CN102323822B - Method for preventing industrial robot from colliding with worker - Google Patents
Method for preventing industrial robot from colliding with worker Download PDFInfo
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- CN102323822B CN102323822B CN201110118163.6A CN201110118163A CN102323822B CN 102323822 B CN102323822 B CN 102323822B CN 201110118163 A CN201110118163 A CN 201110118163A CN 102323822 B CN102323822 B CN 102323822B
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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
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- 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
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- 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
- G05B2219/40201—Detect contact, collision with human
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Abstract
The invention discloses a method for preventing an industrial robot from colliding with a worker, which comprises the following steps that: a monitoring computer inputs a working area image that a visual unit acquires into a worker movement feature identifying unit for scene modeling, regional analysis and worker movement state prediction; then the worker movement feature identifying unit inputs worker movement feature parameters which are generated accordingly into a safe protective area computing unit; the safe protective area computing unit detects the current movement features of an industrial robot according to the worker movement feature parameters, computes the safe protective area of the worker, and inputs the current movement features of the industrial robot into an industrial robot target position and speed adjusting unit; and the industrial robot target position and speed adjusting unit computes the safe movement scope of the industrial robot according to the safe protective area, judges whether the movement of every joint of the industrial robot enters the safe protective area or not, adjusts the target position and the speed of the industrial robot on line, so that the industrial robot is prevented from colliding with the worker.
Description
Technical field
The present invention relates to the method that a kind of workman of avoiding and industrial robot bump in the perform region, particularly a kind of by differentiating workman's movement tendency, avoid industrial robot collision workman's method.
Background technology
A problem that exists during industrial robot is used is: industrial robot need be operated in a perform region sealing, that isolate, suffers the injury of industrial robot for fear of workman's accident, and the workman need be away from this perform region of industrial robot.How allowing industrial robot can differentiate workman's movement tendency, avoid colliding the workman, is the key issue that makes industrial robot and workman cooperate and to finish the work in same perform region.
At present, proposed many technology and methods of colliding of preventing based on different principle, bumped with mobile object or the stationary object of avoiding industrial robot and belonging to a perform region together.Existing method mainly is by the estimation to collision time and the distance of industrial robot and object, determines the stand-by time of industrial robot.
For example, the patent No. is US 6,212, and 444 United States Patent (USP) discloses and a kind ofly prevented the method for colliding by the public domain is set, and in this public domain, the operating area of the operating area of industrial robot and other industrial robot or device overlaps each other.When the predetermined reference point on this industrial robot is in the public domain, can enter inhibit signal to other industrial robot or device output first, enter this public domain to forbid other industrial robot or device; When the moveable part of other industrial robot or device is in the public domain, can enter inhibit signal to this industrial robot or device output second again, enter this public domain with the predetermined reference point of forbidding this industrial robot or device.
Publication number is that the Chinese patent application of CN 101512453A discloses a kind of method of colliding of preventing, it is by estimating the stand-by time of determining industrial robot excess time before bumping between industrial robot and the object, with estimate bump before excess time and the stand-by time of industrial robot compare, and excess time before estimated bumping during near the stand-by time of industrial robot, stop industrial robot or object.The weak point of this kind method is: movement locus or the movement tendency of workman in the perform region is unforeseen; thereby be difficult to estimate the excess time before bumping between industrial robot and the workman, also just can't be by estimating the stand-by time of determining industrial robot excess time before bumping between industrial robot and the object.
Because existing method is not considered workman's kinetic characteristic, as uncertainty factors such as speed and directions, thereby still there is the risk that bumps with industrial robot in the workman.
Summary of the invention
In order to address the above problem, the present invention is target with the security that guarantees the workman and the freedom that strengthens labour movement, and a kind of method of avoiding industrial robot collision workman by the motion state of differentiating the workman is provided.
The technical solution used in the present invention is: a kind of method of avoiding industrial robot to collide the workman is after the workman normally enters the perform region, to finish following steps:
Step a2: supervisory control comuter is monitored workman's motion state in real time by visual unit, and the perform region image that visual unit collects inputed in the labour movement characteristic recognition unit calculate the labour movement characterisitic parameter, and by the security protection zone of security protection zone computing module according to described labour movement characterisitic parameter calculating workman, described security protection zone computing module inputs to the security protection zone that obtains in industrial robot target location and the speed adjustment unit, wherein, described security protection is regional guarantees the Minimum Area that it is safe for the workman in motion state or stationary state;
Step a3: security protection zone computing module is according to the predetermined movement locus of industrial robot, calculate its zone of protection, and it is inputed in industrial robot target location and the speed adjustment unit, wherein, described zone of protection represents that each joint of industrial robot all can not collide the area of space of other object;
Step a4: when security protection zone and zone of protection have lap, there is collision workman's danger in the joint of expression industrial robot, then target location and the speed in described industrial robot target location and each joint of the online adjustment industrial robot of speed adjustment unit avoid any one joint of industrial robot to collide workman in the perform region.
Preferably, before described step a2, finish following steps:
Step a1: supervisory control comuter judges by the border in the real-time monitoring of visual unit zone whether the workman normally enters the perform region;
Step a11: if the workman does not enter the perform region, then supervisory control comuter is controlled industrial robot according to the preset program complete operation, and returns step a1;
Step a12: if the workman normally enters the perform region, then supervisory control comuter is converted to the cooperative work pattern that workman and industrial robot are worked jointly in the perform region, and enters step a2;
Step a13: if the improper perform region that enters of workman, then the degree of protection of the perform region that enters according to the workman of supervisory control comuter provides the warning message corresponding with degree of protection by alarm unit, and returns step a1.
Preferably, described visual unit comprises the sensor array on the periphery that is installed on the perform region, forms by sensor array to be positioned at outside the perform region and to be positioned at first surveyed area of perform region periphery and to be positioned at the perform region and to be positioned at second surveyed area of perform region periphery; Supervisory control comuter by the method on the border in the real-time monitoring of visual unit zone is among the step a1:
Step b1: supervisory control comuter judges by sensor array whether the workman enters first surveyed area, if being positioned at first detection signal of the sensor on first surveyed area is obstructed, the warning device that then is controlled by first detection signal provides voice suggestion to the workman, and the information that the workman has entered first surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b2;
Step b2: supervisory control comuter judges by sensor array whether the workman enters second surveyed area, if being positioned at second detection signal of the sensor on second surveyed area is obstructed, the warning device that then is controlled by second detection signal provides the alarm prompting to the workman, and the information that the workman has entered second surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b3;
Step b3: supervisory control comuter judges according to the task situation of industrial robot whether the workman normally enters the perform region according to demand; If not normally entering the stop motion of control industrial robot, and completing steps a13; If normally enter, completing steps a12 then.
Preferably, the step of described labour movement characteristic recognition unit computes labour movement characterisitic parameter is:
Step c1: the perform region image to input is set up the perform region background modeling, obtains the perform region background model;
Step c2: the labour movement in the testing regional background model changes, and obtains the workman zone;
Step c3: input workman zone, according to the workman's of hypothesis predicted position distribution in advance, the current location of analyzing the workman distributes, prediction workman's movement tendency;
Step c4: the workman's of input prediction movement tendency, by the workman towards checking, determine workman's movement tendency, and to the next position of workman with next is towards predicting.
Preferably, definite method in workman's security protection zone is: for centered by current location, be radius with the next position to the distance of current location, with current towards and next towards between angle be that the formed height in fan-shaped bottom surface of central angle is the cylindricality zone of workman's height.
Preferably, definite method of industrial robot ground zone of protection is:
The zone of protection S in the j joint of industrial robot
jBe with r
jSpheric region for radius;
Wherein, r
j=| R
j(i+1)-R
j(i) |, s
jRepresent the position that the j joint can arrive in the space, R
j(i) current location in expression j joint, R
j(i+1) the next position in expression j joint;
The set of the zone of protection in all joints that described zone of protection A2 is industrial robot:
A2＝S
1∪S
2∪...S
n
Wherein, n is the quantity in the joint of industrial robot, and n is natural number, 1≤j≤n.
Preferably, described industrial robot target location and the target location of the online adjustment industrial robot motion of speed adjustment unit track and the method for speed are:
Steps d 1: the zone of protection S that judges the j joint
jWith the security protection zone whether overlapping part is arranged, if having, then adjust the next position R in j joint
j(i+1) with at current location R
j(i) the joint velocity V that locates
j(i);
Steps d 2: the current location R that calculates the j joint
j(i) and the interregional bee-line d of security protection
j(i):
d
j(i)＝min|R
j(i)-p
k|
Wherein, p
kLip-deep point for the cylindricality zone in security protection zone;
Steps d 3: the present speed V that adjusts the j joint of industrial robot
j(i), new present speed is V '
j(i):
Wherein, T is the workman's that obtains at step c4 the next position and the time interval of current location on time shaft;
Steps d 4: the next position R that adjusts the j joint of industrial robot
j(i+1), new the next position is R '
j(i+1):
R′
j(i+1)＝R
j(i)+d
j(i)。
Usefulness of the present invention is: from guarantee workman's freedom to work degree and the angle of personal safety, be core with workman, adjust the motion of industrial robot in real time, avoid industrial robot harm workman.The present invention can increase industrial robot and the workman cooperation possibility of finishing the work.
Description of drawings
Fig. 1 shows a kind of embodiment of avoiding industrial robot collision workman's method of the present invention;
Fig. 2 shows the process flow diagram of avoiding industrial robot collision workman's method of the present invention;
Fig. 3 shows the workflow diagram on the border in supervisory control comuter monitoring zone;
Fig. 4 shows the workflow diagram of labour movement characteristic identification module;
Fig. 5 shows workman's security protection zone;
Fig. 6 shows the zone of protection of industrial robot;
Fig. 7 shows the workflow diagram of industrial robot motion track target location and speed adjusting module.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in detail.
Industrial robot collision workman's the method for avoiding of the present invention has mainly been used four unit, be respectively visual unit, labour movement characteristic recognition unit, security protection zone computing unit and industrial robot target location and speed adjustment unit, this visual unit comprises internal control camera 3, outer monitoring camera 5 and the sensor array 4 among Fig. 1.The place scope of setting when certain task is finished for industrial robot 2 in the perform region 1 among Fig. 1, industrial robot 2 forms its zone of protection 21 in perform region 1, this zone of protection 21 expression workmans may be by the area of space of the joint of industrial robot collision, and namely each joint of industrial robot all can not collide the area of space of other object; Internal control camera 3 and outer monitoring camera 5 are separately positioned on the inside and outside of perform region 1; Sensor array 4 is installed on the periphery of perform region 1, forms by sensor array 4 that to be located substantially on perform region 1 outer and be positioned at first surveyed area 41 of perform region 1 periphery and be located substantially on perform region 1 and be positioned at second surveyed area 42 of perform region 1 periphery.Workman 6 forms the security protection zone 61 of oneself in perform region 1, this security protection zone 61 expression workmans guarantee the Minimum Area that it is safe in motion state or stationary state.
The tandem type industrial robot that this industrial robot 2 can be six degree of freedom can certainly be the industrial robot of other type; Internal control camera 3 and outer monitoring camera 5 can be the CCD cameras, also can be the cameras of other type, as long as can satisfy the requirement of image acquisition; Sensor array 4 can be made of a plurality of infrared light curtain formula sensors, also can by other type pass through judge that whether signal is blocked the sensor that whether enters the appointed area with inspected object by object and constitute.
Annexation between four unit is:
The perform region image that supervisory control comuter collects visual unit (being mainly internal control camera 3 wherein) inputs to and carries out scene modeling, regional analysis and workman in the labour movement characteristic recognition unit and transport state gesture prediction, afterwards, the labour movement characterisitic parameter that labour movement characteristic recognition unit will generate accordingly (workman's current location, current movement velocity and current direction of motion) inputs in the computing unit of security protection zone.Security protection zone computing unit calculates workman's security protection zone 61 according to the current kinetic characteristic of labour movement characterisitic parameter detection industrial robot, and it is inputed in industrial robot target location and the speed adjustment unit.Industrial robot target location and speed adjustment unit calculate the safety movement scope of industrial robot according to security protection zone 61, whether the motion of judging each joint of industrial robot enters this security protection zone, the target location of online adjustment industrial robot and speed.
Supervisory control comuter can industrial computer also can be other system that image, signal processing and computing function are arranged.At this, this labour movement characteristic recognition unit, security protection zone computing unit and industrial robot target location and speed adjustment unit all can be the processing unit of realizing by supervisory control comuter, can certainly realize by the processor that is independent of supervisory control comuter and is connected with the supervisory control comuter communication.
Fig. 2 shows the process flow diagram of avoiding industrial robot collision workman's method of the present invention, is specially:
Step a1: supervisory control comuter judges by the border in outer monitoring camera 5 and sensor array 4 real-time monitoring zones 1 whether the workman normally enters perform region 1;
Step a11: if the workman does not enter perform region 1, then supervisory control comuter is controlled industrial robot according to the preset program complete operation, and returns step a1;
Step a12: if the workman normally enters perform region 1, then supervisory control comuter is converted to the cooperative work pattern that workman and industrial robot are worked jointly in the perform region, and enters step a2;
Step a13: if the improper perform region that enters of workman, then the degree of protection of the perform region that enters according to the workman of supervisory control comuter provides the warning message corresponding with degree of protection by alarm unit, and returns step a1;
Step a2: supervisory control comuter is by internal control camera 3 monitoring workmans' motion states in real time, and the perform region image that internal control camera 3 collects inputed to calculates the labour movement characterisitic parameter in the labour movement characteristic recognition unit; Security protection zone computing module calculates workman's security protection zone 61 again according to this labour movement characterisitic parameter, and it is inputed in industrial robot target location and the speed adjustment unit;
Step a3: security protection zone computing module calculates its zone of protection 21, and it is inputed in industrial robot target location and the speed adjustment unit according to the predetermined movement locus of industrial robot;
Step a4: when security protection zone 61 and zone of protection 21 have lap, there is collision workman's danger in the joint of expression industrial robot, then target location and the speed in this industrial robot target location and each joint of the online adjustment industrial robot of speed adjustment unit avoid any one joint of industrial robot to collide workman in the perform region.
Fig. 3 shows supervisory control comuter among the step a1 by the method for work process flow diagram on the border in outer monitoring camera 5 and sensor array 4 real-time monitoring zones 1, is specially:
Step b1: supervisory control comuter judges by sensor array 4 whether the workman enters first surveyed area 41, if being positioned at first detection signal of the sensor on first surveyed area is obstructed, the warning device that then is controlled by first detection signal provides voice suggestion to the workman, and the information that the workman has entered first surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b2;
Step b2: supervisory control comuter judges by sensor array 4 whether the workman enters second surveyed area, if being positioned at second detection signal of the sensor on second surveyed area is obstructed, the warning device that then is controlled by second detection signal provides the alarm prompting to the workman, and the information that the workman has entered second surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b3;
Step b3: supervisory control comuter judges according to the task situation of industrial robot whether the workman normally enters the perform region according to demand; If not normally entering the stop motion of control industrial robot, and completing steps a13; If normally enter, completing steps a12 then.
The above-mentioned warning device that is controlled by first detection signal can be same warning device with the warning device that is controlled by second detection signal, this warning device produces different responses at first and second detection signals, certainly, the two also can be different warning devices.In addition, this warning device can belong to above-mentioned alarm unit, and the alerting signal among the step a13 can be carried out by this warning device, is preferably by other warning device that belongs to alarm unit and carries out.
Fig. 4 shows the workflow diagram of labour movement characteristic recognition unit, is specially:
Step c1: the background modeling of perform region
Labour movement characteristic recognition unit is set up the Gaussian statistics model that is based on time coordinate according to the perform region image (being preferably video image) of input, then the Gaussian statistics model is carried out denoising and level and smooth, obtain the initial back-ground model of perform region, adopt bayes method that the sample point in the initial back-ground model is calculated renewal in real time then, to eliminate the influence that the complicated background that changes and illumination variation are brought, obtain the background model of perform region.
Step c2: evaluating objects (workman) zone
Background model to the perform region is carried out motion detection and background subtraction, obtains to include workman's zone; Noise rejecting, zone fusion and level and smooth and morphology processing are carried out in the zone that includes the workman, finally obtain the workman zone.
Step c3: evaluating objects (workman)
Labour movement characteristic recognition unit distributes according to the workman zone that obtains and the predicted position that is stored in workman wherein in advance, the current location of analyzing the workman distributes, utilize the tree structure sorter judge the workman towards (front or side towards robot, namely whether with industrial robot over against).
Step c4: the movement tendency of target of prediction (workman)
Each image constantly to the workman carries out Kalman filtering, simultaneously by the workman towards checking, determine workman's movement tendency, and to the next position of workman with towards predicting, wherein, the next position of target workman and the current location time interval on time shaft is T.
In step c4, mainly set up labour movement trajectory predictions model by the method for Kalman and particle filter combination, and by this forecast model judge the next position of workman and next towards, be specially:
At first, the initial motion model of setting up the workman according to workman's task and state (being that predicted position distributes), at the labour movement initial stage, adopt the graceful Forecasting Methodology of OK a karaoke club to the next position of workman and next is towards predicting and judging based on this initial motion model;
Then, by study and the modeling to workman's position in the successive frame that has obtained, draw the track of labour movement and kinematic parameter (current location of namely analyzing the workman distributes), revise the model parameter of Kalman's prediction, and judge accordingly the next position of workman and next towards;
At last, uncertainty and nonlinear problem for the processing target labour movement, introduce particle filter algorithm the workman's of Kalman's prediction position distribution is carried out the sampling of importance probability, by video measuring function and target weight mean value computation, obtain the most probable zone of next frame target and direction of motion.
As shown in Figure 5, workman's security protection zone 61 is centered by current location P (i), be radius with the next position P (i+1) to the distance R of current location P (i), with current be that the formed height in fan-shaped bottom surface of central angle is the cylindricality zone of workman's height H towards O (i) and next angle theta between O (i+1).
Fig. 6 shows the zone of protection 21 of industrial robot, wherein,
The zone of protection S in the j joint of industrial robot
jBe to think radius r
jSpheric region:
Wherein, r
j=| R
j(i+1)-R
j(i) |, s
jRepresent the position that the j joint can arrive in the space, R
j(i) current location in expression j joint, R
j(i+1) the next position in expression j joint, i.e. next position constantly.
Zone of protection A2 (21) is the set (union) of zone of protection in all joints of industrial robot, that is:
A2＝S
1∪S
2∪...S
n
Wherein, S
1Be the zone of protection in first joint, S
2Be the zone of protection of second joint, S
nBe the zone of protection in n joint, wherein, n is natural number, the quantity of expression industrial robot joint, 1≤j≤n.Industrial robot as shown in Figure 6 has three joints, and namely n equals 3, and zone of protection separately is respectively S
1, S
2And S
3
Fig. 7 is industrial robot target location and the target location of the online adjustment industrial robot motion of speed adjustment unit track and the method for work process flow diagram of speed, is specially:
Steps d 1: the zone of protection S that judges the j joint
jWith security protection zone 61 whether overlapping part is arranged, if having, then adjust the next position R in j joint
j(i+1) with at current location R
j(i) the joint velocity V that locates
j(i).
Steps d 2: the current location R that calculates the j joint
j(i) and the bee-line d in 61 in security protection zone
j(i):
d
j(i)＝min|R
j(i)-p
k|
Wherein, p
kLip-deep point for the cylindricality zone in security protection zone.
Steps d 3: the present speed V that adjusts the j joint of industrial robot
j(i), new present speed is V '
j(i):
Steps d 4: the next position R that adjusts the j joint of industrial robot
j(i+1), new the next position is R '
j(i+1):
R′
j(i+1)＝R
j(i)+d
j(i)
Supervisory control comuter is responsible for new target location (being new the next position) and new present speed are sent to the controller of industrial robot, and controls industrial robot by controller and finish new action.
Only being preferred embodiment of the present invention in sum, is not to limit practical range of the present invention.Be that all equivalences of doing according to the content of the present patent application claim change and modification, all should belong to technology category of the present invention.
Claims (8)
1. a method of avoiding industrial robot collision workman is characterized in that, after the workman normally enters the perform region, finishes following steps:
Step a2: supervisory control comuter is monitored workman's motion state in real time by visual unit, and the perform region image that visual unit collects inputed in the labour movement characteristic recognition unit calculate the labour movement characterisitic parameter, and by the security protection zone of security protection zone computing module according to described labour movement characterisitic parameter calculating workman, described security protection zone computing module inputs to the security protection zone that obtains in industrial robot target location and the speed adjustment unit, wherein, described security protection is regional guarantees the Minimum Area that it is safe for the workman in motion state or stationary state;
Step a3: security protection zone computing module is according to the predetermined movement locus of industrial robot, calculate its zone of protection, and it is inputed in industrial robot target location and the speed adjustment unit, wherein, described zone of protection represents that each joint of industrial robot all can not collide the area of space of other object;
Step a4: when security protection zone and zone of protection have lap, there is collision workman's danger in the joint of expression industrial robot, then target location and the speed in described industrial robot target location and each joint of the online adjustment industrial robot of speed adjustment unit avoid any one joint of industrial robot to collide workman in the perform region;
The step of described labour movement characteristic recognition unit computes labour movement characterisitic parameter is:
Step c1: the perform region image to input is set up the perform region background modeling, obtains the perform region background model;
Step c2: the labour movement in the testing regional background model changes, and obtains the workman zone;
Step c3: input workman zone, according to the workman's of hypothesis predicted position distribution in advance, the current location of analyzing the workman distributes, prediction workman's movement tendency;
Step c4: the workman's of input prediction movement tendency, by the workman towards checking, determine workman's movement tendency, and to the next position of workman with next is towards predicting.
2. the method for avoiding industrial robot collision workman according to claim 1 is characterized in that, finishes following steps before described step a2:
Step a1: supervisory control comuter judges by the border in the real-time monitoring of visual unit zone whether the workman normally enters the perform region;
Step a11: if the workman does not enter the perform region, then supervisory control comuter is controlled industrial robot according to the preset program complete operation, and returns step a1;
Step a12: if the workman normally enters the perform region, then supervisory control comuter is converted to the cooperative work pattern that workman and industrial robot are worked jointly in the perform region, and enters step a2;
Step a13: if the improper perform region that enters of workman, then the degree of protection of the perform region that enters according to the workman of supervisory control comuter provides the warning message corresponding with degree of protection by alarm unit, and returns step a1.
3. the method for avoiding industrial robot collision workman according to claim 2, it is characterized in that, described visual unit comprises the sensor array on the periphery that is installed on the perform region, forms by sensor array to be positioned at outside the perform region and to be positioned at first surveyed area of perform region periphery and to be positioned at the perform region and to be positioned at second surveyed area of perform region periphery; Supervisory control comuter by the method on the border in the real-time monitoring of visual unit zone is among the step a1:
Step b1: supervisory control comuter judges by sensor array whether the workman enters first surveyed area, if being positioned at first detection signal of the sensor on first surveyed area is obstructed, the warning device that then is controlled by first detection signal provides voice suggestion to the workman, and the information that the workman has entered first surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b2;
Step b2: supervisory control comuter judges by sensor array whether the workman enters second surveyed area, if being positioned at second detection signal of the sensor on second surveyed area is obstructed, the warning device that then is controlled by second detection signal provides the alarm prompting to the workman, and the information that the workman has entered second surveyed area conveyed to supervisory control comuter by bus, and continue to enter step b3;
Step b3: supervisory control comuter judges according to the task situation of industrial robot whether the workman normally enters the perform region according to demand; If not normally entering the stop motion of control industrial robot, and completing steps a13; If normally enter, completing steps a12 then.
4. the method for avoiding industrial robot collision workman according to claim 3, it is characterized in that, described visual unit also comprises the external monitoring camera that is installed on outside the perform region, in step a1, supervisory control comuter is monitored the border of perform region in real time by described external monitoring camera and sensor array.
5. the method for avoiding industrial robot collision workman according to claim 1, it is characterized in that, described visual unit comprises the internal monitoring camera that is installed in the perform region, and in step a2, supervisory control comuter is monitored workman's motion state in real time by described internal monitoring camera.
6. a kind of motion state by the differentiation workman according to claim 1 is collided workman's method to avoid industrial robot, it is characterized in that, definite method in workman's security protection zone is: for centered by current location, be radius with the next position to the distance of current location, with current towards and next towards between angle be that the formed height in fan-shaped bottom surface of central angle is the cylindricality zone of workman's height.
7. a kind of method of avoiding industrial robot collision workman according to claim 6 is characterized in that definite method of industrial robot ground zone of protection is:
The zone of protection S in the j joint of industrial robot
jBe with r
jSpheric region for radius;
Wherein, r
j=| R
j(i+1)-R
j(i) |, s
jRepresent the position that the j joint can arrive in the space, R
j(i) current location in expression j joint, R
j(i+1) the next position in expression j joint;
The set of the zone of protection in all joints that described zone of protection A2 is industrial robot:
A2＝S
1∪?S
2∪...S
n
Wherein, n is the quantity in the joint of industrial robot, and n is natural number, 1≤j≤n.
8. a kind of method of avoiding industrial robot collision workman according to claim 7 is characterized in that described industrial robot target location and the target location of the online adjustment industrial robot motion of speed adjustment unit track and the method for speed are:
Steps d 1: the zone of protection S that judges the j joint
jWith the security protection zone whether overlapping part is arranged, if having, then adjust the next position R in j joint
j(i+1) with at current location R
j(i) the joint velocity V that locates
j(i);
Steps d 2: the current location R that calculates the j joint
j(i) and the interregional bee-line d of security protection
j(i):
d
j(i)＝min|R
j(i)-p
k|
Wherein, p
kLip-deep point for the cylindricality zone in security protection zone;
Steps d 3: the present speed V that adjusts the j joint of industrial robot
j(i), new present speed is V '
j(i):
Wherein, T is the workman's that obtains at step c4 the next position and the time interval of current location on time shaft;
Steps d 4: the next position R that adjusts the j joint of industrial robot
j(i+1), new the next position is R '
j(i+1):
R′
j(i+1)＝R
j(i)+d
j(i)。
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