CN102360086A - Obstacle collision detection system and method for domestic service robots - Google Patents
Obstacle collision detection system and method for domestic service robots Download PDFInfo
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- CN102360086A CN102360086A CN2011102976700A CN201110297670A CN102360086A CN 102360086 A CN102360086 A CN 102360086A CN 2011102976700 A CN2011102976700 A CN 2011102976700A CN 201110297670 A CN201110297670 A CN 201110297670A CN 102360086 A CN102360086 A CN 102360086A
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Abstract
The invention discloses an obstacle collision detection system and method for domestic service robots, which are characterized in that the obstacle collision detection system comprises a bracket, an elastic mechanism, a counterweight module and a detection module. When a robot collides with an obstacle in the process of moving, under the action of the elastic mechanism, a deflection angle is formed between the conical surface of light emitted from an infrared emission tube and a plane where the infrared emission tube is located, so that the position of a receiving tube capable of receiving signals is changed, and the strength of received signals is also changed; and according to the different positions of the receiving tube capable of receiving signals and the strength of the received signals, the collision position and strength of the robot can be judged; and the position is fed back to a motion control system, then the motion control system stops the motion of the robot. Therefore, the collisions from different heights and positions can be measured by arranging the obstacle collision detection system on a robot, thereby guaranteeing the safety of the robot as well as other objects.
Description
Technical field
The present invention relates to a kind of barrier collision detecting device of family expenses service robot; A kind of barrier collision detecting system and detection method thereof of family expenses service robot are particularly disclosed; The resultant fault thing collision detecting system of avoiding or prevent the family expenses service robot to bump belongs to the Robotics field.
Background technology
At present machine in normal service people collision detecting device adopts is in the place ahead of robot or adorns a collision ring week, and the several position on the collision ring is equipped with microswitch.When barrier was run into by robot, microswitch was closed, and the microswitch closure state of diverse location is corresponding, and robot has met with collision in different positions.For example a collision ring has been installed by the robot in the patent " US 7,571,511 B2 " in its front portion.
This known collision detecting device generally is contained in the position, chassis of robot, can only detect the collision of robot bottom, suits for the robot of disc type.If robot does than higher, the collision on center and top just can't detect.For except also having the robot of miscellaneous part above the chassis, technology commonly used can be dodged when barrier has, measuring barrier at some positions dress infrared sensors in advance.But need many infrared sensors are installed, and can not can both measure barrier in all positions.
Summary of the invention
The objective of the invention is technology limitation to the current robot collision detection; Design a kind of needs and be installed in a position; Just can measure barrier collision detecting system, in time take measures, ensure the safety of robot self from the collision of differing heights, different azimuth.
The present invention is achieved in that a kind of barrier collision detecting system and detection method thereof of family expenses service robot, it is characterized in that: described barrier collision detecting system comprises support, elastic body, counterweight module and detection module; Described support comprises 1 loam cake, and several columns and 1 lower cover, support are that the installation of miscellaneous part is supported; Support is provided with mounting hole, can be installed in the robot, and said elastic body is installed on the loam cake center bottom side of said support; Said counterweight module is installed in the below of said elastic body; And link to each other with elastic body, said detection module is installed on the inside of said support, comprises 1 infrared transmitting tube, several infrared receiving tubes and 1 control circuit board.Said infrared receiving tube is the array symmetrical distribution and is installed on the control circuit board; Said control circuit board is located at the upper surface of support lower cover; The elastic body lower ends of said infrared transmitting tube and support loam cake center bottom side; When the barrier collision detecting system receives when impacting, infrared transmitting tube can squint under the elastic body effect.
Described barrier collision detecting system vertically is installed on the top of robot; Infrared transmitting tube on it and infrared receiving tube have the fixing angle that transmits and receives; When the robot even running; Infrared transmitting tube is in center position, can receive signal near a part of infrared receiving tube of central authorities.
When in robot is advancing, running into barrier; When in robot is advancing, running into barrier; The barrier collision detecting system can be impacted; Because the effect of inertial force, under the elastic body effect, elastic body, counterweight module and infrared transmitting tube have a skew opposite with collision course.The plane at the conical surface of the light of infrared transmitting tube emission and infrared transmitting tube place forms a drift angle, and the position that can receive the receiving tube of signal changes, and its power also changes.According to the diverse location at the power valve place that can receive signal and the signal power that receives, just can judge orientation and intensity that robot is collided.This orientation is fed back to kinetic control system, promptly can take measures such as stop motion, with the inherently safe of protection robot and the safety of other objects robot.
The invention has the beneficial effects as follows: only need a barrier collision detecting system be installed in the robot; Just can measure barrier collision detecting system from the collision of differing heights, different azimuth; When barrier is run into by robot, in time take certain measure, ensure the safety of robot self.The present invention can be widely used on the home-use service robot, makes robot safety walking in the home environment of complicacy.
Description of drawings
Fig. 1 is a system architecture elevational schematic view of the present invention.
Fig. 2 is a system architecture front elevational schematic of the present invention.
Fig. 3 is a pick-up unit receiving unit vertical view of the present invention.
Fig. 4 is a barrier collision detecting system sectional view of the present invention.
Fig. 5 is the I place partial enlarged drawing of Fig. 4.
Infrared transmitting tube working position synoptic diagram when Fig. 6 is the robot even running.
Fig. 7 is robot infrared transmitting tube working position synoptic diagram when running into barrier.
Among the figure: 1, support; 2, elastic body; 3, counterweight module; 11, loam cake; 12, column; 13, lower cover; 41, infrared transmitting tube; 42, infrared receiving tube; 43, control circuit board.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
According to accompanying drawing 1 and accompanying drawing 2, the barrier collision detecting system of family expenses service robot of the present invention is mainly by support 1, and elastic body 2, counterweight module 3, detection module are formed.Support 1 comprises 1 loam cake 11, and several columns 12 and 1 lower cover 13, support 1 are that the installation of miscellaneous part is supported, and support 1 is provided with mounting hole, can be installed in the robot.Elastic body 2 is installed on the loam cake 11 of support 1.Counterweight module 3 is installed in the below of said elastic body.Detection module is installed on support 1 inside.
According to accompanying drawing 2 and 3, detection module comprises infrared transmitting tube 41, infrared receiving tube 42 and control circuit board 43.Infrared transmitting tube 41 is installed on the below of counterweight module 3, is positioned at the centre position of loam cake 11, installs vertically downward.Infrared receiving tube 42 has several, is scattered in an array, is installed on the control circuit board 43.Two circles totally 8 infrared receiving tubes have been installed in the present embodiment.Control circuit board 43 is installed on the lower cover 13.
According to attaching Figure 4 and 5, counterweight module 3 is installed in the outside of elastic body 2, is connected with elastic body.The bottom of infrared transmitting tube 41 is stuck in counterweight module 3 bottoms, is fixed on the counterweight module 3.Elastic body 2 mainly is made up of members such as springs, plays the effect of dynamic balance buffering.
According to accompanying drawing 6, when the robot even running, infrared transmitting tube 41 is in center position, and signal and signal intensity that 4 infrared receiving tubes 42 of first lap can receive are approaching, and 4 infrared receiving tubes 42 of second circle do not receive signal.
According to accompanying drawing 7; When in robot is advancing, running into barrier, the barrier collision detecting system can be impacted, because the effect of inertial force; Under elastic body 2 effects, elastic body 2, counterweight module 3 and infrared transmitting tube 41 have a skew opposite with collision course.Infrared transmitting tube 41 no longer is positioned at the middle, and the conical surface of the light of its emission also forms a drift angle with the plane at infrared transmitting tube 42 place thereupon, and the position that can receive the receiving tube of signal changes, and its power also changes.According to the diverse location at the power valve place that can receive signal and the signal power that receives, just can judge orientation and intensity that robot is collided.This information feedback to kinetic control system, promptly can be taked measures such as stop motion to robot, with the inherently safe of protection robot and the safety of other objects.
Only need a barrier collision detecting system in the present embodiment be installed in the robot, just can measure collision, make robot safety walking in complex environment from differing heights, different azimuth.
Present embodiment only is to be used to specify technical application scheme of the present invention and unrestricted, and protection of the present invention is as the criterion so that claim of the present invention is said.It will be understood by those of skill in the art that technical scheme of the present invention is made amendment or is equal to replacement, but do not break away from aim of the present invention and scope, all should be encompassed within the claim protection domain of the present invention.
Claims (4)
1. the barrier collision detecting system of a family expenses service robot, it is characterized in that: described barrier collision detecting system comprises support, elastic body, counterweight module and detection module; Described support comprises 1 loam cake, and several columns and 1 lower cover, support are that the installation of miscellaneous part is supported; Support is provided with mounting hole, can be installed in the robot, and said elastic body is installed on the loam cake center bottom side of said support; Said counterweight module is installed in the below of said elastic body; And link to each other with elastic body, said detection module is installed on the inside of said support, comprises 1 infrared transmitting tube, several infrared receiving tubes and 1 control circuit board.
2. according to the barrier collision detecting system of the described family expenses service robot of claim 1; It is characterized in that: said infrared receiving tube is the array symmetrical distribution and is installed on the control circuit board; Said control circuit board is located at the upper surface of support lower cover; The elastic body lower ends of said infrared transmitting tube and support loam cake center bottom side, when the barrier collision detecting system receives when impacting, infrared transmitting tube can squint under the elastic body effect.
3. the detection method of the barrier collision detecting system of claim 1 or 2 said family expenses service robots; It is characterized in that: when in robot is advancing, running into barrier; The barrier collision detecting system receives when impacting, because the effect of inertial force, under the elastic body effect; Elastic body, counterweight module and infrared transmitting tube have a skew opposite with collision course; The plane at the conical surface of the light of infrared transmitting tube emission and infrared transmitting tube place forms a drift angle, and the position that can receive the receiving tube of signal changes, and its power also changes; According to the diverse location at the receiving tube place that can receive signal and the signal power that receives, just can judge orientation and intensity that robot is collided; This orientation is fed back to kinetic control system, promptly can take the stop motion measure, with the inherently safe of protection robot and the safety of other objects robot.
4. according to the detection method of the barrier collision detecting system of the said family expenses service robot of claim 3; It is characterized in that: measure collision from differing heights, different azimuth; Only need a barrier collision detecting system is installed in the robot, make robot safety walking in complex environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201110297670 CN102360086B (en) | 2011-09-30 | 2011-09-30 | Obstacle collision detection system and method for domestic service robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110297670 CN102360086B (en) | 2011-09-30 | 2011-09-30 | Obstacle collision detection system and method for domestic service robots |
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| CN102360086A true CN102360086A (en) | 2012-02-22 |
| CN102360086B CN102360086B (en) | 2013-07-24 |
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| CN 201110297670 Active CN102360086B (en) | 2011-09-30 | 2011-09-30 | Obstacle collision detection system and method for domestic service robots |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782750A (en) * | 2017-11-14 | 2019-05-21 | 宝时得科技（中国）有限公司 | Automatic running device and its barrier-avoiding method |
| CN109960251A (en) * | 2017-12-26 | 2019-07-02 | 沈阳新松机器人自动化股份有限公司 | A kind of induction avoidance mechanism, omnidirectional for chassis |
| CN110109190A (en) * | 2019-04-16 | 2019-08-09 | 浙江大华机器人技术有限公司 | A kind of object space determines method and system |
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
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| CN1214551A (en) * | 1997-09-30 | 1999-04-21 | 松下电器产业株式会社 | Piezo-electric actuator, infrared sensor and piezo-electric light deflection device |
| US20020189045A1 (en) * | 2001-06-05 | 2002-12-19 | Hiroshi Mori | Self-moving cleaner |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782750A (en) * | 2017-11-14 | 2019-05-21 | 宝时得科技（中国）有限公司 | Automatic running device and its barrier-avoiding method |
| CN109960251A (en) * | 2017-12-26 | 2019-07-02 | 沈阳新松机器人自动化股份有限公司 | A kind of induction avoidance mechanism, omnidirectional for chassis |
| CN110109190A (en) * | 2019-04-16 | 2019-08-09 | 浙江大华机器人技术有限公司 | A kind of object space determines method and system |
| CN110597260A (en) * | 2019-09-20 | 2019-12-20 | 深圳乐动机器人有限公司 | Robot obstacle avoidance method and robot |
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| CN102360086B (en) | 2013-07-24 |
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