Sensorbasierte, echtzeitfähige Online-Bahnplanung für die Mensch-Roboter-Koexistenz
Sensorbasierte, echtzeitfähige Online-Bahnplanung für die Mensch-Roboter-Koexistenz
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Sensorbasierte, echtzeitfähige Online-Bahnplanung für die Mensch-Roboter-Koexistenz
DOI：
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Thorsten Gecks
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文献类型：
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作者：
Thorsten Gecks
人机合作是一个非常活跃的研究领域，旨在将机器人和人类的特定能力结合起来，以实现新的劳动形式。成功合作或共存的一个要求是，在重型和危险的机器人手臂存在时，人类操作员的安全。作为第二个目标，机器人系统的高可用性对于促进其在工业中的采用非常重要。因此，可以确定两个目标：第一，检测人类以启用安全措施，第二，通过机器人手臂的规避行为来规划路径以避免阻塞。这两个方面在本工作中都有涉及。人类操作员和其他障碍物的检测是由静态摄像机网络完成的，监控人类和机器人的共同工作空间。静态相机允许使用一种有效的背景减去方法，并通过校准-使用已知工作空间对象的模型。后者提供了一种检测未知物体（如人类）被已知物体遮挡的方法。本文提出的基于图像的碰撞检测和距离计算方法正确地考虑和处理了这些问题。此外，描述了处理动态工作空间背景的方法，这在工业工作空间中很常见，并且给背景减法带来了困难。采用距离计算方法，实现基于距离的机器人速度控制，保证人机安全共存。本文研究的路径规划方法使用可用的传感器数据在每个系统周期（100 ms）中对当前障碍情况做出反应。所开发的概念将高维配置空间中随机静态图的全局路径规划与图的顶点和边的昂贵碰撞测试的限制相结合。图中的未知碰撞或距离信息由已知信息估计，这些信息存储在系统周期中。提出了一个框架来根据工作空间活动调整这些信息。因此，有了这个概念，就有可能在存在动态障碍物的情况下满足实时需求，同时在静态环境中实现系统周期的统计完整性。研究了两种路径规划器变体：基于碰撞测试的路径优化变体和基于距离测量的时间优化变体。后者特别适合于人机合作，因为它还生成具有扩展间隙的路径，从而增加共享工作空间的人机工程学。
Human-robot cooperation is a very active field of research, aiming to combine the specific capabilities of robots and humans to enable new forms of labor. One requirement for successful cooperation or coexistence is the safety of the human operator in the presence of heavy-weight and dangerous robot arms. As a second goal, high availability of the robot system is important to facilitate its adoption in industry. Thus two goals can be identified: first, detection of the human to enable safety measures, and second, path planning to avoid blockades by evasive behaviour of the robot arm. Both aspects are covered in this work. Detection of the human operator and other obstacles is accomplished by a network of static cameras, monitoring the common workspace of the human and the robot. The static cameras allow to use an efficient background subtraction method and – through calibration – the use of models of known workspace object. The latter provides a means to detect occlusions of unknown objects (such as the human) by known objects. These are considered and handled correctly in the image-based collision detection and distance calculation methods presented in this work. Additionally, methods are described to cope with dynamic workspace backgrounds, which are common in industrial work spaces and impose difficulties on background subtraction methods. Using a distance calculation method, distance-based velocity control of the robot is realized to ensure safe human-robot coexistence. The path planning method investigated here uses the available sensor data to react to current obstacle situations in each system cycle (100 ms). The developed concept combines global path planning on a randomized, static graph in a high-dimensional configuration space with the limitation of costly collision tests in the vertices and edges of the graph. Unknown collision or distance information in the graph is estimated from known information, which is stored over system cycles. A framework is presented to adapt this information according to the workspace activity. Thus, with this concept it is possible to meet real-time demands in the presence of dynamic obstacles while achieving statistical completeness over system cycles in static environments Two path planner variants are investigated: a path-optimizing variant based on the collision test and a time-optimizing variant based on the distance measurement. The latter is especially well suited for human-robot cooperation as it also generates paths with extended clearance increasing the ergonomy of shared work spaces.
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DOI：
10.1109/iros.2007.4399187
发表时间：
2007
期刊：
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
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DOI：
10.1109/icdsc.2008.4635717
发表时间：
2008
期刊：
2008 Second ACM/IEEE International Conference on Distributed Smart Cameras
影响因子：
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作者：
Henrich D;Gecks Th.
通讯作者：
Gecks Th.
DOI：
10.1007/978-3-642-10331-5_73
发表时间：
2009
期刊：
影响因子：
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作者：
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通讯作者：
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DOI：
10.1109/roman.2005.1513837
发表时间：
2005
期刊：
ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005.
影响因子：
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作者：
Gecks T;Henrich D.
通讯作者：
Henrich D.