When the collaborative robot works on the production line, there will be many human-machine cooperation situations. At this time, due to a variety of uncontrollable factors, it will enter the working range of the collaborative robot. In order to avoid the collision and injury between the cooperative robot and the people entering its area during the working process, the production line will be equipped with a machine vision system to assist in identifying the working conditions of the cooperative robot. However, in order to more efficiently and reliably ensure that the cooperative robot can realize the functions of emergency stop and collision avoidance when it collides with a person, both the robot base sensor and the robot end sensor need to be introduced to collect the load situation of the collaborative robot system at the current moment in real time to determine whether there is external force interference. Combined with the robot vision equipment, confirm whether the impact may occur or has occurred, so as to ensure the safety and reliability of the production line.
