CN202305838U - Barrier collision detecting system for household service robot - Google Patents
Barrier collision detecting system for household service robot Download PDFInfo
- Publication number
- CN202305838U CN202305838U CN2011203685892U CN201120368589U CN202305838U CN 202305838 U CN202305838 U CN 202305838U CN 2011203685892 U CN2011203685892 U CN 2011203685892U CN 201120368589 U CN201120368589 U CN 201120368589U CN 202305838 U CN202305838 U CN 202305838U
- Authority
- CN
- China
- Prior art keywords
- robot
- support
- detecting system
- collision detecting
- elastic body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a barrier collision detecting system for a household service robot, being characterized in that: the barrier collision detecting system comprises a support, an elastic mechanism, a counter weight module and a detecting module; when a robot meets a barrier on the move, the cone of the light emitted by an infrared emitter and the plane where the infrared emitter is form a drift angle under the function of the elastic mechanism so that the position for a receiving tube being able to receive the signal changes and the strength of the signal also changes; the direction and strength of the collision that the robot suffers can be judged according to the different positions of the receiving tube being able to receive the signal and the strength of the received signal; and when the direction is fed back to a motion control system and a stop motion measurement is performed on the robot, only mounting the barrier collision detecting system on the robot can detect the collision from different heights and different directions, and the safety for the robot and for the other objects can be guaranteed.
Description
Technical field
The utility model relates to a kind of barrier collision detecting device of family expenses service robot; A kind of barrier collision detecting system of family expenses service robot is particularly disclosed; Be to be used to the resultant fault thing collision detecting system of avoiding or prevent the family expenses service robot to bump, belong 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 purpose of the utility model is the 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 utility model is achieved in that a kind of barrier collision detecting system 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 beneficial effect of the utility model is: 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 utility model 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 the utility model system architecture elevational schematic view.
Fig. 2 is the utility model system architecture front elevational schematic.
Fig. 3 is the utility model pick-up unit receiving unit vertical view.
Fig. 4 is the utility model barrier collision detecting system sectional view.
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 utility model is described further.
According to accompanying drawing 1 and accompanying drawing 2, the barrier collision detecting system of the utility model family expenses service robot 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 be the technical application scheme that is used to specify the utility model and unrestricted, the protection of the utility model is as the criterion so that the utility model claim is said.It will be understood by those of skill in the art that the technical scheme of the utility model is made amendment or is equal to replacement, but do not break away from aim and the scope of the utility model, all should be encompassed within the claim protection domain of the utility model.
Claims (2)
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203685892U CN202305838U (en) | 2011-09-30 | 2011-09-30 | Barrier collision detecting system for household service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203685892U CN202305838U (en) | 2011-09-30 | 2011-09-30 | Barrier collision detecting system for household service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202305838U true CN202305838U (en) | 2012-07-04 |
Family
ID=46374708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203685892U Expired - Lifetime CN202305838U (en) | 2011-09-30 | 2011-09-30 | Barrier collision detecting system for household service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202305838U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360086A (en) * | 2011-09-30 | 2012-02-22 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| 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 |
| CN109901568A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven control device |
| CN113478493A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Collision protection method and system for mechanical arm, robot and storage medium |
-
2011
- 2011-09-30 CN CN2011203685892U patent/CN202305838U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360086A (en) * | 2011-09-30 | 2012-02-22 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| CN102360086B (en) * | 2011-09-30 | 2013-07-24 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| 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 |
| CN109901568A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven control device |
| CN113478493A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Collision protection method and system for mechanical arm, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202305838U (en) | Barrier collision detecting system for household service robot | |
| CN102360086B (en) | Obstacle collision detection system and method for domestic service robots | |
| CN103260834B (en) | Safety device and the method for operation safety device for operating mechanism especially industrial robot | |
| CN104444698B (en) | Elevator self adaptation reduces the buffer system of damping force | |
| CN106310665A (en) | Robot used for martial arts arena contest | |
| CN205483227U (en) | Weighing module | |
| CN205483226U (en) | Weighing module | |
| CN103994127A (en) | Oil cylinder linear movement redundancy detection device and control method thereof | |
| CN105620472B (en) | A kind of centre-of-pressure position compensation method of motion scan vehicle and device | |
| CN102530788B (en) | High altitude work vehicle and working hopper protection device thereof | |
| CN202028551U (en) | Defective empty soap box detecting and removing system | |
| CN202256705U (en) | Air container detection apparatus | |
| CN208441571U (en) | Parking apparatus vehicle-carrying plate detects in place, limit protection anti-shake bar | |
| CN109466485A (en) | A kind of unmanned balance collision prevention girders with radar system of automobile | |
| CN101762372B (en) | Slope impact tester | |
| CN105403377B (en) | A kind of rigid obstacle for being used to simulate side curb impact test | |
| CN202968035U (en) | Aerial work platform | |
| CN204777397U (en) | Detection device that targets in place is carried in chain translation | |
| CN209684252U (en) | A kind of Product Status detection device and packing case | |
| CN206679279U (en) | Walking mechanism with floated energy-absorbing safe protector | |
| CN208545025U (en) | Flap-type grab bucket blanking detection and protective device | |
| CN203559422U (en) | Protecting device for inclination of upright column | |
| CN207717321U (en) | Simple crash sensor | |
| CN205526663U (en) | A robot arm and robot for inciting somebody to action on glass substrate places packing frame | |
| CN205571852U (en) | Selection of antiskid cover is to device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120704 |
|
| CX01 | Expiry of patent term |