One of the main issues about safety in human-robot interaction is the distance calculation between robot and human. The acquisition of real-time distance information between robot and human allows the robot to modify its motion to ensure safety. This paper presents a real-time distance calculation framework that enables safe human-robot interaction. The human is tracked by an RGB-D sensor, and the joint positions of the human are acquired from the skeletal tracking algorithm. The representation of the robot and the human are formed by capsules to simplify and speed up the distance calculation. The distance calculation is implemented by using the GJK (Gilbert-Johnson-Keerthi) algorithm. The framework is validated by simulations and real experiments to show the efficiency of the framework. The results demonstrate the applicability of the framework for safe human-robot interaction applications.

人机交互安全的主要问题之一是机器人与人之间的距离计算。机器人与人之间实时距离信息的获取使机器人能够修改其运动以确保安全。本文提出了一种实时距离计算框架，可实现安全的人机交互。人体由RGB-D传感器跟踪，人体的关节位置由骨骼跟踪算法获取。机器人和人的表示由胶囊组成，以简化和加快距离计算。距离计算采用GJK（Gilbert-Johnson-Keerthi）算法实现。该框架通过模拟和真实实验进行验证，以显示框架的效率。