CN104515995A - Robot anticollision system based on sonar detection - Google Patents
Robot anticollision system based on sonar detection Download PDFInfo
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- CN104515995A CN104515995A CN201410716060.3A CN201410716060A CN104515995A CN 104515995 A CN104515995 A CN 104515995A CN 201410716060 A CN201410716060 A CN 201410716060A CN 104515995 A CN104515995 A CN 104515995A
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- robot
- collision
- sonar contact
- sonar
- controller
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot safety designing method, in particular to a robot anticollision system based on sonar detection. A sonar detection device is arranged at a key position of a robot, and protection action is performed within a set threshold value range in a stepped manner. The robot anticollision system has the advantages that compared with a collision algorithm utilizing signals like motor torque and angle to detect collision events and responding, at the time, collision occurs already, and damage is caused already; sonar technology is introduced, response is made before collision occurs to prevent the collision events; compared with a scheme utilizing a visual system to prevent collision, a current visual system is greatly influenced by light, so that accuracy in detection of the collision events is difficult to realize, and the sonar technology is relatively mature; effect of reliably preventing the collision is realized through a detection mode optimizing conventional similar schemes.
Description
Technical field
The present invention relates to a kind of robot security's method for designing, particularly relate to a kind of robot collision avoidance system based on sonar contact, sonar contact device is set at robot key position, make protection act at the threshold range internal classification of setting.
Background technology
Along with the continuous of computer technology is developed to intelligent direction, the continuous expansion in robot application field and in-depth, industrial robot has become a kind of new high-tech industry, for industrial automation level has played great function, by to produce future and social development plays a part more and more important.Usually, robot is widely used in electronic product, as fields such as auto industry, plastics industry, pharmaceutical industries and food industry, moving to take, assembling, spraying for completing, the operation such as welding, to replace manual operation, thus enhances productivity.
Machine person to person cooperation work is the direction of robot future development, and robot is a high speed and the very large equipment of moment, and not resolving anti-collision problem then cannot the safety of safeguard work personnel.
Summary of the invention
The present invention for the deficiency that prior art exists, provides a kind of robot collision avoidance system based on sonar contact just, uses the collision avoidance system of sonar technology, can halt when robot not yet collides human body, protection personal security.
For solving the problem, the technical solution used in the present invention is as follows:
Based on a robot collision avoidance system for sonar contact, comprise the following steps:
1) in robot, install sonar contact device, gather robot traffic direction information by sonar contact device;
2) information by gathering calculates the distance of robot counterbody, and the information of sonar contact device is sent to collision-prevention controller;
3) whether collision-prevention controller is risk distance according to the Distance Judgment received, and according to the threshold value of setting, send the instruction of next step action, do not reach risk distance, robot normally runs, and reaches risk distance, sends the instruction of protection act;
4) protection act is divided into 2 grades; First class of protection action: the risk distance reaching first class of protection action, controller sends the instruction stopping robot motion; Second class protection action: stop robot motion instruction ignore, and reach the risk distance of second class protection action with the distance of barrier, then cut off robot power supply.
Further, described sonar contact device is arranged on the free movement end of robot arm.
Further, described collision-prevention controller independently controller, is positioned at the higher level of robot controller.
Further, described threshold value sets according to the travelling speed of robot or its parts.
Further, described collision-prevention controller is connected with the isolating switch of robot primary power.
Further, described sonar contact device is active detector, be directly connected by connection, and connection is equiped with magnet ring with controller.
Compared with prior art, implementation result of the present invention is as follows in the present invention:
1, with utilize the input such as motor torque, angle collision accident and compared with the collision algorithm of making a response, now there occurs collision, injury causes, and the present invention introduces sonar technology, just make a response when colliding and not yet occurring, prevention collision accident occurs;
2, compared with utilizing the scheme of vision system anticollision, current vision system is comparatively large by the impact of light, is difficult to accomplish collision detection event accurately, sonar technology then relative maturity;
3, the present invention is by optimizing the detection mode of traditional similar scheme, reaches the effect of reliable pre-anticollision.
Accompanying drawing explanation
Fig. 1 is a kind of robot collision avoidance system structural representation based on sonar contact of the present invention.
Embodiment
Below in conjunction with specific embodiments content of the present invention is described.
As shown in Figure 1, for a kind of based on the robot collision avoidance system structural representation of sonar contact,
Based on a robot collision avoidance system for sonar contact, comprise the following steps:
1) in robot, install sonar contact device, gather robot traffic direction information by sonar contact device;
2) information by gathering calculates the distance of robot counterbody, and the information of sonar contact device is sent to collision-prevention controller;
3) whether collision-prevention controller is risk distance according to the Distance Judgment received, and according to the threshold value of setting, send the instruction of next step action, do not reach risk distance, robot normally runs, and reaches risk distance, sends the instruction of protection act;
4) protection act is divided into 2 grades; First class of protection action: the risk distance reaching first class of protection action, controller sends the instruction stopping robot motion; Second class protection action: stop robot motion instruction ignore, and reach the risk distance of second class protection action with the distance of barrier, then cut off robot power supply.
Further, described sonar contact device is arranged on the free movement end of robot arm.
Further, described collision-prevention controller independently controller, is positioned at the higher level of robot controller.
Further, described threshold value sets according to the travelling speed of robot or its parts.
Further, described collision-prevention controller is connected with the isolating switch of robot primary power.
Further, described sonar contact device is active detector, be directly connected by connection, and connection is equiped with magnet ring with controller.
At the key position of robot, place sonar contact device towards the direction that may collide, according to the distance size of preceding object thing, make different Preservation tactics by given threshold; 1, reach the risk distance of first class of protection action, controller sends the instruction stopping robot motion; 2, stop robot motion instruction ignore, and reach the risk distance of second class protection action with the distance of barrier, then cut off robot power supply.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1., based on a robot collision avoidance system for sonar contact, it is characterized in that, comprise the following steps:
1) in robot, install sonar contact device, gather robot traffic direction information by sonar contact device;
2) information by gathering calculates the distance of robot counterbody, and the information of sonar contact device is sent to collision-prevention controller;
3) whether collision-prevention controller is risk distance according to the Distance Judgment received, and according to the threshold value of setting, send the instruction of next step action, do not reach risk distance, robot normally runs, and reaches risk distance, sends the instruction of protection act;
4) protection act is divided into 2 grades; First class of protection action: the risk distance reaching first class of protection action, controller sends the instruction stopping robot motion; Second class protection action: stop robot motion instruction ignore, and reach the risk distance of second class protection action with the distance of barrier, then cut off robot power supply.
2. a kind of robot collision avoidance system based on sonar contact according to claim 1, it is characterized in that, described sonar contact device is arranged on the free movement end of robot arm.
3. a kind of robot collision avoidance system based on sonar contact according to claim 1, it is characterized in that, described collision-prevention controller independently controller, is positioned at the higher level of robot controller.
4. a kind of robot collision avoidance system based on sonar contact according to claim 1, it is characterized in that, described threshold value sets according to the travelling speed of robot or its parts.
5. a kind of robot collision avoidance system based on sonar contact according to claim 1, it is characterized in that, described collision-prevention controller is connected with the isolating switch of robot primary power.
6. a kind of robot collision avoidance system based on sonar contact according to claim 1, it is characterized in that, described sonar contact device is active detector, be directly connected by connection, and connection is equiped with magnet ring with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410716060.3A CN104515995A (en) | 2014-12-02 | 2014-12-02 | Robot anticollision system based on sonar detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410716060.3A CN104515995A (en) | 2014-12-02 | 2014-12-02 | Robot anticollision system based on sonar detection |
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| CN104515995A true CN104515995A (en) | 2015-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410716060.3A Pending CN104515995A (en) | 2014-12-02 | 2014-12-02 | Robot anticollision system based on sonar detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260071A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot system and automatic recharging method |
| WO2018141149A1 (en) * | 2017-02-04 | 2018-08-09 | 广东天机工业智能系统有限公司 | Intelligent safe protection method of robot |
| CN109032052A (en) * | 2018-06-26 | 2018-12-18 | 上海常仁信息科技有限公司 | Emergency intelligence control system based on robot identity card |
| CN110316106A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Vehicle and its display terminal system and the method that three-dimensional topographic database is established by it |
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| US7072245B2 (en) * | 2002-09-20 | 2006-07-04 | Clever Devices, Ltd. | Sonar object detection system |
| CN201004086Y (en) * | 2006-09-14 | 2008-01-09 | 喻礼琼 | A multi-sensor obstacle detection device for fully automatic dust absorber |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN103529844A (en) * | 2013-10-18 | 2014-01-22 | 吴宝举 | Forward-looking sonar-based underwater robot collision avoidance method |
| CN104071318A (en) * | 2014-07-08 | 2014-10-01 | 中国船舶科学研究中心上海分部 | Underwater rescue robot |
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Patent Citations (5)
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| US7072245B2 (en) * | 2002-09-20 | 2006-07-04 | Clever Devices, Ltd. | Sonar object detection system |
| CN201004086Y (en) * | 2006-09-14 | 2008-01-09 | 喻礼琼 | A multi-sensor obstacle detection device for fully automatic dust absorber |
| CN102231082A (en) * | 2011-04-08 | 2011-11-02 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
| CN103529844A (en) * | 2013-10-18 | 2014-01-22 | 吴宝举 | Forward-looking sonar-based underwater robot collision avoidance method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260071A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot system and automatic recharging method |
| WO2018141149A1 (en) * | 2017-02-04 | 2018-08-09 | 广东天机工业智能系统有限公司 | Intelligent safe protection method of robot |
| CN110316106A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Vehicle and its display terminal system and the method that three-dimensional topographic database is established by it |
| CN110316106B (en) * | 2018-03-30 | 2021-09-03 | 比亚迪股份有限公司 | Vehicle, display terminal system thereof and method for establishing three-dimensional terrain database through display terminal system |
| CN109032052A (en) * | 2018-06-26 | 2018-12-18 | 上海常仁信息科技有限公司 | Emergency intelligence control system based on robot identity card |
| CN109032052B (en) * | 2018-06-26 | 2020-09-22 | 上海常仁信息科技有限公司 | Emergency intelligent control system based on robot identity card |
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Application publication date: 20150415 |
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