LU102027B1 - Intelligent obstacle avoidance method and system of human-robot safe interaction oriented robotic arm - Google Patents

Intelligent obstacle avoidance method and system of human-robot safe interaction oriented robotic arm Download PDF

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Publication number
LU102027B1
LU102027B1 LU102027A LU102027A LU102027B1 LU 102027 B1 LU102027 B1 LU 102027B1 LU 102027 A LU102027 A LU 102027A LU 102027 A LU102027 A LU 102027A LU 102027 B1 LU102027 B1 LU 102027B1
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Prior art keywords
obstacle
robot
robotic arm
human
obstacle avoidance
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LU102027A
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French (fr)
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Guoliang Liu
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Univ Shandong
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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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40411—Robot assists human in non-industrial environment like home or office

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present disclosure provides an intelligent obstacle avoidance method and system of a human-robot safe interaction oriented robotic arm. The robot monitors an identification marker on the obstacle in real time through an identification marker visual positioning method to obtain the position of the obstacle; and the motion state of the obstacle is calculated through a position detection result and a position change of the obstacle, and a corresponding obstacle avoidance strategy is adopted according to the motion state of the obstacle. The present disclosure allows the robotic arm to make different obstacle avoidance strategies for obstacles in different motion states or human-body. Compared with the existing obstacle avoidance methods, the present disclosure gets rid of the limitation of environment modeling, furthermore, the planning speed is fast enough, timely and effective obstacle avoidance strategies can be made for obstacles that suddenly appear in the workspace and dynamic obstacles.

Description

TE w INTELLIGENT OBSTACLE AVOIDANCE METHOD AND SYSTEM OF 0102027 | Field of the Invention À The present disclosure relates to the technical field of robot obstacle avoidance, in À particular to an intelligent obstacle avoidance method and system of a human-robot A safe interaction oriented robotic arm. ‘ Background of the Invention | The statements in this section merely mention the background art related to the ; present disclosure, and do not necessarily constitute the prior art. ; With the development of robot technology and the rise of Industry 4.0, human-robot | interaction and human-robot collaboration have attracted more and more attention, | and human-robot safety is the primary problem that must be solved in the interaction . process. . The inventors of the present disclosure found that the current existing anti-collision | methods are highly dependent on the environments in which robotic arms are located, | the premise of obstacle avoidance is that obstacles in the environment are known and | modeling is completed, which determines that these methods will take a long time to | calculate and are only suitable for structured static scenes, so they cannot respond to | obstacles that suddenly appear in the workspace or dynamic obstacles with unknown | motion rules in a timely and effective manner.
These aspects are also the reason why | the majority of robotic arms work in isolation fences. | Summary of the Invention | In order to overcome the shortcomings of the prior art, the present disclosure | provides an intelligent obstacle avoidance method and system of a human-robot safe | interaction oriented robotic arm, so that the robotic arm can make different obstacle | avoidance strategies for obstacles in different motion states or human-body, the | limitations of environmental modeling are overcome.
Furthermore, the planning | speed is fast enough, timely and effective obstacle avoidance strategies can be made LU102027 | for obstacles that suddenly appear in the workspace and dynamic obstacles. : In order to achieve the above objectives, the present disclosure adopts the following ! technical solutions: | The first aspect of the present disclosure provides an intelligent obstacle avoidance | method of a human-robot safe interaction oriented robotic arm. ! By adopting the intelligent obstacle avoidance method of the human-robot safe | interaction oriented robotic arm, a robot obtains the position of an obstacle by A monitoring an identification on the obstacle in real time; and | the motion state of the obstacle is calculated through a position detection result and a | position change of the obstacle, and a corresponding obstacle avoidance strategy is | adopted according to the motion state of the obstacle. | As some possible embodiments, the speed of the obstacle is calculated through the A position change of the obstacle, and a speed influence factor is obtained to describe . the motion state of the obstacle. i As some possible embodiments, the robot monitors an identification marker on the ' obstacle in real time through an identification marker visual positioning method to ; obtain the position of the obstacle. |
As some possible embodiments, a distance influence factor and a relative distance | between the obstacle and the robotic arm of the robot are calculated in real time | based on the detected position of the obstacle, and the distance influence factor is : introduced into a velocity potential field to prevent the velocity repulsion from | exceeding a set threshold or being less than the set threshold when the speed of the | obstacle exceeds a set threshold or is less than the set threshold.
À
Whether the robotic arm of the robot enters the influence range of the obstacle is | judged in real time according to the relative distance, and if the robotic arm of the | robot has already entered the influence range, the obstacle avoidance strategy is | implemented; otherwise, the robotic arm of the robot moves under the action of a | gravitational potential field in an artificial potential field. |
As a further limitation, the robotic arm judges whether the obstacle is a fast obstacle | or a slow or static obstacle according to the magnitude of the speed influence factor. LU102027 | As a further limitation, for the fast obstacle, obstacle avoidance is performed from | the rear of the speed of the obstacle, which is specifically as follows: determining the | direction of a current resultant force acting on the robotic arm according to an | artificial potential field and by introducing the influence of the velocity potential | field, performing position sampling in a negative direction of the Z-axis component É (ie, a vertical component) of the speed of the obstacle, and selecting a position .
with the highest evaluation function score as the position at the next moment. | As a further limitation, the current resultant force acting on the robotic arm is .
specifically: | Frotat = Fare + Er-ep + Frei | Wherein, Fare(X)» Frep(X)> Fue(vr) respectively represent the gravitational force, i repulsion and velocity repulsion acting on the obstacle. | As a further limitation, for the slow or static obstacle, obstacle avoidance is | performed in the positive direction of the speed of the obstacle or above the position 3 of the obstacle. | As some possible embodiments, adaptive step length setting is achieved by | increasing or decreasing the magnitude of the relative distance between the obstacle | and the tail end of the robotic arm of the robot and the change of the relative distance, | which is specifically as follows: | when the relative distance is decreased, based on the current relative distance and | relative speed, and based on the influence radius of the dynamic obstacle, the | maximum time that the robotic arm can move is obtained: | when the relative distance is less than or equal to the influence radius of the obstacle, | a fixed step size less than a threshold is used for sampling to reduce the collision | probability; and : | when the relative distance is greater than the influence radius of the obstacle and the | relative distance is increased, a target point is directly selected as the next position. | The second aspect of the present disclosure provides an intelligent obstacle | avoidance system of a human-robot safe interaction oriented robotic arm, including LU102027 | at least one robot with a robotic arm and at least one obstacle provided with an | identification marker, and the robot performs obstacle avoidance by using the | intelligent obstacle avoidance method of the human-robot safe interaction oriented | robotic arm described in the first aspect of the present disclosure. | The third aspect of the present disclosure provides a human-robot safe interaction | oriented robot, and the robot performs obstacle avoidance by using the intelligent | obstacle avoidance method of the human-robot safe interaction oriented robotic arm Î described in the first aspect of the present disclosure. | Compared with the prior art, the present disclosure has the following beneficial . effects:
1. The present disclosure allows the robotic arm to make different obstacle . avoidance strategies for obstacles in different motion states or human-body. ) Compared with the existing obstacle avoidance methods, the present disclosure gets | rid of the limitation of environment modeling, furthermore, the planning speed is fast | enough, timely and effective obstacle avoidance strategies can be made for obstacles | that suddenly appear in the workspace and dynamic obstacles. |
2. The present disclosure achieves that the robotic arm can adopt effective obstacle | avoidance strategies for the obstacles in different motion states through real-time | obstacle detection in an unstructured and dynamic environment, thus ensuring | human-robot safety; and the path planning efficiency of the robotic arm is improved , by adaptive step-size setting. /
3. In the present disclosure, whether the robotic arm enters the influence range of the | obstacle is judged in real time based on the relative distance, if the robotic arm has | already entered the range, the obstacle avoidance strategy is implemented, or | otherwise, the robotic arm moves under the action of the gravitational potential field | in the artificial potential field, so that the safety of human and robot is further | improved.
4. In the present disclosure, the speed repulsion caused by too high or low speed of | the obstacle is prevented from being too large or small by introducing the distance |
| rer ee LL ITT "7 influence factor into the velocity potential field, so that the accuracy of obstacle LU102027 ' avoidance is improved. , Brief Description of the Drawings l Fig. 1 is a schematic diagram of an experimental platform and a method test À provided by embodiment 1 of the present disclosure. .
Fig. 2 is a schematic diagram of a position sampling strategy under a 2D visual angle | provided by embodiment 1 of the present disclosure. | Detailed Description of the Embodiments | It should be pointed out that the following detailed descriptions are all exemplary and | are intended to provide further descriptions of the present disclosure. Unless | otherwise specified, all technical and scientific terms used herein have the same | meaning as commonly understood by those of ordinary skill in the technical field of | the present disclosure. . It should be noted that the terms used here are only for describing specific . embodiments, and are not intended to limit the exemplary embodiments according to | the present disclosure. As used herein, unless the context clearly indicates otherwise, | the singular form is also intended to include the plural form. In addition, it should also | be understood that when the terms "comprising" and/or "including" are used in the | present specification, they indicate the presence of features, steps, operations, devices, | components and/or combinations thereof. | In the case of no conflict, the embodiments in the present disclosure and the features | in the embodiments can be combined with each other. | Embodiment 1: | In order to combine the coordination and cognitive ability of humans with the | advantages of the accuracy and repetitive work of a robotic arm, the robotic arm needs | to share a working space with humans and should have the ability to collaborate with | human colleagues side by side, and this determines that the robotic arm must be able | to respond to changes in the environment and can make intelligent and effective | obstacle avoidance measures based on the motion state of human-body movements to LU102027 | ensure human-robot safety. | Embodiment 1 of the present disclosure provides an intelligent obstacle avoidance | method of a human-robot safe interaction oriented robotic arm, a robot monitors a | two-dimensional marker on a human arm in real time through the two-dimensional | marker visual positioning technology (as shown in Fig. 1), and then estimates the | motion state of the human body through a position detection result and change of an | obstacle.
In the obstacle avoidance method described in the present embodiment, the | motion state of the obstacle is judged to adopt a corresponding obstacle avoidance | strategy.
The specific obstacle avoidance process is as follows: | (1) Calculation of influence factor | | The speed of the obstacle is calculated from the change of position of the obstacle and | is used to calculate a speed influence factor, and the speed influence factor is a sign | describing the motion state of the obstacle. | The detected position of the obstacle is used to calculate the relative distance with the | robotic arm and a distance influence factor in real time, and the smaller the relative | distance is, the greater the distance influence factor is; and a velocity repulsion caused | by too high or low speed of the obstacle is prevented from being too large or small by | introducing the distance influence factor into the velocity potential field. | Whether the robotic arm enters the influence range of the obstacle is judged in real | time based on the relative distance, if the robotic arm has already entered the range, | the obstacle avoidance strategy is implemented, otherwise, the robotic arm moves | under the action of a gravitational potential field in an artificial potential field. (2) Calculation of the obstacle avoidance strategy The robotic arm judges whether the obstacle is a fast obstacle or a slow or static obstacle according to the magnitude of the speed influence factor, where the fast obstacle is an obstacle with a speed greater than a first preset speed, and the slow obstacle is an obstacle with a speed less than a second preset speed; and for the fast obstacle, the direction of a current resultant force acting on the robotic arm is determined according to an artificial potential field and by introducing the influence of the velocity potential field.
LU102027 | The specific calculation formula of the resultant force is as follows: | Fou) = kalXg X) D | [fn = VE (X X)“ POI <p œ | Frep X) =0 p(X) = po ; Fre) = —kpofa(vr — Vo)ky <0Nf >0Na € (-25) 3) | Frei (vr) = —Kyo fa (vr + Vo) Ky >0 N fa >0naE (-25) ! Frotar = Fat: + Beep + Fret (4) Wherein, Fare(X)> Frep(X)» Frer(V,) respectively represent the gravitational force, | repulsion and velocity repulsion acting on the obstacle; Ka» k., k,, represent scale | constants, k, represents the speed influence factor, X;, X respectively represent a target position and the position of the end-effector of the arm at present; fü / represents the distance influence factor, p, represents the influence radius of the | repulsion of the obstacle, and p(X)represents the relative distance between the : current position X of the robotic arm and the obstacle; and a represents an included | angle of the relative speed of the end-effector of the arm and the obstacle with a | position vector of the obstacle relative to the robotic arm. | After the direction of the current resultant force acting on the robotic arm is obtained, | combined with the idea of a dynamic window, position sampling is performed in a | negative direction of the Z-axis component of the speed of the obstacle, and a | position with the highest evaluation function score is selected as the position at the | next moment, that is, obstacle avoidance is performed from the rear of the speed of | the obstacle; and on the contrary, for the slow or static obstacle, obstacle avoidance is performed in the positive direction of the speed of the obstacle or above the position of the obstacle (as shown in Fig. 2). | (3) Setting of sampling step-size In the traditional artificial potential field method, an equal step-size is used to detect and plan the path, but combined with the actual situation, the step-size can be appropriately increased when the obstacle is far away to improve the efficiency of LU102027 , path planning. .
In the present embodiment, adaptive step-size setting is achieved by increasing or E decreasing the magnitude of the relative distance between the obstacle and the .
end-effector of the robotic arm and the change of the relative distance, which is . specifically as follows: | when the relative distance is decreased, based on the current relative distance and | relative speed, and based on the influence radius of the dynamic obstacle, the | maximum time that the robotic arm can move is obtained; ! when the relative distance reaches the influence radius of the obstacle, that is, when | the relative distance is less than or equal to the influence radius of the obstacle, a | fixed step-size less than a set threshold is used for sampling to reduce the collision | probability; and | when the relative distance is greater than the influence radius of the obstacle and the | relative distance is increased, that is, when the obstacle is moving away, a target | point can be directly selected as the next position to improve the operation | efficiency. | By adopting the present embodiment, it is realized that the robotic arm can adopt . effective obstacle avoidance strategies for the obstacles in different motion states A through real-time obstacle detection in an unstructured and dynamic environment, | thus ensuring human-robot safety; the limitations of environment modeling and | mapping are overcome, and effective and timely response can be made to sudden | changes in the environment; and the path planning efficiency of the robotic arm is | improved by adaptive step-size setting. | Embodiment 2: ; Embodiment 2 of the present disclosure provides an intelligent obstacle avoidance | system of a human-robot safe interaction oriented robotic arm, including at least one | robot with an arm and at least one obstacle provided with an identification marker, | and the robot performs obstacle avoidance by using the intelligent obstacle | avoidance method of the human-robot safe interaction oriented robotic arm | described in the first aspect of the present disclosure. LU102027 | Embodiment 3: Embodiment 3 of the present disclosure provides a human-robot safe interaction | oriented robot, and the robot performs obstacle avoidance by using the intelligent | obstacle avoidance method of the human-robot safe interaction oriented arm | described in embodiment 1 of the present disclosure.
The above descriptions are only preferred embodiments of the present disclosure, | and are not used to limit the present disclosure. For those skilled in the art, the } present disclosure can have various modifications and changes. Any modifications, | equivalent substitutions, improvements and the like, made within the spirit and | principle of the present disclosure, shall all be included in the protection scope of the | present disclosure. | Although the specific embodiments of the present disclosure are described above in : conjunction with the drawings, the protection scope of the present disclosure is not / limited thereto. Those skilled in the art of the present disclosure should understand | that, on the basis of the technical solutions of the present disclosure, various / modifications or variations that can be made by those skilled in the art without : creative work are still within the protection scope of the present disclosure. |

Claims (10)

1. An intelligent obstacle avoidance method of a human-robot safe interaction | oriented robotic arm, where a robot obtains the position of an obstacle by monitoring ; an identification on the obstacle in real time; and .
the motion state of the obstacle is calculated through a position detection result and a | position change of the obstacle, and a corresponding obstacle avoidance strategy is | adopted according to the motion state of the obstacle. |
2. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 1, wherein the speed of the obstacle is calculated | through the position change of the obstacle, and a speed influence factor is obtained . to describe the motion state of the obstacle; | or, | the robot monitors an identification marker on the obstacle in real time through an | identification marker visual positioning method to obtain the position of the obstacle. .
3. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 1, wherein a distance influence factor and a relative | distance between the obstacle and the robotic arm of the robot are calculated in real | time based on the detected position of the obstacle, and the distance influence factor | is introduced into a velocity potential field to prevent the velocity repulsion from | exceeding a set threshold or being less than the set threshold, when the speed of the | obstacle exceeds a set threshold or is less than the set threshold. ; and . whether the robotic arm of the robot enters the influence range of the obstacle is | judged in real time according to the relative distance, and if the robotic arm of the | robot has already entered the influence range, the obstacle avoidance strategy is | implemented; otherwise, the robotic arm of the robot moves under the action of a | gravitational potential field in an artificial potential field. |
4. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 3, wherein the robotic arm judges whether the obstacle | is a fast obstacle or a slow or static obstacle according to the magnitude of the speed | influence factor. |
5. The intelligent obstacle avoidance method of the human-robot safe interaction 0102027 | oriented robotic arm of claim 4, wherein for the fast obstacle, obstacle avoidance is | performed from the rear of the speed of the obstacle, which is specifically as follows: | determining the direction of a current resultant force acting on the robotic arm | according to an artificial potential field and by introducing the influence of the | velocity potential field, performing position sampling in a negative direction of the | Z-axis component of the speed of the obstacle, and selecting a position with the | highest evaluation function score as the position at the next moment. |
6. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 5, wherein the current resultant force acting on the | robotic arm is specifically: | Frotat = Farr + Frep + Fret .
wherein Farr(X)» Frep(X)» Fue (vy) respectively represent the gravitational force, | repulsion and speed repulsion acting on the obstacle. |
7. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 4, wherein for the slow or static obstacle, obstacle | avoidance is performed in the positive direction of the speed of the obstacle or above | the position of the obstacle. |
8. The intelligent obstacle avoidance method of the human-robot safe interaction | oriented robotic arm of claim 1, wherein adaptive step-size setting is achieved by | increasing or decreasing the magnitude of the relative distance between the obstacle | and the end-effector of the arm of the robot and the change of the relative distance, | which is specifically as follows: | when the relative distance is decreased, based on the current relative distance and | relative speed, and based on the influence radius of the dynamic obstacle, the | maximum time that the arm can move is obtained; | when the relative distance is less than or equal to the influence radius of the obstacle, ; a fixed step-size less than a set threshold is used for sampling to reduce the collision | probability; and |
¢ relative di IE -< relati Is greater than su | ve di than th "1010027 | 9 creased, a ta nce radius of | | nt obstacle Irectly selected as tl Stac] [| orien avoidance edast cand À ed roboti system , th |, rm, comprisi um Posi e provided wi ot with a 4 [| obst an identi anical Clio I hu intelli robot € a fF mn ot safe i nt obstacl / interaction ori cle avoid | | 1-8 oriented roboti ance method à | arm accordi LL
0. Ah e of clait. | obstacl ion oriented 5 Pl | cle avoidan robot, wherei : ! ing the intelli e robot li h ntelligent ob performs | uman-robot safe i obstacle . li Rp > interaction ori avoidan * f nu ion orie ce meth % if 1-8 nted robotic od of the : iE arm accor: i ng to PL y one of clai % Pi
LU102027A 2020-01-10 2020-09-03 Intelligent obstacle avoidance method and system of human-robot safe interaction oriented robotic arm LU102027B1 (en)

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LU500261B1 (en) * 2021-06-09 2022-12-13 Phoenix Contact Gmbh & Co System for controlling the movement direction and/or speed of at least one self-propelled device, in particular in an industrial environment

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