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Dynamic Speed and Separation Monitoring Based on Scene Semantic Information

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Abstract

Human-robot collaboration (HRC) based on speed and separation monitoring should consider the difference of risk factors in the scene; otherwise, the sudden invasion of non-operators or routine operation of the operator may stop the robot system. In this paper, we propose a sensing network based on the fusion of multi-information to obtain scene semantic information and employ it to realize risk assessment. However, due to the influence of light on the image information sensed by RGB cameras, it is not easy to obtain accurate scene semantic information. We apply a depth camera and a thermal imager to obtain depth and infrared information to enhance the RGB images. We build a risk information database and use it to quantify the obtained scene semantic information into risk factors. The dynamic change of risk factors judges whether the distance between humans and robots is safe. The experimental results verify that the algorithm of intelligent human-robot monitoring can realize the analysis of dangerous situations and control the robot system, thereby reducing the number of false shutdowns and improving safety.

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Acknowledgement

Research was supported by the National Key Research and Development Program of China under Grant 2019YFB1310200.

Code Availability

All data and materials as well as software application or custom code support our published claims and comply with field standards.

Funding

Partial financial support was received from the National Key Research and Development Program of China under Grant 2019YFB1310200.

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Author notes

  1. Botao Yang and ShuXin Xie contributed equally to this work.

Authors and Affiliations

  1. Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215123, China

    Botao Yang, ShuXin Xie, Guodong Chen, Zihao Ding & Zhenhua Wang

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  1. Botao Yang
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  2. ShuXin Xie
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  3. Guodong Chen
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  4. Zihao Ding
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  5. Zhenhua Wang
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by Botao Yang, Shuxin Xie, Guodong Chen, Zihao Ding, and Zhenhua Wang. The first draft of the manuscript was written by Botao Yang and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript. Botao Yang and Shuxin Xie are contributes equally to this work.

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Correspondence to Guodong Chen.

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Yang, B., Xie, S., Chen, G. et al. Dynamic Speed and Separation Monitoring Based on Scene Semantic Information. J Intell Robot Syst 106, 35 (2022). https://doi.org/10.1007/s10846-022-01607-2

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  • DOI: https://doi.org/10.1007/s10846-022-01607-2

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