WO2024001263A1 - Safety limiting method and apparatus for dual-arm collaborative robot, device, and storage medium - Google Patents

Safety limiting method and apparatus for dual-arm collaborative robot, device, and storage medium Download PDF

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Publication number
WO2024001263A1
WO2024001263A1 PCT/CN2023/079050 CN2023079050W WO2024001263A1 WO 2024001263 A1 WO2024001263 A1 WO 2024001263A1 CN 2023079050 W CN2023079050 W CN 2023079050W WO 2024001263 A1 WO2024001263 A1 WO 2024001263A1
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WIPO (PCT)
Prior art keywords
collaborative robot
interference object
arm
arm collaborative
dual
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PCT/CN2023/079050
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French (fr)
Chinese (zh)
Inventor
魏昂昂
王恩民
任鑫
童彤
吕亮
杜静宇
吴昊
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中国华能集团清洁能源技术研究院有限公司
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Publication of WO2024001263A1 publication Critical patent/WO2024001263A1/en

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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • This application relates to automatic control methods, and in particular to safety limiting methods, devices, equipment and storage media for dual-arm collaborative robots.
  • this application provides a safety limit method, device, equipment and storage medium for a dual-arm collaborative robot, which can prevent safety accidents such as collisions and misoperations, and improve the operation of the dual-arm collaborative robot in more complex environments. safety and applicability.
  • a safe limiting method for a dual-arm collaborative robot including:
  • the actual movement range of the two-arm collaborative robot When the actual movement range is within the safety limit boundary range of the two-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object. Go to the interference object and obtain the safety limit boundary range of the interference object;
  • obtaining the actual motion range of the two-arm collaborative robot includes:
  • the safety limitation based on the actual movement trajectory of the two-arm collaborative robot and the safety limitation boundary range of the interference object includes:
  • the safety limitation based on the actual movement trajectory of the two-arm collaborative robot and the safety limitation boundary range of the interference object includes:
  • the acquisition of the position information and contour information of the interfering objects within a set range around the position of the dual-arm collaborative robot includes:
  • a camera is used to collect the contour information of the interference object
  • Radar sensors are used to collect position information of interference objects.
  • the radar sensor is lidar and/or millimeter wave radar.
  • a safety limiter device for a dual-arm collaborative robot including:
  • a virtual scene construction module is used to obtain the position information and contour information of the interference object within a set range around the position of the two-arm collaborative robot, and construct the virtual work of the two-arm collaborative robot based on the position information and contour information of the interference object.
  • a mapping module used to obtain the operation information of the interference object and map the operation information to the virtual work scene
  • a first range determination module configured to determine the safety limit boundary range of the two-arm collaborative robot according to the virtual work scene and the operation information mapped in the virtual work scene;
  • a calculation module used to calculate the shape of the envelope space and the shape of the sweep space occupied by the interference object in the virtual work scene
  • the second range determination module is used to obtain the actual motion range of the two-arm collaborative robot, and when the actual motion range is located within the safety limit boundary range of the two-arm collaborative robot, determine the envelope occupied by the interference object.
  • the spatial shape and the swept spatial shape are enhanced to the interference object to determine the safe limit boundary range of the interference object;
  • a safety limit module is used to perform safety limit according to the actual movement trajectory of the two-arm collaborative robot and the safety limit boundary range of the interference object.
  • the first acquisition module is used to acquire the contour information of the interference object collected by the camera;
  • the second acquisition module is used to acquire the position information of the interference object collected by the radar sensor.
  • a device includes a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the safety of the two-arm collaborative robot is achieved. Steps of the limit method.
  • a computer-readable storage medium stores a computer program.
  • the steps of the safety limiting method for a dual-arm cooperative robot are implemented.
  • This application provides a safe position limiting method for a dual-arm collaborative robot.
  • the virtual working scene of the dual-arm collaborative robot is reconstructed in the scene, and the operation information is mapped to the virtual working scene.
  • the safe limit boundary range of the dual-arm collaborative robot is determined when operating, and then Obtain the actual motion range of the two-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object to the interference object, and obtain the safe limit boundary range of the interference object.
  • This application improves the dual-arm collaborative machine
  • the safety of robot operation reduces accidents such as collisions and misoperations, ensuring the safety of workers, equipment and other property; and improves the adaptability of dual-arm collaborative robots in more complex external environments.
  • Figure 1 is a flow chart of a safety limiting method for a dual-arm collaborative robot described in this application;
  • Figure 2 is a schematic diagram of the working scene of the dual-arm collaborative robot described in the embodiment of the present application.
  • Figure 3 is a schematic diagram of the dual-arm collaborative robot described in the embodiment of the present application.
  • a safety limiting method for a dual-arm collaborative robot specifically includes the following steps:
  • Step 1 Obtain the position information and contour information of the interfering objects within the set range around the position of the two-arm collaborative robot, and construct the two-arm collaborative robot based on the position information and contour information of the interfering objects. Virtual work scenario.
  • the interference objects include workers and various equipment around the dual-arm collaborative robot.
  • a camera is used to collect the contour information of the interference object
  • a radar sensor is used to collect the position information of the interference object.
  • the radar sensor is lidar and/or millimeter wave radar.
  • Step 2 Obtain the operation information of the interference object and map the operation information to the virtual work scene.
  • the operating information of the interference object includes the location information of the operator and the inspection information of other mobile equipment.
  • These interfering objects are constantly moving and may not interfere with the dual-arm collaborative robot currently, but may affect the safety of the dual-arm collaborative robot during operation.
  • Step 3 Determine the safety limit boundary range of the dual-arm collaborative robot based on the virtual work scene and the operation information mapped in the virtual work scene.
  • the boundary of the overall collection space of occupied space and swept space is the safe limit boundary range of the dual-arm collaborative robot operation.
  • Step 4 Calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene.
  • Step 5 Obtain the actual motion range of the dual-arm collaborative robot.
  • the actual motion range is within the safe limit boundary of the dual-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object to the interference object. Get the safe limit boundary range of the interference object.
  • Step 6 Carry out safety limits based on the actual motion trajectory of the dual-arm collaborative robot and the safety limit boundary range of the interference object, as follows:
  • the safety limit response is started.
  • the safety limit response includes alarming and prompting to take necessary measures.
  • the real-time external conditions around the location of the two-arm collaborative robot 4 are collected, and the model is reconstructed in the virtual environment to obtain the virtual working scene of the two-arm collaborative robot.
  • the dual-arm collaborative robot 4 uses a two-degree-of-freedom serial robotic arm.
  • the working radius of a single robotic arm is 610mm.
  • the robot head is equipped with a binocular camera 4-1 and a lidar 4-2.
  • the collaborative robot 4 is equipped with a first millimeter wave radar 4-4 and a second millimeter wave radar 4-5 at the front and rear respectively. Based on these sensors, the surrounding environment information of the dual-arm collaborative robot is collected.
  • the collection range is set to about 5 times the working radius.
  • the environmental information of about 3 meters in length and width around the dual-arm collaborative robot 4 is collected, and virtual work is performed in the virtual environment.
  • Scene reconstruction, the collected interference objects include operator 3, rail-mounted hanging camera 2, first electrical cabinet 1, second electrical cabinet 5, third electrical cabinet 6, fourth electrical cabinet 7 and fifth electrical cabinet 8.
  • the running information of the collected interference objects is synchronously obtained and mapped to the reconstructed virtual work scene in the virtual environment. Specifically, the position coordinates, moving speed v 1 and moving direction of the operator 3 are simultaneously obtained, and the moving route, speed v 2 and direction of the rail-mounted hanging camera 2 are obtained simultaneously. These interfering objects are constantly moving and may not interfere at present.
  • the range of motion of the surrounding objects of the robot 4 includes the occupied space of the rail-mounted hanging camera 2 (the dotted line of the cylindrical envelope of the rail-mounted hanging camera 2 in Figure 2), the occupied space of the operator 3 (the cylindrical envelope of the operator 3 in Figure 2). network dotted line) and other occupied spaces of the second electrical cabinet 5 to the fifth electrical cabinet 8 (the shapes of the electrical cabinets in Figure 2 are consistent).
  • the scanning space of the operator 3 of the movable object and the rail-mounted hanging camera 2 is determined.
  • These occupied spaces and scanning spaces constitute the overall constraint space, and the boundary of the constraint space is the safety limit boundary of the dual-arm collaborative robot 4.
  • the dual-arm collaborative robot 4 is now required to rotate the rightmost knob of the first electrical cabinet 1.
  • the kinematics inverse transformation is performed according to the DH algorithm.
  • the spatial coordinates (x, y, z) of the position calculate the operating angle ⁇ 1 - ⁇ 6 of each joint motor, and determine the actual movement space of the two first robotic arms 4-3 and the second robotic arm 4-6 ⁇ D 4-3 ⁇ and ⁇ D 4-6 ⁇ (the two envelope spaces extending from the bottom of the robot arm to the rightmost knob of the first electrical cabinet 1 in Figure 2), the actual movement space should be located within the safety of the dual-arm collaborative robot within the limit boundary.
  • the inverse kinematics algorithm is changed to an improved DH algorithm to re-determine the actual movement space of the two first robotic arms 4-3 and the second robotic arm 4-6.
  • ⁇ D 4-3 ⁇ ' and ⁇ D 4-6 ⁇ ' so that the movement space of the robotic arm is within the safe limit boundary of the dual-arm collaborative robot. If it still cannot be operated safely, wait for the operator 3 or guide rail suspension After the camera 2 moves away, the relative position of the two-arm collaborative robot 4 is adjusted to change the relative distance between the movement space and the safety limit boundary.
  • This application provides a safety limiting device for a dual-arm collaborative robot, which is used to implement the safety limiting method provided by this application, specifically including:
  • the virtual scene construction module is used to obtain the position information and contour information of the interfering objects within a set range around the position of the dual-arm collaborative robot, and construct a virtual working scene of the dual-arm collaborative robot based on the position information and contour information of the interfering objects.
  • the mapping module is used to obtain the operating information of the interference object and map the operating information to the virtual work scene.
  • the first range determination module is used to determine the safety limit boundary range of the dual-arm collaborative robot based on the virtual work scene and the operation information mapped in the virtual work scene.
  • the calculation module is used to calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene.
  • the second range determination module is used to obtain the actual motion range of the dual-arm collaborative robot.
  • the actual motion range is within the safe limit boundary of the dual-arm collaborative robot, the shape of the envelope space occupied by the interference object and the shape of the sweep space are enhanced. Go to the interference object and determine the safe limit boundary range of the interference object.
  • the safety limit module is used to perform safety limits based on the actual motion trajectory of the dual-arm collaborative robot and the safety limit boundary range of the interference object.
  • the first acquisition module is used to acquire the contour information of the interference object collected by the camera.
  • the second acquisition module is used to acquire the position information of the interference object collected by the radar sensor.
  • a computer device in one embodiment, includes a processor and a memory.
  • the memory is used to store a computer program.
  • the computer program includes program instructions.
  • the processor is used to execute the computer program.
  • a storage medium stores program instructions.
  • the processor can be a central processing unit (CPU), or other general-purpose processor, data Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), off-the-shelf programmable gate array (Field-Programmable GateArray, FPGA) or other programmable logic devices, discrete gates or transistor logic devices , discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to implement the corresponding method process or corresponding functions; embodiments of this application
  • the processor can be used to operate a safety limiting method for a dual-arm collaborative robot.
  • a method for safety limiting a dual-arm collaborative robot if a method for safety limiting a dual-arm collaborative robot is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the computer program can be stored in a computer-readable storage medium, and the computer can When the program is executed by the processor, the steps of each of the above method embodiments can be implemented.
  • the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form.
  • Computer-readable storage media includes permanent and non-transitory, removable and non-removable media and may be implemented by any method or technology to store information. Information may be computer-readable instructions, data structures, modules of programs, or other data.
  • the computer storage medium may be any available media or data storage device that a computer can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid state drive (SSD)), etc.
  • magnetic storage such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.
  • optical storage such as CD, DVD, BD, HVD, etc.
  • semiconductor memories such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid state drive (SSD)
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
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Abstract

The present application discloses a safety limiting method and apparatus for a dual-arm collaborative robot, a device, and a storage medium. The method comprises: obtaining operation information of an interference object, and mapping the operation information into a virtual working scenario; determining a safety limiting boundary range of a dual-arm collaborative robot according to the virtual working scenario and the operation information mapped into the virtual working scenario; calculating the shapes of an enveloping space and a sweeping space occupied by the interference object in the virtual working scenario; obtaining an actual motion range of the dual-arm collaborative robot, and when the actual motion range is within the safety limiting boundary range of the dual-arm collaborative robot, enhancing the shapes of the enveloping space and the sweeping space occupied by the interference object onto the interference object so as to obtain a safety limiting boundary range of the interference object; and performing safety limiting according to an actual motion trajectory of the dual-arm collaborative robot and the safety limiting boundary range of the interference object.

Description

双臂协作机器人安全限位方法、装置、设备及存储介质Safety limiting method, device, equipment and storage medium for dual-arm collaborative robot
相关申请的交叉引用Cross-references to related applications
本申请基于申请号为202210744310.9、申请日为2022年06月28日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。This application is filed based on a Chinese patent application with application number 202210744310.9 and a filing date of June 28, 2022, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference into this application.
技术领域Technical field
本申请涉及自动控制方法，特别涉及双臂协作机器人安全限位方法、装置、设备及存储介质。This application relates to automatic control methods, and in particular to safety limiting methods, devices, equipment and storage media for dual-arm collaborative robots.
背景技术Background technique
首先，各种新能源场站地处偏僻、分布范围大，靠人力进行各种检查、操作效率低，这种模式会造成相关人员的长距离移动、长时间连续的工作情况，造成人员疲劳，容易带来安全隐患等问题；另外，海上风电正日益发展，成为新能源领域的一个板块。而海上风电的一些配套设施如海上升压站等均远离大陆，交通不便，给相关检查、操作工作都带来了极大效率影响，目前无人化正日益成为新能源场站运维的趋势，而采用机器人代替人员开展相应工作正日益成为趋势，而在新能源场站的日产工作中，除了一些数据的记录之外，还需要进行一些必要的操作，单纯的视觉机器人无法完全覆盖场站的日常工作，因此具备操作机械臂的机器人的应用也日益得到青睐，其中能够模拟人类进行相对复杂的协同操作的双臂机器人在新能源场站运维中的适用性得到凸显。First of all, various new energy stations are located in remote locations and have a large distribution range. They rely on manpower to carry out various inspections and have low operating efficiency. This model will cause relevant personnel to move long distances and work continuously for a long time, causing personnel fatigue. It is easy to cause safety hazards and other issues; in addition, offshore wind power is increasingly developing and becoming a sector in the new energy field. Some supporting facilities for offshore wind power, such as offshore booster stations, are far away from the mainland and have inconvenient transportation, which has a great impact on the efficiency of related inspections and operations. At present, unmanned operation is increasingly becoming a trend in the operation and maintenance of new energy stations. , and it is increasingly becoming a trend to use robots to replace personnel to carry out corresponding work. In the Nissan work of new energy stations, in addition to the recording of some data, some necessary operations also need to be performed. Pure vision robots cannot fully cover the station. Therefore, the application of robots with operating mechanical arms is becoming increasingly popular. Among them, the applicability of dual-arm robots that can simulate humans to perform relatively complex collaborative operations has been highlighted in the operation and maintenance of new energy stations.
然而，另一方面，诸如海上升压站等的配电室中有大量的电气设备，同时这些设备之间的间距相对较小。另外，现场可能还是会有人员不定时的进入处理一些机器人无法完全覆盖的业务。同时，在目前自动化巡检自动化的前提下，升压站内部可能部署有其他的移动设备(如导轨式巡检机器人、或其他清洁设备)。这些因素都可能导致机器人进行电气柜操作的过程中，运动中的机器人的 机械臂很有可能与这些因素发生碰撞等安全事故，给双臂协作机器人的智能运维工作带了很大影响。However, on the other hand, there are a large number of electrical equipment in distribution rooms such as offshore booster stations, and the spacing between these equipment is relatively small. In addition, there may still be personnel on site from time to time to handle some business that cannot be fully covered by robots. At the same time, under the premise of current automated inspection automation, other mobile equipment (such as rail-type inspection robots, or other cleaning equipment) may be deployed inside the booster station. These factors may cause the moving robot to be damaged during the operation of the electrical cabinet. The robot arm is likely to collide with these factors and other safety accidents, which will have a great impact on the intelligent operation and maintenance of the two-arm collaborative robot.
因此，亟需开发一种面向海上升压站等新能源场站的双臂协作机器人的安全限位方法，用于限制双臂协作机器人的操作过程中的位姿，约束机器人的两个机械臂在进行操作时的机械臂运动空间，防止发生碰撞、误操作等安全事故，提高较复杂环境下双臂协作机器人操作的安全性和适用性。Therefore, there is an urgent need to develop a safe limiting method for dual-arm collaborative robots for new energy stations such as offshore booster stations, which can be used to limit the posture of the dual-arm collaborative robot during operation and restrain the two robotic arms of the robot. The movement space of the robotic arm during operation prevents safety accidents such as collisions and misoperations, and improves the safety and applicability of dual-arm collaborative robot operations in more complex environments.
发明内容Contents of the invention
针对现有技术中存在的问题，本申请提供了双臂协作机器人安全限位方法、装置、设备及存储介质，能够防止发生碰撞、误操作等安全事故，提高较复杂环境下双臂协作机器人操作的安全性和适用性。In view of the problems existing in the existing technology, this application provides a safety limit method, device, equipment and storage medium for a dual-arm collaborative robot, which can prevent safety accidents such as collisions and misoperations, and improve the operation of the dual-arm collaborative robot in more complex environments. safety and applicability.
为了解决上述技术问题，本申请通过以下技术方案予以实现：In order to solve the above technical problems, this application is implemented through the following technical solutions:
一种双臂协作机器人安全限位方法，包括：A safe limiting method for a dual-arm collaborative robot, including:
获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据所述干涉对象的位置信息和轮廓信息构建所述双臂协作机器人的虚拟工作场景；Obtain the position information and contour information of the interference object within a set range around the position of the two-arm collaborative robot, and construct a virtual working scene of the two-arm collaborative robot based on the position information and contour information of the interference object;
获取所述干涉对象的运行信息，将所述运行信息映射到所述虚拟工作场景中；Obtain the operation information of the interference object, and map the operation information to the virtual work scene;
根据所述虚拟工作场景以及所述虚拟工作场景中映射的所述运行信息，确定所述双臂协作机器人的安全限位边界范围；Determine the safety limit boundary range of the two-arm collaborative robot according to the virtual work scene and the operation information mapped in the virtual work scene;
计算所述虚拟工作场景中所述干涉对象占用的包络空间形状以及扫掠空间形状；Calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene;
获取所述双臂协作机器人的实际运动范围，当所述实际运动范围位于所述双臂协作机器人的安全限位边界范围时，将所述干涉对象占用的包络空间形状以及扫掠空间形状增强到所述干涉对象上，得到所述干涉对象的安全限位边界范围；Obtain the actual movement range of the two-arm collaborative robot. When the actual movement range is within the safety limit boundary range of the two-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object. Go to the interference object and obtain the safety limit boundary range of the interference object;
根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边 界范围进行安全限位。According to the actual movement trajectory of the two-arm collaborative robot and the safety limit edge of the interference object, Safely limit the position within the bounds.
进一步地，所述获取所述双臂协作机器人的实际运动范围，包括：Further, obtaining the actual motion range of the two-arm collaborative robot includes:
获取所述双臂协作机器人的操作指令；Obtain operating instructions for the two-arm collaborative robot;
对所述双臂协作机器人的操作指令进行逆向运动学变换，得到所述双臂协作机器人在对应操作指令下的实际运动范围。Perform inverse kinematics transformation on the operating instructions of the two-arm collaborative robot to obtain the actual motion range of the two-arm collaborative robot under the corresponding operating instructions.
进一步地，所述根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位，包括：Further, the safety limitation based on the actual movement trajectory of the two-arm collaborative robot and the safety limitation boundary range of the interference object includes:
当所述双臂协作机器人的实际运动轨迹进入所述干涉对象的安全限位边界范围时，启动安全限位响应。When the actual motion trajectory of the two-arm collaborative robot enters the safety limit boundary range of the interference object, a safety limit response is initiated.
进一步地，所述根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位，包括：Further, the safety limitation based on the actual movement trajectory of the two-arm collaborative robot and the safety limitation boundary range of the interference object includes:
当所述双臂协作机器人的实际运动轨迹距所述干涉对象的安全限位边界范围的距离小于预设阈值时，启动安全限位响应。When the distance between the actual motion trajectory of the two-arm collaborative robot and the safety limit boundary range of the interference object is less than a preset threshold, a safety limit response is initiated.
进一步地，所述获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，包括：Further, the acquisition of the position information and contour information of the interfering objects within a set range around the position of the dual-arm collaborative robot includes:
采用摄像头采集干涉对象的轮廓信息；A camera is used to collect the contour information of the interference object;
采用雷达传感器采集干涉对象的位置信息。Radar sensors are used to collect position information of interference objects.
进一步地，所述雷达传感器为激光雷达和/或毫米波雷达。Further, the radar sensor is lidar and/or millimeter wave radar.
一种双臂协作机器人安全限位装置，包括：A safety limiter device for a dual-arm collaborative robot, including:
虚拟场景构建模块，用于获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据所述干涉对象的位置信息和轮廓信息构建所述双臂协作机器人的虚拟工作场景；A virtual scene construction module is used to obtain the position information and contour information of the interference object within a set range around the position of the two-arm collaborative robot, and construct the virtual work of the two-arm collaborative robot based on the position information and contour information of the interference object. Scenes;
映射模块，用于获取所述干涉对象的运行信息，将所述运行信息映射到所述虚拟工作场景中；A mapping module, used to obtain the operation information of the interference object and map the operation information to the virtual work scene;
第一范围确定模块，用于根据所述虚拟工作场景以及所述虚拟工作场景中映射的所述运行信息，确定所述双臂协作机器人的安全限位边界范围； A first range determination module, configured to determine the safety limit boundary range of the two-arm collaborative robot according to the virtual work scene and the operation information mapped in the virtual work scene;
计算模块，用于计算所述虚拟工作场景中所述干涉对象占用的包络空间形状以及扫掠空间形状；A calculation module used to calculate the shape of the envelope space and the shape of the sweep space occupied by the interference object in the virtual work scene;
第二范围确定模块，用于获取所述双臂协作机器人的实际运动范围，当所述实际运动范围位于所述双臂协作机器人的安全限位边界范围时，将所述干涉对象占用的包络空间形状以及扫掠空间形状增强到所述干涉对象上，确定所述干涉对象的安全限位边界范围；The second range determination module is used to obtain the actual motion range of the two-arm collaborative robot, and when the actual motion range is located within the safety limit boundary range of the two-arm collaborative robot, determine the envelope occupied by the interference object. The spatial shape and the swept spatial shape are enhanced to the interference object to determine the safe limit boundary range of the interference object;
安全限位模块，用于根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位。A safety limit module is used to perform safety limit according to the actual movement trajectory of the two-arm collaborative robot and the safety limit boundary range of the interference object.
进一步地，还包括：Furthermore, it also includes:
第一获取模块，用于获取摄像头采集的干涉对象的轮廓信息；The first acquisition module is used to acquire the contour information of the interference object collected by the camera;
第二获取模块，用于获取雷达传感器采集的干涉对象的位置信息。The second acquisition module is used to acquire the position information of the interference object collected by the radar sensor.
一种设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现所述的一种双臂协作机器人安全限位方法的步骤。A device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the safety of the two-arm collaborative robot is achieved. Steps of the limit method.
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现所述的一种双臂协作机器人安全限位方法的步骤。A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the safety limiting method for a dual-arm cooperative robot are implemented.
与现有技术相比，本申请至少具有以下有益效果：Compared with the prior art, this application has at least the following beneficial effects:
本申请提供的一种双臂协作机器人安全限位方法，通过采集双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，再同步获取干涉对象对应的运行信息，在虚拟场景中重构双臂协作机器人的虚拟工作场景，并将运行信息映射到虚拟工作场景中，基于虚拟环境下的重构虚拟工作场景确定双臂协作机器人操作时的的安全限位边界范围，再获取双臂协作机器人的实际运动范围，将干涉对象占用的包络空间形状以及扫掠空间形状增强到干涉对象上，得到干涉对象的安全限位边界范围，根据双臂协作机器人的实际运动轨迹以及干涉对象的安全限位边界范围进行安全限位。本申请提高了双臂协作机 器人操作的安全性，减少了碰撞、误操作等事故，保证作业人员以及设备等财产的安全；提高了双臂协作机器人在较复杂外部环境下的适应性。This application provides a safe position limiting method for a dual-arm collaborative robot. By collecting the position information and contour information of the interference object within a set range around the position of the dual-arm collaborative robot, and then synchronously obtaining the corresponding operating information of the interference object, in the virtual The virtual working scene of the dual-arm collaborative robot is reconstructed in the scene, and the operation information is mapped to the virtual working scene. Based on the reconstructed virtual working scene in the virtual environment, the safe limit boundary range of the dual-arm collaborative robot is determined when operating, and then Obtain the actual motion range of the two-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object to the interference object, and obtain the safe limit boundary range of the interference object. According to the actual motion trajectory of the two-arm collaborative robot and The interference object is safely limited within the safety limit boundary range. This application improves the dual-arm collaborative machine The safety of robot operation reduces accidents such as collisions and misoperations, ensuring the safety of workers, equipment and other property; and improves the adaptability of dual-arm collaborative robots in more complex external environments.
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, preferred embodiments are given below and described in detail with reference to the attached drawings.
附图说明Description of drawings
为了更清楚地说明本申请具体实施方式中的技术方案，下面将对具体实施方式描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the specific embodiments of the present application, the drawings needed to be used in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.
图1是本申请所述一种双臂协作机器人安全限位方法的流程图；Figure 1 is a flow chart of a safety limiting method for a dual-arm collaborative robot described in this application;
图2是本申请实施例中所述双臂协作机器人工作场景示意图；Figure 2 is a schematic diagram of the working scene of the dual-arm collaborative robot described in the embodiment of the present application;
图3是本申请实施例中所述双臂协作机器人示意图。Figure 3 is a schematic diagram of the dual-arm collaborative robot described in the embodiment of the present application.
图中：1-第一电气柜；2-导轨式悬挂摄像头；3-作业人员；4-双臂协作机器人；4-1-双目摄像头；4-2-激光雷达；4-3-第一机械臂；4-4-第一毫米波雷达；4-5-第二毫米波雷达；4-6-第二机械臂；5-第二电气柜；6-第三电气柜；7-第四电气柜；8-第五电气柜。In the picture: 1-the first electrical cabinet; 2-rail-mounted hanging camera; 3-operator; 4-arm collaborative robot; 4-1-binocular camera; 4-2-lidar; 4-3-first Robotic arm; 4-4-The first millimeter wave radar; 4-5-The second millimeter wave radar; 4-6-The second mechanical arm; 5-The second electrical cabinet; 6-The third electrical cabinet; 7-The fourth Electrical cabinet; 8-fifth electrical cabinet.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. embodiment. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.
作为本申请的某一具体实施方式，如图1所示，一种双臂协作机器人安全限位方法，具体包括以下步骤：As a specific implementation of the present application, as shown in Figure 1, a safety limiting method for a dual-arm collaborative robot specifically includes the following steps:
步骤1、获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据干涉对象的位置信息和轮廓信息构建双臂协作机器人的 虚拟工作场景。Step 1. Obtain the position information and contour information of the interfering objects within the set range around the position of the two-arm collaborative robot, and construct the two-arm collaborative robot based on the position information and contour information of the interfering objects. Virtual work scenario.
具体地说，干涉对象包括双臂协作机器人周边的作业人员以及各种设备等。本实施方式中，采用摄像头采集干涉对象的轮廓信息，采用雷达传感器采集干涉对象的位置信息，可选的，雷达传感器为激光雷达和/或毫米波雷达。Specifically, the interference objects include workers and various equipment around the dual-arm collaborative robot. In this embodiment, a camera is used to collect the contour information of the interference object, and a radar sensor is used to collect the position information of the interference object. Optionally, the radar sensor is lidar and/or millimeter wave radar.
步骤2、获取干涉对象的运行信息，将运行信息映射到虚拟工作场景中。Step 2: Obtain the operation information of the interference object and map the operation information to the virtual work scene.
具体地说，干涉对象的运行信息包括作业人员的方位信息以及其他移动设备的巡检信息等。这些干涉对象是不断移动的，当前可能不会干扰到双臂协作机器人，但在操作过程中有可能影响到双臂协作机器人的安全。Specifically, the operating information of the interference object includes the location information of the operator and the inspection information of other mobile equipment. These interfering objects are constantly moving and may not interfere with the dual-arm collaborative robot currently, but may affect the safety of the dual-arm collaborative robot during operation.
步骤3、根据虚拟工作场景以及虚拟工作场景中映射的运行信息，确定双臂协作机器人的安全限位边界范围。Step 3. Determine the safety limit boundary range of the dual-arm collaborative robot based on the virtual work scene and the operation information mapped in the virtual work scene.
具体地说，包括根据虚拟工作场景确定固定干涉对象的占用空间，根据运行信息确定移动干涉对象的扫掠空间。占用空间和扫掠空间的整体集合空间的边界即为双臂协作机器人操作的安全限位边界范围。Specifically, it includes determining the occupied space of the fixed interference object based on the virtual work scene, and determining the sweeping space of the moving interference object based on the operating information. The boundary of the overall collection space of occupied space and swept space is the safe limit boundary range of the dual-arm collaborative robot operation.
步骤4、计算虚拟工作场景中干涉对象占用的包络空间形状以及扫掠空间形状。Step 4: Calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene.
步骤5、获取双臂协作机器人的实际运动范围，当实际运动范围位于双臂协作机器人的安全限位边界范围时，将干涉对象占用的包络空间形状以及扫掠空间形状增强到干涉对象上，得到干涉对象的安全限位边界范围。Step 5: Obtain the actual motion range of the dual-arm collaborative robot. When the actual motion range is within the safe limit boundary of the dual-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object to the interference object. Get the safe limit boundary range of the interference object.
可选的，获取双臂协作机器人的实际运动范围，具体如下：Optionally, obtain the actual motion range of the two-arm collaborative robot, as follows:
获取双臂协作机器人的操作指令；Obtain operating instructions for the dual-arm collaborative robot;
对双臂协作机器人的操作指令进行逆向运动学变换，得到双臂协作机器人在对应操作指令下的实际运动范围。Perform inverse kinematics transformation on the operating instructions of the dual-arm collaborative robot to obtain the actual motion range of the dual-arm collaborative robot under the corresponding operating instructions.
步骤6、根据双臂协作机器人的实际运动轨迹以及干涉对象的安全限位边界范围进行安全限位，具体如下：Step 6. Carry out safety limits based on the actual motion trajectory of the dual-arm collaborative robot and the safety limit boundary range of the interference object, as follows:
当双臂协作机器人的实际运动轨迹进入干涉对象的安全限位边界范围时，启动安全限位响应； When the actual motion trajectory of the dual-arm collaborative robot enters the safety limit boundary range of the interfering object, the safety limit response is initiated;
当双臂协作机器人的实际运动轨迹距干涉对象的安全限位边界范围的距离小于预设阈值时，启动安全限位响应。When the distance between the actual motion trajectory of the dual-arm collaborative robot and the safe limit boundary range of the interfering object is less than the preset threshold, the safety limit response is started.
本实施方式中，安全限位响应包括报警并提示采取必要措施。In this implementation mode, the safety limit response includes alarming and prompting to take necessary measures.
当通过混合现实的多种感知传感器所采集到的双臂协作机器人所在位置周边设定范围内的环境信息发生变化时，重复上述步骤，进行虚拟工作场景信息以及真实环境投影信息的同步更新。When the environmental information within the set range around the location of the dual-arm collaborative robot collected through the multiple sensing sensors of mixed reality changes, repeat the above steps to synchronously update the virtual work scene information and the real environment projection information.
下面结合具体实施例对本申请做更加详细的说明。The present application will be described in more detail below with reference to specific embodiments.
第一，基于多种传感器采集双臂协作机器人4所在位置周边的实时外部情况(干涉对象的位置信息和轮廓信息)并在虚拟环境进行模型重构，得到双臂协作机器人的虚拟工作场景。如图2和图3所示，双臂协作机器人4采用两个自由度串联机械臂，单个机械臂工作半径为610mm，机器人头部配备双目摄像头4-1和激光雷达4-2，双臂协作机器人4前后分别配备第一毫米波雷达4-4和第二毫米波雷达4-5。基于这些传感器采集双臂协作机器人周边环境信息，采集范围设置为工作半径的5倍左右，采集以双臂协作机器人4为中心周围长宽3米左右的环境信息，并在虚拟环境中进行虚拟工作场景重构，采集的干涉对象包括作业人员3、导轨式悬挂摄像头2、第一电气柜1、第二电气柜5、第三电气柜6、第四电气柜7和第五电气柜8。First, based on a variety of sensors, the real-time external conditions around the location of the two-arm collaborative robot 4 (position information and contour information of the interference object) are collected, and the model is reconstructed in the virtual environment to obtain the virtual working scene of the two-arm collaborative robot. As shown in Figures 2 and 3, the dual-arm collaborative robot 4 uses a two-degree-of-freedom serial robotic arm. The working radius of a single robotic arm is 610mm. The robot head is equipped with a binocular camera 4-1 and a lidar 4-2. The collaborative robot 4 is equipped with a first millimeter wave radar 4-4 and a second millimeter wave radar 4-5 at the front and rear respectively. Based on these sensors, the surrounding environment information of the dual-arm collaborative robot is collected. The collection range is set to about 5 times the working radius. The environmental information of about 3 meters in length and width around the dual-arm collaborative robot 4 is collected, and virtual work is performed in the virtual environment. Scene reconstruction, the collected interference objects include operator 3, rail-mounted hanging camera 2, first electrical cabinet 1, second electrical cabinet 5, third electrical cabinet 6, fourth electrical cabinet 7 and fifth electrical cabinet 8.
第二，同步获取所采集干涉对象的运行信息并映射到的虚拟环境中的重构虚拟工作场景中。具体地说，同步获取作业人员3的位置坐标、移动速度v1和移动方向，获取导轨式悬挂摄像头2的移动路线、速度v2和方向，这些干涉对象是不断移动的，当前可能不会干扰到双臂协作机器人4进行操作，假定双臂协作机器人4的操作时间为t且运动方向为双臂协作机器人4所在方向，则需要确定移动对象与双臂协作机器人4的实际运动空间的间距应在v1*t和v2*t以上，以防止在操作过程中作业人员3和导轨式悬挂摄像头2进入影响安全。Second, the running information of the collected interference objects is synchronously obtained and mapped to the reconstructed virtual work scene in the virtual environment. Specifically, the position coordinates, moving speed v 1 and moving direction of the operator 3 are simultaneously obtained, and the moving route, speed v 2 and direction of the rail-mounted hanging camera 2 are obtained simultaneously. These interfering objects are constantly moving and may not interfere at present. To operate the two-arm collaborative robot 4, assuming that the operation time of the two-arm collaborative robot 4 is t and the movement direction is the direction of the two-arm collaborative robot 4, it is necessary to determine the distance between the moving object and the actual movement space of the two-arm collaborative robot 4. above v 1 *t and v 2 *t to prevent the operator 3 and the rail-mounted hanging camera 2 from entering and affecting safety during the operation.
第三，根据虚拟工作场景及虚拟工作场景中映射的运行信息确定双臂协作机器人的安全限位边界范围。根据虚拟环境中的重构虚拟工作场景确定双臂协 作机器人4周边对象的运动范围，包括导轨式悬挂摄像头2的占用空间(图2中导轨式悬挂摄像头2的圆柱包络虚线)、作业人员3的占用空间(图2中作业人员3的圆柱包络虚线)以及其他第二电气柜5至第五电气柜8的占用空间(图2中与电气柜形状保持一致)。根据所同步的采集对象运行信息及机器人操作时间t，确定可移动对象的作业人员3和导轨式悬挂摄像头2的扫掠空间。这些占用空间和扫描空间构成整体约束空间，约束空间边界即为双臂协作机器人4的安全限位边界。Third, determine the safety limit boundary range of the dual-arm collaborative robot based on the virtual work scene and the operating information mapped in the virtual work scene. Determining dual-arm coordination based on reconstructed virtual work scenarios in virtual environments The range of motion of the surrounding objects of the robot 4 includes the occupied space of the rail-mounted hanging camera 2 (the dotted line of the cylindrical envelope of the rail-mounted hanging camera 2 in Figure 2), the occupied space of the operator 3 (the cylindrical envelope of the operator 3 in Figure 2). network dotted line) and other occupied spaces of the second electrical cabinet 5 to the fifth electrical cabinet 8 (the shapes of the electrical cabinets in Figure 2 are consistent). According to the synchronized operation information of the collected object and the robot operation time t, the scanning space of the operator 3 of the movable object and the rail-mounted hanging camera 2 is determined. These occupied spaces and scanning spaces constitute the overall constraint space, and the boundary of the constraint space is the safety limit boundary of the dual-arm collaborative robot 4.
第四，现要求双臂协作机器人4对第一电气柜1的最右侧旋钮进行旋转操作，本实施例中，根据D-H算法进行运动学逆变换，根据第一电气柜1最右侧旋钮中心位置的空间坐标(x，y，z)，计算出每个关节电机的运行角度θ1-θ6，确定两个第一机械臂4-3和第二机械臂4-6的实际运动空间{D4-3}和{D4-6}(图2中从机械臂底部延伸至第一电气柜1最右侧旋钮的两段包络空间)，实际运动空间应位于双臂协作机器人的安全限位边界范围内。当发现实际运动空间超过双臂协作机器人的安全限位边界范围时变化逆运动学算法为改进D-H算法，重新确定两个第一机械臂4-3和第二机械臂4-6的实际运动空间{D4-3}’和{D4-6}’，使机械臂的运动空间位于双臂协作机器人的安全限位边界范围内，如果仍无法安全操作，则等待作业人员3或导轨式悬挂摄像头2远离后或者调整双臂协作机器人4的相对位置来转变运动空间与安全限位边界的相对距离。Fourth, the dual-arm collaborative robot 4 is now required to rotate the rightmost knob of the first electrical cabinet 1. In this embodiment, the kinematics inverse transformation is performed according to the DH algorithm. According to the center of the rightmost knob of the first electrical cabinet 1 The spatial coordinates (x, y, z) of the position, calculate the operating angle θ 1 -θ 6 of each joint motor, and determine the actual movement space of the two first robotic arms 4-3 and the second robotic arm 4-6 { D 4-3 } and {D 4-6 } (the two envelope spaces extending from the bottom of the robot arm to the rightmost knob of the first electrical cabinet 1 in Figure 2), the actual movement space should be located within the safety of the dual-arm collaborative robot within the limit boundary. When it is found that the actual movement space exceeds the safety limit boundary range of the two-arm collaborative robot, the inverse kinematics algorithm is changed to an improved DH algorithm to re-determine the actual movement space of the two first robotic arms 4-3 and the second robotic arm 4-6. {D 4-3 }' and {D 4-6 }', so that the movement space of the robotic arm is within the safe limit boundary of the dual-arm collaborative robot. If it still cannot be operated safely, wait for the operator 3 or guide rail suspension After the camera 2 moves away, the relative position of the two-arm collaborative robot 4 is adjusted to change the relative distance between the movement space and the safety limit boundary.
第五，当机器人实际运动范围位于在双臂协作机器人的安全限位边界范围内时，将在虚拟工作场景中计算的干涉对象占用的包络空间形状以及扫掠空间形状实时投影增强在现实环境的采集图像(干涉对象)上，在实际操作过程中作为一个安全限位电子边界(干涉对象的安全限位边界范围)，当通过双目摄像头4-1观察到第一机械臂4-3和第二机械臂4-6的操作超出安全范围时采取必要措施：如机械臂停止操作或双臂协作机器人移动。Fifth, when the actual motion range of the robot is within the safe limit boundary of the dual-arm collaborative robot, the envelope space shape and sweep space shape occupied by the interference object calculated in the virtual work scene are projected and enhanced in real time in the real environment On the collected image (interference object), as a safety limit electronic boundary (safety limit boundary range of the interference object) during the actual operation, when the first robotic arm 4-3 and the first robotic arm 4-3 are observed through the binocular camera 4-1 Necessary measures are taken when the operation of the second robotic arm 4-6 exceeds the safe range: such as stopping the robotic arm or moving the dual-arm collaborative robot.
当通过混合现实的多种感知传感器，如双目摄像头4-1、激光雷达4-2、第一毫米波雷达4-4和第二毫米波雷达4-5所采集到或者其他信息系统同步获取 的周边环境信息以及运行信息发生变化时，比如新的作业人员步入采集范围或当导轨式悬挂摄像头移动速度增加时，重复上述步骤，进行虚拟环境下的虚拟工作场景以及真实环境下的投影增强信息的同步更新。When collected through multiple mixed reality sensing sensors, such as binocular camera 4-1, lidar 4-2, first millimeter wave radar 4-4 and second millimeter wave radar 4-5, or obtained simultaneously by other information systems When the surrounding environment information and operating information change, such as when a new worker steps into the collection range or when the rail-mounted hanging camera moves faster, repeat the above steps to perform virtual work scenes in the virtual environment and projection enhancement in the real environment. Synchronous updates of information.
本申请提供了一种双臂协作机器人安全限位装置，用于实现本申请提供的安全限位方法，具体包括：This application provides a safety limiting device for a dual-arm collaborative robot, which is used to implement the safety limiting method provided by this application, specifically including:
虚拟场景构建模块，用于获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据干涉对象的位置信息和轮廓信息构建双臂协作机器人的虚拟工作场景。The virtual scene construction module is used to obtain the position information and contour information of the interfering objects within a set range around the position of the dual-arm collaborative robot, and construct a virtual working scene of the dual-arm collaborative robot based on the position information and contour information of the interfering objects.
映射模块，用于获取干涉对象的运行信息，将运行信息映射到虚拟工作场景中。The mapping module is used to obtain the operating information of the interference object and map the operating information to the virtual work scene.
第一范围确定模块，用于根据虚拟工作场景以及虚拟工作场景中映射的运行信息，确定双臂协作机器人的安全限位边界范围。The first range determination module is used to determine the safety limit boundary range of the dual-arm collaborative robot based on the virtual work scene and the operation information mapped in the virtual work scene.
计算模块，用于计算虚拟工作场景中干涉对象占用的包络空间形状以及扫掠空间形状。The calculation module is used to calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene.
第二范围确定模块，用于获取双臂协作机器人的实际运动范围，当实际运动范围位于双臂协作机器人的安全限位边界范围时，将干涉对象占用的包络空间形状以及扫掠空间形状增强到干涉对象上，确定干涉对象的安全限位边界范围。The second range determination module is used to obtain the actual motion range of the dual-arm collaborative robot. When the actual motion range is within the safe limit boundary of the dual-arm collaborative robot, the shape of the envelope space occupied by the interference object and the shape of the sweep space are enhanced. Go to the interference object and determine the safe limit boundary range of the interference object.
安全限位模块，用于根据双臂协作机器人的实际运动轨迹以及干涉对象的安全限位边界范围进行安全限位。The safety limit module is used to perform safety limits based on the actual motion trajectory of the dual-arm collaborative robot and the safety limit boundary range of the interference object.
第一获取模块，用于获取摄像头采集的干涉对象的轮廓信息。The first acquisition module is used to acquire the contour information of the interference object collected by the camera.
第二获取模块，用于获取雷达传感器采集的干涉对象的位置信息。The second acquisition module is used to acquire the position information of the interference object collected by the radar sensor.
本申请在一个实施例中，提供了一种计算机设备，该计算机设备包括处理器以及存储器，所述存储器用于存储计算机程序，所述计算机程序包括程序指令，所述处理器用于执行所述计算机存储介质存储的程序指令。处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数 字信号处理器(Digital Signal Processor、DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field-Programmable GateArray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等，其是终端的计算核心以及控制核心，其适于实现一条或一条以上指令，具体适于加载并执行一条或一条以上指令从而实现相应方法流程或相应功能；本申请实施例所述的处理器可以用于一种双臂协作机器人安全限位方法的操作。In one embodiment of the present application, a computer device is provided. The computer device includes a processor and a memory. The memory is used to store a computer program. The computer program includes program instructions. The processor is used to execute the computer program. A storage medium stores program instructions. The processor can be a central processing unit (CPU), or other general-purpose processor, data Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), off-the-shelf programmable gate array (Field-Programmable GateArray, FPGA) or other programmable logic devices, discrete gates or transistor logic devices , discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to implement the corresponding method process or corresponding functions; embodiments of this application The processor can be used to operate a safety limiting method for a dual-arm collaborative robot.
本申请在一个实施例中，一种双臂协作机器人安全限位方法如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读存储介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。In one embodiment of the present application, if a method for safety limiting a dual-arm collaborative robot is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, which can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer can When the program is executed by the processor, the steps of each of the above method embodiments can be implemented. Wherein, the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form. Computer-readable storage media includes permanent and non-transitory, removable and non-removable media and may be implemented by any method or technology to store information. Information may be computer-readable instructions, data structures, modules of programs, or other data.
所述计算机存储介质可以是计算机能够存取的任何可用介质或数据存储设备，包括但不限于磁性存储器(例如软盘、硬盘、磁带、磁光盘(MO)等)、光学存储器(例如CD、DVD、BD、HVD等)、以及半导体存储器(例如ROM、EPROM、EEPROM、非易失性存储器(NANDFLASH)、固态硬盘(SSD))等。The computer storage medium may be any available media or data storage device that a computer can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid state drive (SSD)), etc.
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。 Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
最后应说明的是：以上所述实施例，仅为本申请的具体实施方式，用以说明本申请的技术方案，而非对其限制，本申请的保护范围并不局限于此，尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本申请实施例技术方案的精神和范围，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。 Finally, it should be noted that the above-mentioned embodiments are only specific implementation modes of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them. The protection scope of the present application is not limited thereto. Although refer to the foregoing The embodiments describe the present application in detail. Those of ordinary skill in the art should understand that any person familiar with the technical field can still modify the technical solutions recorded in the foregoing embodiments within the technical scope disclosed in the present application. It may be easy to think of changes, or equivalent substitutions of some of the technical features; and these modifications, changes or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be covered by this application. within the scope of protection. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims (10)

  1. 一种双臂协作机器人安全限位方法，其特征在于，包括：A safe limiting method for a dual-arm collaborative robot, which is characterized by including:
    获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据所述干涉对象的位置信息和轮廓信息构建所述双臂协作机器人的虚拟工作场景；Obtain the position information and contour information of the interference object within a set range around the position of the two-arm collaborative robot, and construct a virtual working scene of the two-arm collaborative robot based on the position information and contour information of the interference object;
    获取所述干涉对象的运行信息，将所述运行信息映射到所述虚拟工作场景中；Obtain the operation information of the interference object, and map the operation information to the virtual work scene;
    根据所述虚拟工作场景以及所述虚拟工作场景中映射的所述运行信息，确定所述双臂协作机器人的安全限位边界范围；Determine the safety limit boundary range of the two-arm collaborative robot according to the virtual work scene and the operation information mapped in the virtual work scene;
    计算所述虚拟工作场景中所述干涉对象占用的包络空间形状以及扫掠空间形状；Calculate the envelope space shape and sweep space shape occupied by the interference object in the virtual work scene;
    获取所述双臂协作机器人的实际运动范围，当所述实际运动范围位于所述双臂协作机器人的安全限位边界范围时，将所述干涉对象占用的包络空间形状以及扫掠空间形状增强到所述干涉对象上，得到所述干涉对象的安全限位边界范围；Obtain the actual movement range of the two-arm collaborative robot. When the actual movement range is within the safety limit boundary range of the two-arm collaborative robot, enhance the envelope space shape and sweep space shape occupied by the interference object. Go to the interference object and obtain the safety limit boundary range of the interference object;
    根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位。Safety limitation is performed based on the actual motion trajectory of the two-arm collaborative robot and the safety limitation boundary range of the interference object.
  2. 根据权利要求1所述的一种双臂协作机器人安全限位方法，其特征在于，所述获取所述双臂协作机器人的实际运动范围，包括：A safe position limiting method for a two-arm collaborative robot according to claim 1, wherein the obtaining the actual motion range of the two-arm collaborative robot includes:
    获取所述双臂协作机器人的操作指令；Obtain operating instructions for the two-arm collaborative robot;
    对所述双臂协作机器人的操作指令进行逆向运动学变换，得到所述双臂协作机器人在对应操作指令下的实际运动范围。Perform inverse kinematics transformation on the operating instructions of the two-arm collaborative robot to obtain the actual motion range of the two-arm collaborative robot under the corresponding operating instructions.
  3. 根据权利要求1所述的一种双臂协作机器人安全限位方法，其特征在于，所述根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位，包括：A safety limiting method for a dual-arm collaborative robot according to claim 1, characterized in that the safety limitation is performed based on the actual motion trajectory of the dual-arm collaborative robot and the safety limiting boundary range of the interference object. ,include:
    当所述双臂协作机器人的实际运动轨迹进入所述干涉对象的安全限位边界范围时，启动安全限位响应。 When the actual motion trajectory of the two-arm collaborative robot enters the safety limit boundary range of the interference object, a safety limit response is initiated.
  4. 根据权利要求1所述的一种双臂协作机器人安全限位方法，其特征在于，所述根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位，包括：A safety limiting method for a dual-arm collaborative robot according to claim 1, characterized in that the safety limitation is performed based on the actual motion trajectory of the dual-arm collaborative robot and the safety limiting boundary range of the interference object. ,include:
    当所述双臂协作机器人的实际运动轨迹距所述干涉对象的安全限位边界范围的距离小于预设阈值时，启动安全限位响应。When the distance between the actual motion trajectory of the two-arm collaborative robot and the safety limit boundary range of the interference object is less than a preset threshold, a safety limit response is initiated.
  5. 根据权利要求1所述的一种双臂协作机器人安全限位方法，其特征在于，所述获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，包括：A safe position limiting method for a dual-arm collaborative robot according to claim 1, wherein the obtaining the position information and contour information of the interference object within a set range around the position of the dual-arm collaborative robot includes:
    采用摄像头采集干涉对象的轮廓信息；A camera is used to collect the contour information of the interference object;
    采用雷达传感器采集干涉对象的位置信息。Radar sensors are used to collect position information of interference objects.
  6. 根据权利要求5所述的一种双臂协作机器人安全限位方法，其特征在于，所述雷达传感器为激光雷达和/或毫米波雷达。A safe position limiting method for a dual-arm collaborative robot according to claim 5, wherein the radar sensor is laser radar and/or millimeter wave radar.
  7. 一种双臂协作机器人安全限位装置，其特征在于，包括：A safety limiter device for a dual-arm collaborative robot, which is characterized by including:
    虚拟场景构建模块，用于获取双臂协作机器人所在位置周边设定范围内的干涉对象的位置信息和轮廓信息，根据所述干涉对象的位置信息和轮廓信息构建所述双臂协作机器人的虚拟工作场景；A virtual scene construction module is used to obtain the position information and contour information of the interference object within a set range around the position of the two-arm collaborative robot, and construct the virtual work of the two-arm collaborative robot based on the position information and contour information of the interference object. Scenes;
    映射模块，用于获取所述干涉对象的运行信息，将所述运行信息映射到所述虚拟工作场景中；A mapping module, used to obtain the operation information of the interference object and map the operation information to the virtual work scene;
    第一范围确定模块，用于根据所述虚拟工作场景以及所述虚拟工作场景中映射的所述运行信息，确定所述双臂协作机器人的安全限位边界范围；A first range determination module, configured to determine the safety limit boundary range of the two-arm collaborative robot according to the virtual work scene and the operation information mapped in the virtual work scene;
    计算模块，用于计算所述虚拟工作场景中所述干涉对象占用的包络空间形状以及扫掠空间形状；A calculation module used to calculate the shape of the envelope space and the shape of the sweep space occupied by the interference object in the virtual work scene;
    第二范围确定模块，用于获取所述双臂协作机器人的实际运动范围，当所述实际运动范围位于所述双臂协作机器人的安全限位边界范围时，将所述干涉对象占用的包络空间形状以及扫掠空间形状增强到所述干涉对象上，确定所述干涉对象的安全限位边界范围； The second range determination module is used to obtain the actual motion range of the two-arm collaborative robot, and when the actual motion range is located within the safety limit boundary range of the two-arm collaborative robot, determine the envelope occupied by the interference object. The spatial shape and the swept spatial shape are enhanced to the interference object to determine the safe limit boundary range of the interference object;
    安全限位模块，用于根据所述双臂协作机器人的实际运动轨迹以及所述干涉对象的安全限位边界范围进行安全限位。A safety limit module is used to perform safety limit according to the actual movement trajectory of the two-arm collaborative robot and the safety limit boundary range of the interference object.
  8. 根据权利要求7所述的一种双臂协作机器人安全限位装置，其特征在于，还包括：A safety limiting device for a dual-arm collaborative robot according to claim 7, further comprising:
    第一获取模块，用于获取摄像头采集的干涉对象的轮廓信息；The first acquisition module is used to acquire the contour information of the interference object collected by the camera;
    第二获取模块，用于获取雷达传感器采集的干涉对象的位置信息。The second acquisition module is used to acquire the position information of the interference object collected by the radar sensor.
  9. 一种设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至6任一项所述的一种双臂协作机器人安全限位方法的步骤。A device, including a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, it implements claims 1 to 6 The steps of a safety limiting method for a dual-arm collaborative robot according to any one of the above.
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述的一种双臂协作机器人安全限位方法的步骤。 A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, a dual-arm device as described in any one of claims 1 to 6 is realized. Steps of safe limiting method for collaborative robots.
PCT/CN2023/079050 2022-06-28 2023-03-01 Safety limiting method and apparatus for dual-arm collaborative robot, device, and storage medium WO2024001263A1 (en)

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