基于三维视觉的机器人安全预警系统

在许多自动化应用场景中，如装配和分拣过程中，工业机器人的应用是提高生产质量和生产效率的一个重要环节。在机器人工作过程中，保证机器人和工人工作的安全，是推动机器人应用和发展的首要前提。该文提出一种基于三维视觉的机器人安全预警系统。首先，该系统利用三维相机对监控场景进行高精度三维重建，并将多个点云进行融合;然后，提取人体关键点，并根据三维人体关键点判断人与机械臂的安全距离;最后，计算判断人体与机器人是否处于设定的安全距离范围，并据此控制机械臂的工作状态。实验结果表明，该文所开发的安全预警系统能保障大视野范围内的人员安全。

A Robot Safety Warning System Based on 3D Vision

In many automation application scenarios, such as assembly and sorting processes, the use of industrial robots is an important part of improving production quality and productivity. During the working processes, safety is one of the primary prerequisites to be considered. In this paper, a safety warning system based on 3D vision for robots is proposed. First, the system uses 3D cameras to perform high-precision 3D reconstruction of the monitoring scene and fuse multiple point clouds; secondly, the human key points are extracted and the safety distance between the human and the robot arm is judged according to the key|points; finally,the calculation determines whether the human and the robot are at the set safety distance and controls the working state of the robot arm. Experimental results show that the proposed safety warning system is able to work within a large field of view.