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首页> 外文期刊>International Journal of Computer Integrated Manufacturing >Active collision avoidance for human-robot collaboration driven by vision sensors
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Active collision avoidance for human-robot collaboration driven by vision sensors

机译：由视觉传感器驱动的人体机器人协作的主动碰撞避免

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摘要

Establishing safe human-robot collaboration is an essential factor for improving efficiency and flexibility in today's manufacturing environment. Targeting safety in human-robot collaboration, this paper reports a novel approach for effective online collision avoidance in an augmented environment, where virtual three-dimensional (3D) models of robots and real images of human operators from depth cameras are used for monitoring and collision detection. A prototype system is developed and linked to industrial robot controllers for adaptive robot control, without the need of programming by the operators. The result of collision detection reveals four safety strategies: the system can alert an operator, stop a robot, move away the robot, or modify the robot's trajectory away from an approaching operator. These strategies can be activated based on the operator's existence and location with respect to the robot. The case study of the research further discusses the possibility of implementing the developed method in realistic applications, for example, collaboration between robots and humans in an assembly line.
机译：建立安全人员机器人协作是提高当今制造环境效率和灵活性的必要因素。本文针对人机协作中的安全性，报告了一种在增强环境中有效在线碰撞避免的新方法，其中来自深度相机的虚拟三维（3D）机器人和人类运营商的真实图像的模型用于监测和碰撞检测。原型系统是开发的，并与工业机器人控制器相关联，用于自适应机器人控制，而无需由运营商编程。碰撞检测的结果显示了四种安全策略：系统可以提醒操作员，停止机器人，移开机器人，或修改机器人的轨迹远离接近的操作员。可以根据操作员的存在和位置相对于机器人激活这些策略。对该研究的案例研究进一步探讨了在现实应用中实施开发方法的可能性，例如，装配线中机器人和人类之间的协作。

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