carrying out video monitoring on the plurality of working areas and acquiring a posture signal of an operator when the operator is monitored to exist in any one of the working areas; and

Optionally, the camera assembly comprises:

the camera shooting part is used for carrying out video monitoring on the plurality of working areas; and

and the first posture detection element is respectively electrically connected with the controller and the image pickup part and used for acquiring a posture signal of an operator when the image pickup part monitors that the operator exists in the working area, and the controller is used for determining the advancing direction of the operator according to the posture signal of the operator acquired by the first posture detection element.

Optionally, the robot control apparatus further comprises:

and a third distance measuring element electrically connected to the controller, the camera module, and the robot, respectively, for obtaining a distance between the robot and the operator, and the controller is further configured to issue a control signal for executing an avoidance operation to the robot in a traveling direction of the operator, based on the distance between the robot and the operator.

The technical scheme of the utility model determines the posture signal of an operator around the working area by adopting the camera shooting assembly, determines the advancing direction of the operator according to the posture signal of the operator, and further can determine whether the operator approaches to the working area, so that a robot with the advancing direction conflicting with the advancing direction of the operator can avoid in time, and the operator and the robot are prevented from colliding.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention when an operator faces a robot in a traveling direction;

FIG. 2 is a schematic structural diagram of an embodiment of the present invention in which the operator and the robot travel in the same direction;

FIG. 3 is a schematic structural diagram of an embodiment of the present invention when the operator and the robot are staggered in the traveling direction;

FIG. 4 is a schematic structural diagram illustrating an embodiment of the present invention when an operator moves away from the work area;

FIG. 5 is a diagram of a controller according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of another embodiment of the present invention when the operator is opposite to the traveling direction of the robot;

FIG. 7 is a schematic structural diagram of another embodiment of the present invention when the operator intersects the traveling direction of the robot;

FIG. 8 is a schematic structural diagram of another embodiment of the present invention when the operator and the robot are staggered in the traveling direction;

FIG. 9 is a schematic structural diagram of another embodiment of the present invention when the worker is far away from the work area;

FIG. 10 is a diagram of another embodiment of a controller according to the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Robot	20	Camera shooting assembly
21	Image pickup unit	22	First posture detecting element
				23	First distance measuring element	30	Controller
31	Second posture detecting element	32	Second distance measuring element
				33	Third distance measuring element	34	Alarm element
40	Work area	41	Boundary of
				50	Operator

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a robot control device, which is used for controlling a robot to work in a working area, wherein the working area is a movable range of the robot, and the movable range can refer to the whole moving range of the robot or the operation coverage range of a movable part of the robot, such as a mechanical arm. Fig. 1 to 10 are corresponding drawings of an embodiment of the present invention.

Referring to fig. 1 and 5, the robot controller includes:

and the camera assembly 20 is used for performing video monitoring on the surrounding area of the working area 40 and acquiring a posture signal of the operator 50 when the operator 50 is monitored to be in the surrounding area of the working area 40. The camera module 20 monitors the surrounding area of the work area 40 to obtain video data of the surrounding area of the work area 40. The surrounding area of the working area 40 refers to an area to be monitored at the periphery of the working area 40, and the image pickup assembly 20 covers an area near the working area 40 at the periphery of the working area 40. Taking the top view of the working area 40 as a rectangle as shown in fig. 1 as an example, the periphery of the working area 40 may be a preset range outside any side of the rectangle, or may also be a preset range outside four sides of the rectangle, and the preset range may be set on the camera module 20, for example, the camera module 20 is configured to acquire video data within a range of 5 meters outside any side of the working area 40. The camera module 20 has a function of acquiring video data, and the camera module 20 can acquire an attitude signal of the operator 50 entering the monitoring area of the camera module 20 according to the video data. In one embodiment, the camera assembly 20 selects an existing depth camera to pass the pose signal of the operator 50 in the acquired video data. The camera module 20 may be pre-stored with an existing video monitoring program and store an existing human posture recognition program to acquire a posture signal of the operator 50 in the surrounding area of the working area 40 based on the video data.

And a controller 30 electrically connected to the camera module 20, for determining a traveling direction of the operator 50 according to the posture signal of the operator 50 acquired by the camera module 20, and for sending a control signal for executing an avoidance operation to the robot 10 in the traveling direction of the operator 50. The controller 30 may acquire video monitoring data of the camera assembly 20 and may acquire an attitude signal obtained by the camera assembly 20, and the controller 30 may acquire the traveling direction of the operator 50 according to the attitude signal through an existing control program. The controller 30 is further configured to control operation parameters of the robot 10, where the operation parameters of the robot 10 include a movement speed, a movement direction, and the like of the robot 10, and when the robot 10 is in a traveling direction of the operator 50, there is a risk of collision between the robot 10 and the operator 50, and the controller 30 sends a control signal for executing an avoidance operation to the robot 10 so that the robot 10 avoids the operator 50.

In one embodiment, the avoidance operation is to control the robot 10 to adjust the traveling direction so that the traveling direction of the robot 10 and the traveling direction of the operator 50 are shifted from each other, and for example, in a state shown in fig. 1, the robot 10 may be steered so that the robot 10 avoids the traveling direction of the operator 50; the robot 10 may be moved along a trajectory parallel to the direction of travel of the operator 50, and the robot 10 and the operator 50 may be avoided from each other.

In another embodiment, the avoidance operation is to control the robot 10 to adjust the operation speed such that when the distance between the operator 50 and the robot 10 is relatively decreased and the robot 10 and the operator 50 move toward each other, as shown in fig. 1, the movement speed of the robot 10 is controlled to decrease, and even the robot 10 is stopped to avoid a rapid collision with the operator 50.

In still another embodiment, the avoidance operation is to control the robot 10 to adjust the operation speed such that when the distance between the operator 50 and the robot 10 is relatively decreased and the robot 10 moves in the same direction as the operator 50, as shown in fig. 2, the movement speed of the robot 10 is controlled to be increased such that the distance between the operator 50 and the robot 10 is increased or a preset distance range is maintained.

In still another embodiment, the avoidance operation is to control the robot 10 to change the operation speed and the operation direction at the same time, so that the robot 10 can continuously operate while avoiding the operator 50 from each other.

The controller 30 and the camera module 20 may be connected by a communication cable, or an existing wireless communication module may be disposed on the controller 30, and the controller 30 and the camera module 20 are communicated with each other in a wireless communication manner. The controller 30 may send a control signal to the robot 10 by wireless communication. The controller 30 may also be integrated into a control module of the robot 10 and communicatively coupled to the camera assembly 20 via a wireless communication module. The controller 30, the camera module 20, and the robot 10 may be connected by a communication bus.

Referring to fig. 1 and 2, after the camera module 20 obtains the posture signal of the operator 50 in the area around the working area 40, the controller 30 can obtain the traveling direction of the operator 50 according to the posture signal, and further can determine whether the operator 50 approaches the working area 40 or enters the working area 40, and when it is determined that there is a possibility that the robot 10 collides with the operator 50 in the traveling direction, the controller 30 sends a control signal to the robot 10 to perform an avoidance operation.

Referring to fig. 3 and 4, when the robot 10 is not in the traveling direction of the operator 50, the robot 10 may not perform an avoidance maneuver. When the worker 50 is only close to the working area 40 and the traveling direction is not toward the inside of the working area 40, as shown in fig. 4, when the traveling direction of the worker 50 is a direction away from the working area 40, the robot 10 may not perform the avoidance operation to reduce the influence on the work of the robot 10. Since it is not necessary to separately provide shielding devices such as a guard line around the working area 40, the environment around the working area 40 of the robot 10 can be simplified, and interference with the surrounding environment can be reduced.

In one embodiment, the robot controller includes a plurality of the camera assemblies 20, and the plurality of camera assemblies 20 may be used for video monitoring of the same area around the working area 40 or different areas around the working area 40.

In an embodiment, the working area 40 has a boundary 41, the boundary 41 is an area in which the robot 10 can move, the boundary 41 may form a complete working area 40, or may include a plurality of independent sub-working areas, and the robot 10 may move between the plurality of sub-working areas. The camera assembly 20 is configured to perform video monitoring on an area outside the boundary 41 and close to the boundary 41, so as to acquire a posture signal of the operator 50 close to the boundary 41 of the working area 40. When the robot controller has a plurality of camera modules 20, the plurality of camera modules 20 may be provided on the boundary 41 at the same time, or the camera modules 20 may be provided on each of the boundaries 41 to monitor each of the boundaries 41.

In one embodiment, the robot controller further includes an alarm element 34, wherein the alarm element 34 is electrically connected to the controller 30, and when the operator 50 enters the working area 40, the alarm element 34 is controlled to execute an alarm program. The alarm element 34 may be provided with a sound and light alarm module to send alarm information to the operator 50 or the upper computer in time.

In one embodiment, the camera assembly 20 includes:

an imaging unit 21 for performing video monitoring on a peripheral area of the work area 40; the image pickup unit 21 is configured to acquire video data in a specific range of a peripheral area of the work area 40, and the specific range may be an area within a preset distance range near a boundary 41 of the work area 40. The imaging unit 21 may be provided at a position of the boundary 41 of the work area 40, or may be provided at a preset position near the boundary 41 of the work area 40.

And a first posture detecting element 22 electrically connected to the controller 30 and the imaging unit 21, respectively, for acquiring a posture signal of the operator 50 when the imaging unit 21 monitors that the operator 50 is present in the surrounding area of the working area 40, and the controller 30 for determining the traveling direction of the operator 50 based on the posture signal of the operator 50 acquired by the first posture detecting element 22. When the imaging unit 21 monitors that there is an operator 50 around the work area 40, the first posture detecting element 22 acquires a posture signal of the operator 50 through a pre-stored program. Taking the example where the first posture detecting element 22 is connected to the controller 30 via a wireless communication module, the controller 30 determines the traveling direction of the operator 50 based on the posture signal after acquiring the posture signal via the wireless communication module, and further determines whether to transmit a control signal for executing an avoidance maneuver to the robot 10 based on the traveling direction of the operator 50.

Alternatively, the first posture detecting element 22 may be integrated on the image pickup portion 21, and the first posture detecting element 22 prestores a program for acquiring a posture signal of the operator 50 based on video data so that the controller 30 acquires the traveling direction of the operator 50 based on the video data.

In one embodiment, the working area 40 has a boundary 41, and the camera assembly 20 further includes: and a first distance measuring device 23 electrically connected to the controller 30 and the imaging unit 21, respectively, for measuring a distance between the operator 50 and a boundary 41 of the working area 40 when the imaging unit 21 monitors that the operator 50 is present in the area around the working area 40, and the controller 30 is further configured to transmit a control signal for executing an avoidance operation to the robot 10 in the traveling direction of the operator 50 based on the distance and the traveling direction of the operator 50.

The first distance measuring device 23 may be a distance measuring sensor, and the first distance measuring device 23 may be integrated with the image pickup unit 21, and an existing program may be pre-stored in the first distance measuring device 23, so as to obtain a distance between the operator 50 and the boundary 41 of the work area 40. By detecting the distance between the operator 50 and the boundary 41 of the work area 40, when it is determined that the direction of travel of the operator 50 is closer to the boundary 41 of the work area 40, the operation parameters of the robot 10 can be adjusted and controlled based on the distance between the operator 50 and the boundary 41 of the work area 40, so that the robot 10 can be controlled more accurately.

When the distance between the operator 50 and the boundary 41 of the work area 40 is relatively large, the robot 10 in the traveling direction of the operator 50 may be controlled to maintain the current state; when the distance between the operator 50 and the boundary 41 of the working area 40 is relatively reduced, the robot 10 in the traveling direction of the operator 50 may be controlled to be decelerated or stopped or steered so that the robot 10 can maintain a preset work efficiency while avoiding collision with the operator 50.

In one embodiment, the robot control apparatus further comprises: and a second posture detecting element 31 electrically connected to the controller 30 and the robot 10, respectively, for acquiring a posture signal of the robot 10, wherein the controller 30 is further configured to determine a traveling direction of the robot 10 according to the posture signal of the robot 10, and send a control signal for executing an avoidance operation to the robot 10 when the traveling direction of the robot 10 is the same as or opposite to or intersects with the traveling direction of the operator 50. The second posture detection element 31 is configured to detect a posture signal of the robot 10 for determining a traveling direction of the robot 10.

Alternatively, when it is confirmed from the posture signal of the robot 10 acquired by the second posture detecting element 31 that the traveling direction of the robot 10 is opposite to the traveling direction of the operator 50, that is, the operator 50 travels toward the robot 10, the controller 30 may issue an avoidance operation signal for rapidly decelerating or turning the speed of the robot 10 to prevent the robot 10 from colliding with the operator 50.

Alternatively, when it is confirmed from the posture signal of the robot 10 acquired by the second posture detecting element 31 that the traveling direction of the robot 10 is the same as the traveling direction of the operator 50, the controller 30 may issue an avoidance maneuver signal for acceleration or steering to the robot 10.

Alternatively, when it is confirmed that the traveling direction of the robot 10 intersects with the traveling direction of the operator 50 based on the posture signal of the robot 10 acquired by the second posture detecting element 31, the controller 30 may send a turning avoidance operation signal to the robot 10 to deviate the robot from the traveling direction of the operator, or send a deceleration avoidance operation signal to the robot to decelerate or even stop the robot.

After the second posture detecting element 31 acquires the posture signal of the robot 10, the controller 30 may obtain the traveling direction of the robot 10 by using an existing program, and may further confirm a control signal for performing an avoidance operation to the robot 10 in combination with the traveling direction of the operator 50 and the traveling direction of the robot 10, so as to precisely control the robot 10. The second posture detecting element 31 may be integrated on the robot 10, and acquires a posture signal of the robot 10 through an existing element to acquire a traveling direction of the robot 10; the second posture detecting element 31 may be integrated on the camera module 20.

Alternatively, the working area 40 has a boundary 41, and when the imaging module 20 further includes the first distance measuring element 23, the controller 30 sends a control signal for executing an avoidance operation to the robot 10 according to a distance between the operator 50 and the boundary 41 of the working area 40, a traveling direction of the operator 50, and a traveling direction of the robot 10. Taking the example where the traveling direction of the operator 50 is opposite to the traveling direction of the robot 10, when the distance between the operator 50 and the boundary 41 of the work area 40 is long, the robot 10 can be operated at the current speed and direction even if the robot 10 and the operator 50 move toward each other, and when the distance between the operator 50 and the boundary 41 of the work area 40 gradually decreases, the controller 30 sends a control signal to the robot 10 to perform an avoidance operation.

In one embodiment, the robot control apparatus further comprises: and a second distance measuring unit 32 electrically connected to the controller 30 and the robot 10, respectively, for measuring a distance between the robot 10 and a boundary 41 of the working area 40, wherein the controller 30 is further configured to send a control signal for performing an avoidance maneuver to the robot 10 according to the distance between the robot 10 and the boundary 41 of the working area 40. The working area 40 has a boundary 41 and the second distance measuring element 32 is arranged to measure the distance between the robot 10 and the boundary 41 of the working area 40.

Taking the example where the robot 10 and the operator 50 travel in opposite directions, the robot 10 and the operator 50 may travel in opposite directions, and the controller 30 may send a deceleration control signal to the robot 10 when the robot 10 is far from the boundary 41 of the working area 40; when the robot 10 is closer to the boundary 41 of the working area 40, the controller 30 may issue a control signal to the robot 10 to accelerate, stop, or turn. The second distance measuring device 32 may be integrated in the robot 10 so that the robot 10 detects a distance from the predetermined boundary 41 of the working area 40, or the second distance measuring device 32 may be integrated in the camera module 20.

The present invention also provides another embodiment of a control device for a robot 10. The robot control device is used for controlling the robot 10 to work in a working area 40, the robot 10 is provided with a plurality of working areas 40, and at least one working area 40 is arranged adjacent to other working areas 40 so that the robot 10 can move among the plurality of working areas 40.

Referring to fig. 6 and 10, the robot controller includes:

the camera assembly 20 is used for carrying out video monitoring on the plurality of working areas 40 and acquiring a posture signal of an operator 50 when the operator 50 is monitored to exist in any one of the working areas 40; the camera assembly 20 is configured to acquire video data in the working area 40, and detect whether an operator 50 enters the working area 40 according to the video data. The camera module 20 has a function of acquiring video data, and the camera module 20 can acquire an attitude signal of the operator 50 who enters the work area 40 based on the video data. In one embodiment, the camera assembly 20 selects an existing depth camera to pass the pose signal of the operator 50 in the acquired video data. The camera module 20 may be pre-stored with an existing human posture recognition program to obtain a posture signal of the operator 50 in the working area 40 according to the video data.

And a controller 30 electrically connected to the camera module 20, for determining a traveling direction of the operator 50 according to the posture signal of the operator 50 acquired by the camera module 20, and for sending a control signal for executing an avoidance maneuver to the robot 10 in the traveling direction of the operator 50. The evasive action includes changing the speed and/or direction of travel. The controller 30 is further configured to control operation parameters of the robot 10, the operation parameters of the robot 10 include parameters such as a movement speed and a movement direction of the robot 10, when the robot 10 is in a traveling direction of the operator 50, there is a possibility that the robot 10 and the operator 50 collide with each other, and the controller 30 sends a control signal for executing an avoidance operation to the robot 10 so that the robot 10 moves to the other work areas 40 to avoid the operator 50.

Referring to fig. 6 to 9, in this embodiment, after the operator 50 enters any one of the working areas 40, since the robot 10 can move among the plurality of working areas 40, after the controller 30 obtains the traveling direction of the operator 50, the robot 10 performs an avoidance operation, and the robot 10 can directly move to another working area 40 by adjusting the movement speed and/or the steering, so that the operator 50 and the robot 10 are separated into different working areas 40 to avoid collision. Since it is necessary to cause the robot 10 in the traveling direction of the operator 50 to perform the avoidance operation, unnecessary disturbance to the robot 10 can be reduced, and the control of the robot 10 can be more accurate. The connection between the controller 30 and the camera assembly 20 and the robot 10 may refer to the foregoing embodiments, and will not be described again.

Alternatively, in this embodiment, the controller 30 may acquire a posture signal of the robot 10, determine a traveling direction of the robot 10 according to the posture signal of the robot 10, and send a control signal for adjusting an operation parameter to the robot 10 to perform an avoidance operation when the traveling direction of the robot 10 is the same as, opposite to, or intersects with the traveling direction of the operator 50.

In one embodiment, the robot control apparatus further comprises: and a third distance measuring device 33 electrically connected to the controller 30, the camera module 20, and the robot 10, respectively, for obtaining a distance between the robot 10 and the operator 50, wherein the controller 30 is further configured to send a control signal for executing an avoidance operation to the robot 10 in a traveling direction of the operator 50 according to the distance between the robot 10 and the operator 50. The third distance measuring element 33 is configured to measure a distance between the robot 10 and the operator 50, and the controller 30 determines an avoidance maneuver that the robot 10 needs to perform according to the distance.

If the distance between the robot 10 and the operator 50 is gradually increased in the same direction as the traveling direction of the robot 10 and the operator 50, it is described that the operation speed of the robot 10 is higher than the operation speed of the operator 50, and in this case, the operation parameters of the robot 10 may not be changed. When the distance between the robot 10 and the operator 50 gradually decreases, it is described that the operation speed of the robot 10 is lower than the operation speed of the operator 50, and the controller 30 may send a control signal for accelerating or steering the robot 10 so that the robot 10 avoids the operator 50.

When the operator 50 moves out of the working area 40, the operator 50 does not affect the operation of the robot 10, and the controller 30 does not need to send a control signal for executing an avoidance operation to the robot 10.

In one embodiment, the camera assembly 20 includes:

an image pickup unit 21 for performing video monitoring on the plurality of work areas 40; the image pickup unit 21 is configured to acquire video data of a plurality of the work areas 40. When the image pickup unit 21 is attached, the image pickup unit 21 may be provided for each work area 40, or a single image pickup unit 21 may be used to monitor a plurality of work areas 40.

And a first posture detecting element 22 electrically connected to the controller 30 and the imaging unit 21, respectively, for acquiring a posture signal of the operator 50 when the imaging unit 21 monitors that the operator 50 is present in the working area 40, and the controller 30 for determining a traveling direction of the operator 50 based on the posture signal of the operator 50 acquired by the first posture detecting element 22. When the imaging unit 21 monitors that the operator 50 is present in the working area 40, the first posture detecting element 22 acquires a posture signal of the operator 50 according to a prestored program. The controller 30 acquires the attitude signal, determines the traveling direction of the operator 50 based on the attitude signal, and determines whether to transmit a control signal for executing an avoidance maneuver to the robot 10 based on the traveling direction of the operator 50. Alternatively, the first posture detecting element 22 may be integrated on the image pickup portion 21, and the first posture detecting element 22 prestores a program for acquiring a posture signal of the operator 50 based on video data so that the controller 30 acquires the traveling direction of the operator 50 based on the video data.

Claims

1. A robot control device for controlling a robot to work in a work area, the robot control device comprising:

2. The robot control apparatus of claim 1, wherein the camera assembly comprises:

3. The robot control apparatus of claim 2, wherein the work area has a boundary, the camera assembly further comprising:

4. A robot control apparatus according to claim 2 or 3, further comprising:

5. The robot control apparatus of claim 4, wherein the work zone has a boundary, the robot control apparatus further comprising:

6. A robot controller according to claim 3, wherein said working area has a plurality of said boundaries, said robot controller having a plurality of said camera assemblies, at least one said camera assembly being provided for each said boundary.

7. A robot control apparatus according to any one of claims 1 to 3, further comprising:

and the alarm element is electrically connected with the controller, and the controller is also used for sending out a control signal for executing alarm to the alarm element when the operator enters the working area.

8. A robot control apparatus for controlling a robot to operate in a work area, the robot having a plurality of work areas, at least one of the work areas being located adjacent to the other work areas for movement of the robot between the plurality of work areas, comprising:

9. The robot controller of claim 8, wherein the camera assembly comprises:

10. The robot control apparatus of claim 8, further comprising: