钻锚机器人人机安全避碰方法

Human-robot safety collision avoidance method for drill-anchor robot

为解决快速掘进系统中钻锚机器人无法实时监测辅助人员的运动,导致钻机与辅助人员可能发生非期望碰撞的问题,从钻锚机器人控制系统角度出发,提出一种钻锚机器人人机安全避碰方法。首先,基于深度视觉实时获取人体骨骼点图构建辅助人员球扫掠凸体碰撞检测模型,基于钻锚机器人三维模型构建钻机球扫掠凸体碰撞检测模型,并使用深度视觉传感器与钻机行程及角度传感器获取的数据实时更新辅助人员和钻机的碰撞检测模型;其次,针对钻锚作业中多人多钻机的碰撞检测,使用基于层次包围盒的碰撞检测方法在粗略的碰撞检测阶段实时检测与辅助人员距离最近的钻机及最短距离,当最短距离小于安全阈值时进入精细碰撞检测阶段实时计算辅助人员与该钻机的最短距离;然后,在钻机末端建立基于人工势场的虚拟排斥力,当钻机与辅助人员的最短距离小于安全阈值时,钻机末端产生虚拟排斥力,钻机进行避碰运动;最后,通过钻锚机器人人机安全实验验证了该方法的有效性和安全性。结果表明:在钻锚作业中钻机与辅助人员最近距离为0.10 m,大于发生碰撞的最短距离,所提方法可以确保钻机不与辅助人员发生非期望碰撞。

In order to solve the problem that the drill-anchor robot can not monitor the movement of the auxiliary personnel in real time in the rapid tunneling system,which may lead to the unexpected collision between the drilling rig and the auxiliary personnel,this paper proposed a human-robot safe collision avoidance method for the drill-anchor robot from the perspective of the control system of the drill-anchor robot.Firstly,based on the real-time acquisition of human skeleton point map by depth vision,the sphere swept convex hulls collision detection model of auxiliary personnel was constructed,and the sphere swept convex hulls collision detection model of drilling rig was constructed based on the 3D model of the drill-anchor robot;the collision detection model of auxiliary personnel and drilling rig was updated in real time by using the data obtained from depth vision sensor,drilling rig travel sensor and angle sensor.Secondly,for the collision detection of multiple persons and multiple drilling rigs in the drilling anchor operation,the collision detection method based on the hierarchical bounding box was used,the nearest drilling rig and the shortest distance to the auxiliary personnel were detected in real time in the rough collision detection stage;when the shortest distance was less than the safety threshold,it entered the fine collision detection stage to calculate the shortest distance between the auxiliary personnel and the drilling rig in real time.Then,the virtual repulsion force based on artificial potential field was established at the end of the drilling rig;when the shortest distance between the drilling rig and the auxiliary personnel was less than the safety threshold,the virtual repulsion force would be generated at the end of the drilling rig,and the drilling rig would avoid collision.Finally,the effectiveness and safety of the method were verified by the human-robot safety experiment of the drill-anchor robot.The experimental results show that the nearest distance between drilling rig and auxiliary personnel is 0.10 m,longer than the shortest distance of collision.The proposed method can ensure that the drilling rig will not have unexpected collision with auxiliary personnel.