面向紧耦合协作空间的人-机点云快速重建与碰撞检测方法研究

doi:10.3901/JME.2025.16.057

机械工程学报 ›› 2025, Vol. 61 ›› Issue (16): 57-69.doi: 10.3901/JME.2025.16.057

• 仪器科学与技术 • 上一篇

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面向紧耦合协作空间的人-机点云快速重建与碰撞检测方法研究

董元发^1,2, 黄继涛², 黎海凡³, 周彬^1,2, 彭巍^1,2, 安友军^1,2

1. 三峡大学水电机械设备设计与维护湖北省重点实验室宜昌 443002；
2. 三峡大学机械与动力学院宜昌 443002；
3. 中国长江电力股份有限公司宜昌 443002

接受日期:2024-09-05 出版日期:2025-02-11 发布日期:2025-02-11
作者简介:董元发，男，1988年出生，博士，教授，博士研究生导师。主要研究方向为智能装备系统创新设计与高效运维。E-mail：dongyf@ctgu.edu.cn;周彬(通信作者)，男，1988年出生，博士，讲师。主要研究方向为人车共驾，车辆智能控制。E-mail：zhoubin@ctgu.edu.cn
基金资助:
国家自然科学基金(52075292)、湖北省自然科学基金(2023AFB1116，2022CFB798)和三峡大学科学基金(2024RCKJ032)资助项目

Research on Rapid Reconstruction and Collision Detection of Human Machine Point Clouds for Tightly Coupled Collaborative Spaces

DONG Yuanfa^1,2, HUANG Jitao², LI Haifan³, ZHOU Bin^1,2, PENG Wei^1,2, AN Youjun^1,2

1. Hubei Provincial Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang 443002;
2. College of Mechanical & Power Engineering, China Three Gorges University, Yichang 443002;
3. China Yangtze Power Co., Ltd., Yichang 443002

Accepted:2024-09-05 Online:2025-02-11 Published:2025-02-11

摘要/Abstract

摘要： 高可靠的人机碰撞检测是紧耦合协作空间下机械臂安全运行面临的主要挑战。针对紧耦合协作空间下点云遮挡导致人体障碍空间感知不全、障碍包络空间冗余导致协作机械臂姿态规划失败等问题，结合人机骨架信息与稀疏采样方法实现了人机点云的快速重建，提出一种基于体素逼近策略的紧凑型轴对齐包围盒生成与碰撞检测方法，并结合某型减速器人机协作典型场景验证了所提方法在人体障碍空间感知的精准度。试验结果表明作者所提方法能够在不损失效率的前提下实现人机点云的快速、完整重建与碰撞检测，可有效减少障碍包络空间体积92.38%，扩大机械臂避障运动空间1.15 m³。

关键词: 人机协作装配, 点云重建, AABB包围盒, 体素逼近, 碰撞检测

Abstract: High reliability human-machine collision detection is the main challenge for the safe operation of robotic arms in tightly coupled collaborative spaces. Aiming at the problems of point cloud occlusion in tightly coupled collaboration space leading to incomplete perception of human obstacle space, and obstacle envelope space redundancy leading to failure of collaborative manipulator posture planning, a combination of human-machine skeleton information and sparse sampling method is used to realize the rapid reconstruction of human-machine point cloud, and a compact axis-aligned bounding box generation and collision detection method based on voxel approximation strategy is proposed. The accuracy of the proposed method in human obstacle spatial perception was verified in a typical scenario of human-machine cooperation for a certain type of reducer. The experimental results show that the proposed method can achieve fast and complete reconstruction and collision detection of human-machine point clouds without losing efficiency. It can effectively reduce the volume of obstacle envelope space by 92.38% and expand the obstacle avoidance motion space of the robotic arm by 1.15 m³.

Key words: human-machine collaborative assembly, point cloud reconstruction, axis-aligned bounding box, voxel approximation, collision detection

中图分类号:

TG156

董元发, 黄继涛, 黎海凡, 周彬, 彭巍, 安友军. 面向紧耦合协作空间的人-机点云快速重建与碰撞检测方法研究[J]. 机械工程学报, 2025, 61(16): 57-69.

DONG Yuanfa, HUANG Jitao, LI Haifan, ZHOU Bin, PENG Wei, AN Youjun. Research on Rapid Reconstruction and Collision Detection of Human Machine Point Clouds for Tightly Coupled Collaborative Spaces[J]. Journal of Mechanical Engineering, 2025, 61(16): 57-69.

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面向紧耦合协作空间的人-机点云快速重建与碰撞检测方法研究

Research on Rapid Reconstruction and Collision Detection of Human Machine Point Clouds for Tightly Coupled Collaborative Spaces

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