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CN-121973283-A - Robot anti-collision system and method based on laser radar

CN121973283ACN 121973283 ACN121973283 ACN 121973283ACN-121973283-A

Abstract

A robot anti-collision system and method based on a laser radar relate to the technical field of industrial robot safety protection, in particular to a robot anti-collision system and method based on a laser radar. The laser radar is used for scanning a robot working area in real time to acquire position information and distance information of targets around the robot, the safety area dividing module is used for dividing a detection space around the robot into a plurality of safety level areas according to detection data of the laser radar, the signal output module 30 is used for receiving the digital output signals when the targets are detected to enter the different safety level areas, and the safety recovery module is used for carrying out safety confirmation and controlled recovery on recovery operation after danger release after the robot enters an alarm stop state. The method realizes early warning, grading protection and controlled recovery in the operation process of the robot through laser radar real-time sensing, grading area division, digital signal linkage control and alarm locking recovery mechanism, thereby effectively improving the anti-collision safety and operation reliability of the robot.

Inventors

  • YANG DEKUN
  • DONG LIN
  • SONG HUI
  • HAN SEN
  • WU MENGQI

Assignees

  • 山东大阳机器人有限公司

Dates

Publication Date
20260505
Application Date
20260402

Claims (8)

  1. 1. A robot anti-collision system based on a laser radar is characterized by comprising the laser radar (10), a safety area dividing module (20), a signal output module (30), a robot control module (40), an alarm prompt module (50), a safety recovery module (60) and a robot body (70), wherein the laser radar (10) is used for scanning a robot working area in real time to acquire position information and distance information of targets around the robot, the safety area dividing module (20) is used for dividing a detection space around the robot into a plurality of safety level areas according to detection data of the laser radar, the safety level areas at least comprise a notice area, an early warning area and an alarm area, the signal output module (30) is used for outputting digital output signals matched with the corresponding safety level areas when the targets enter the different safety level areas, the robot control module (40) is used for receiving the digital output signals and executing corresponding grading safety control strategies according to the safety level areas where the targets are located, the alarm prompt module (50) is used for executing at least one of voice prompt, acousto-optic alarm or interface alarm when the targets enter the different safety level areas, the safety recovery module (60) is used for stopping the robot after the robot is installed on a mechanical platform or the robot body (70) after the robot is stopped or the robot is controlled to recover from working on the four sides after the robot is in a controlled state.
  2. 2. The robot anti-collision system based on the laser radar according to claim 1, wherein the safety area dividing module (20) divides a detection space around the robot into an attention area (201), an early warning area (202) and an alarm area (203), the detection range of the attention area (201) is 3-5 meters away from the robot or the laser radar, the detection range of the early warning area (202) is 1-3 meters away from the robot or the laser radar, and the detection range of the alarm area (203) is within 1 meter away from the robot or the laser radar.
  3. 3. The robot anti-collision system based on the laser radar of claim 1, wherein the digital output signals output by the signal output module (30) at least comprise a first digital output signal D O1 , a second digital output signal D O2 and a third digital output signal D O3 , wherein the first digital output signal D O1 corresponds to the attention area (201), the second digital output signal D O2 corresponds to the early warning area (202) and the third digital output signal D O3 corresponds to the warning area (203), the robot control module (40) is provided with a plurality of digital input ports, and the digital output signals are respectively connected to the digital input ports corresponding to the robot control module (40) in a hardware wiring mode so as to form one-to-one correspondence linkage relations between different safety level areas and robot control inputs.
  4. 4. The robot anti-collision system based on the laser radar according to claim 1, wherein the safety recovery module (60) is used for maintaining system locking after the robot enters an alarm state, so that the robot does not automatically recover operation after a target leaves an alarm area, an operator removes the alarm state through a human-computer interaction interface after confirming site safety and manually executes the operation of powering on and starting the robot again, the safety recovery module (60) is further used for continuously monitoring the attention area (201), the early warning area (202) and the alarm area (203) within a preset monitoring time after the robot is restarted, and a corresponding hierarchical safety control strategy is retriggered if the target enters the early warning area or the alarm area again within the preset monitoring time.
  5. 5. A robot anti-collision method based on a laser radar is characterized by comprising the following steps: s1, carrying out real-time scanning on a robot operation area through a laser radar to obtain position information and distance information of targets around the robot, dividing a detection space into an attention area, an early warning area and an alarm area according to the distance between the targets and the robot or the laser radar, and outputting corresponding area state signals; s2, sending state signals of different areas to a digital input port of a robot control module (40) through a digital output port; S3, triggering a safety prompt when a target enters an attention area (201), and keeping the robot in normal operation; S4, triggering a safety prompt and controlling the robot to run in a decelerating mode when the target enters the early warning area (202); S5, when the target is far away from the early warning area (202) and returns to the attention area, the robot is controlled to restore to the original set running speed; s6, when a target enters an alarm zone (203), controlling the robot to stop emergently and power down, and outputting alarm information; S7, after alarm triggering, maintaining system locking, and after the operator confirms site safety, unlocking and manually recovering the operation of the robot; S8, continuously monitoring the safety area within a preset time after the robot is restarted, and if the abnormal approaching target is detected again, re-executing the corresponding safety control.
  6. 6. The method of claim 5, wherein in the step S3, when the target enters the attention area (201), the laser radar (10) outputs a first digital output signal D O1 , and the robot control module (40) triggers a voice prompt or an acousto-optic prompt after receiving the first digital output signal D O1 .
  7. 7. The method of claim 5, wherein in the step S4, when the target enters the pre-warning area (202), the laser radar (10) outputs a second digital output signal D O2 , and the robot control module (40) receives the second digital output signal D O2 and simultaneously reduces the running speed of the robot to 15% of the rated speed while sending out the prompt message.
  8. 8. The method of claim 5, wherein in the step S5, when the target enters the warning area (203), the laser radar (10) outputs a third digital output signal D O3 , the robot control module (40) immediately executes the emergency stop and power down of the robot after receiving the third digital output signal D O3 , simultaneously triggers an audible and visual alarm, and displays warning information on the operation interface, in the warning state, even if the target leaves the warning area (203), the system still keeps the locking state, the robot does not automatically resume operation, and only after the operator completes the safety confirmation and releases the warning state, the robot can be powered on again and started.

Description

Robot anti-collision system and method based on laser radar Technical Field The invention relates to the technical field of industrial robot safety protection, in particular to a robot anti-collision system and method based on a laser radar. Background With the continuous improvement of industrial automation level, industrial robots have been widely used in operation scenes such as transportation, assembly, welding, sorting, and the like. In the application environment where robots and people may share or work adjacently, how to ensure the safety of people and consider the operation efficiency of robots has become an important problem in the design of robot systems. The existing industrial robot anti-collision technology mainly comprises physical isolation modes such as a safety fence, a photoelectric protection device, a safety carpet and the like, and a collision detection method based on dynamic parameters such as joint moment, current and the like. The technical scheme mostly depends on a fixed isolation area, or responds after the robot has collided, contacted or abnormally stressed, and belongs to a passive protection mode, and effective prevention is difficult to realize before the collision occurs. In addition, the existing partial safety detection means have the defects of limited perception range, lack of continuous, real-time and graded safety recognition capability for the approaching process of personnel or obstacles, insufficient linkage degree with a robot control system, single shutdown control, lack of multi-stage safety strategies such as prompting, decelerating and emergency stopping, and the like, and general lack of reliable locking and manual confirmation mechanisms in the aspect of recovery control after danger release, so that secondary risk in the process of error recovery or recovery is easily caused. Disclosure of Invention Aiming at the defects and shortcomings of the prior art, the invention provides a robot anti-collision system and a robot anti-collision method based on a laser radar, which realize early warning, grading protection and controlled recovery in the operation process of the robot by means of laser radar real-time sensing, grading area division, digital signal linkage control and an alarm locking recovery mechanism, thereby effectively improving the anti-collision safety and the operation reliability of the robot. In order to achieve the above purpose, the robot anti-collision system based on the laser radar adopts the following technical scheme that the laser radar 10, the safety area dividing module 20, the signal output module 30, the robot control module 40, the alarm prompting module 50, the safety recovery module 60 and the robot body 70 are adopted, the laser radar 10 is used for scanning a robot working area in real time to acquire position information and distance information of targets around the robot, the safety area dividing module 20 is used for dividing a detection space around the robot into a plurality of safety level areas according to detection data of the laser radar, the safety level areas at least comprise a notice area, an early warning area and an alarm area, the signal output module 30 is used for outputting digital output signals matched with the corresponding safety level areas when the targets are detected to enter the different safety level areas, the robot control module 40 is used for receiving the digital output signals and executing corresponding grading safety control strategies according to the safety level areas where the targets are located, the alarm prompting module 50 is used for executing at least one of voice prompting, acousto-optic alarming or interface alarming when the targets enter the different safety level areas, the safety recovery module 60 is used for confirming that the robot is in a dangerous state after the robot is stopped or the robot is stopped on the robot body 10, and the robot is controlled to recover from working on the safety platform after the four sides of the robot is stopped or the robot body is controlled to be stopped. The safety area dividing module 20 divides the detection space around the robot into an attention area 201, an early warning area 202 and an alarm area 203, wherein the detection range of the attention area 201 is 3-5 meters away from the robot or the laser radar, the detection range of the early warning area 202 is 1-3 meters away from the robot or the laser radar, and the detection range of the alarm area 203 is within 1 meter away from the robot or the laser radar. The digital output signals output by the signal output module 30 at least comprise a first digital output signal D O1, a second digital output signal D O2 and a third digital output signal D O3, wherein the first digital output signal D O1 corresponds to the attention area 201, the second digital output signal D O2 corresponds to the early warning area 202, the third digital output signal D O3 corresponds to the warnin