A method for preventing collisions in a robotic cell environment 100 comprises determining a critical area 109, 111, 121 for at least one visual identifier 103 within the robotic cell environment 100, determining an error area 125 for the visual identifier 103 relative to the critical area 109, 111, 121, the error area 125 being a danger zone where a robot 105 may collide with another robot or object within the environment 100, detecting movement of the visual identifier 103 within the robotic cell environment 100 corresponding to an action occurring within the robotic cell environment 100, determining the location of the visual identifier 103, determining if the location of the visual identifier 103 lies within the error area 125, if the location of the visual identifier 103 is determined to be within the critical area 109, 111, 121 allowing the action to continue within the robotic cell environment 100 and, if the location of the visual identifier 103 is determined to be within the error area 125, performing one or more pre-determined actions. The pre-determined actions may include altering the position of the visual identifier 103, stopping movement of one or more parts of the robot 105 or issuing a notification to a user, such as an audible or visual notification. The visual identifier 103 may be an ArUco marker. The method may use images received from a camera 101.
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