CN101201280A - Collision detecting device, collision detecting method as well as robot and suction cleaner using the same - Google Patents
Collision detecting device, collision detecting method as well as robot and suction cleaner using the same Download PDFInfo
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- CN101201280A CN101201280A CNA2006101659473A CN200610165947A CN101201280A CN 101201280 A CN101201280 A CN 101201280A CN A2006101659473 A CNA2006101659473 A CN A2006101659473A CN 200610165947 A CN200610165947 A CN 200610165947A CN 101201280 A CN101201280 A CN 101201280A
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Abstract
The invention provides a collision detection device which comprises a body, at least an air chamber outside and around the body, and at least an air pressure detector. The air chambers are communicated with each other. Each of the air chambers is connected with each of the air pressure detectors to detect the pressure of the air chamber at every time point and the pressure change of the air chamber. Whether collision occurs and the collision force can be determined through the pressure change detected by the air pressure detector. The collision time and position can be got from the pressure value of the air chambers at every time point.
Description
Technical field
The present invention is a kind of about collision detecting device, collision checking method and use the robot and the suction cleaner of this collision detecting device.
Background technology
The application of movable-type intelligent robot is to be built in mechanism design, automatically controlled design, motion control theory, detection technology etc. to have after the suitable basis, could form the commodity of a maturation.
In mobile robot's control, robot need learn its with arround the relativeness of barrier, so collision detection is an important problem.In addition, collision detection also is another defence line, road that robot moves in the obstacle environment, promptly is barrier, the especially human body that does not destroy as far as possible or injure in the movement environment.
Existing collision checking method roughly has two kinds, and a kind of is to utilize video/audio data to come the dyscalculia object location, and shortcoming is to carry out numerous and jumbled computing operation; Another kind then is to utilize collision detecting system to detect the barrier position.Variety of way all has its relative merits, is summarized as follows.
In the collision checking method of contact, be to judge having or not of collision when utilizing crash bar whether to touch object.The common practice is in the body periphery of robot crash bar to be set, and is provided with an articulation mechanism on crash bar, and connects light blocking sensor or touch sensor in the place of corresponding articulation mechanism.When bumping, close festival-gathering and shake, and one shake to this, or touch touch sensor by light blocking sensor, robot just judges and has been subjected to collision at this moment.The shortcoming of this detection method be only can collision detection have or not, but degree that can't collision detection is for example collided the size of strength.In addition, the structure of crash bar and internal lever is difficult for reaching the effect of soft collision and automatic shock-absorbing.Because resolution is not high, when the crash bar of robot is collided, can't accurately differentiate the orientation of the point of impingement, again so that the collision prevention direction may correctly be judged by robot.Also may cause misoperation in addition, for example pick-up unit be designed to when crash bar hit and during translation articulation mechanism can shake, but articulation mechanism can not shake when just bumping against the edge of crash bar, does not but know so pick-up unit has obviously bumped against barrier.And the mode of utilizing contact comes collision detection also may destroy or hurt barrier, especially human body in the movement environment.
In the collision checking method of optical profile type sensing, be black matrix if run into barrier, can reflected light, just can't detect, that is, the surface of tested object there is certain requirement; Or barrier by chance reflexes to other places with reflected light, also can't detect, that is detection angles is wide inadequately.
In the collision checking method of acoustics formula sensing, the operand that needs is big, is unfavorable for that walking keeps away barrier at a high speed.And also be easy to generate erroneous judgement in some special angle or inclined-plane.
In the collision checking method of impedance type sensing, be the variation that detects electric current and voltage at the driving circuit of wheel at any time, if motor rotates when painstaking, voltage can descend and electric current can rise, and then judges this moment to have run into barrier.If will judge by accident but run into meadow, carpet, slope etc.
In the collision checking method of magnetic sensing, need when using for the first time in environment, to arrange a large amount of magnetic stripe objects, bother very much, be applicable to the factory of environment dullness.And this method can not detect the moving obstacle that temporarily enters in the environment, and moving obstacle such as people/animal also is unwilling to be sticked magnetic mark.
In the collision checking method of electronic chart, though can keep away barrier according to the positional information of each barrier in the electronic chart, before this electronic chart is finished by complete foundation, still need be dependent on above-mentioned each method and make first the barrier of keeping away.And the error accumulation meeting of sensing system increases always, must proofread and correct always.In addition, this method also can't detect moving obstacle.
Summary of the invention
In order to solve above-mentioned traditional problem points, one of purpose of the present invention provides a kind of collision detecting device and collision checking method, can not destroy or injure barrier, especially human body in the movement environment; Again can damping in collision detection, shock-absorbing; Its low cost of manufacture, assembly are few; Its sensing sensitivity height, orientation are accurate.
For reaching above-mentioned purpose, so the present invention proposes a kind of collision detecting device, comprising: body; At least one air bag is positioned at the body periphery; At least one air pressure detecting device, the air pressure detecting device is connected to air bag, changes with the pressure that detects air bag; And change-over circuit, the conversion of signals that the air pressure detecting device is measured is the electric signal of analog or digital; The pressure measured by the air pressure detecting device changes, and judges the strength that has or not and calculate collision of collision.
In above-mentioned collision detecting device, air bag is a plurality of, the air pressure detecting device is a plurality of, and air bag communicates with each other, each air bag is connected with each air pressure detecting device, detecting each air bag, and obtain collision scope/position of collision/collision angle in the force value of each time, also can obtain the time that collision takes place by each air bag in the force value of each time.
In above-mentioned collision detecting device, air bag is adjacent to each other and is fan-shaped, is fixed on the body periphery and also can.
In above-mentioned collision detecting device, air bag can be one of the forming, and has intercommunicating pore between the air bag of adjacency, reaches the transmission of pressure between each air bag and postpones the transmission of pressure by intercommunicating pore.
In above-mentioned collision detecting device, those air bags are adjacent to each other ringwise, be fixed on the body periphery.
In above-mentioned collision detecting device, air bag is to be made of resilient material.
The present invention provides a kind of robot again, and it adopts above-mentioned collision detecting device.
The present invention provides a kind of suction cleaner again, and it adopts above-mentioned collision detecting device.
The present invention further provides a kind of collision checking method, comprise: at fixing at least three air bags of the periphery of a body, and make start position x0 and final position xe, wherein these a little air bags communicate with each other by two through hole at least, to transmit pressure and postpone the transmission of pressure between air bag; Detect and write down two position x1, x2 on each air bag, x3 force value in each time; The pressure measured by position x1, x2, x3 on each air bag changes, and judges whether air bag is collided, and calculates collision strength; When judgement is collided, suppose that position of collision is x, collision time point is t0, and as position x1, x2, when the detected pressure of x3 arrives a predetermined pressure, write down this time point t1, t2, t3, wherein x0, x1, x2, x3, x, xe representative arrive the respectively distance of this position from start position along air bag with same clockwise; And the pressure wave speed when transmitting pressure between air bag is v, lists following simultaneous equations, and obtains position of collision x, collision time point t0.
v(t1-t0)＝min{(x1-x)，[x+(xe-x1)]}，
v(t2-t0)＝min{(x2-x)，[x+(xe-x2)]}，
v(t3-t0)＝min{(x3-x)，[x+(xe-x3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and x, and all the other are known number, so can try to achieve unique solution v, t0 and x.
In above-mentioned collision checking method, when wherein arriving predetermined pressure, be meant that pressure at each measured air bag of each position x1, x2, x3 reaches peaked the time, or when reaching a predetermined reference force value, or refer to when the pressure of each measured air bag of each position x1, x2, x3 begins to rise.
In above-mentioned collision checking method, the position of collision that is calculated is the distance of counting from starting point, so applicable to various polygon.Fan-shaped or annular as if air bag is surrounded, the computational short cut of position of collision can also be become the calculating of collision angle.
For the foregoing reasons, the present invention further provides a kind of collision checking method again, comprise: at fixing at least three air bags of the periphery of a body, make air bag in abutting connection with being the fan-shaped or annular that radius is R, and make a zero degree position θ 0 and a terminal point angular position e, these a little air bags communicate with each other by two through hole at least, to transmit pressure and postpone the transmission of pressure between air bag; Detect and write down a angular position 1 on each air bag, θ 2, θ 3 force value in each time; Change by the angular position on each air bag 1, θ 2, θ 3 measured pressure, judge whether air bag is collided, and calculate collision strength; When judgement is collided, suppose that the collision angle position is θ x, collision time point is t0, and when those angular position 1, θ 2, when θ 3 detected pressure arrive a predetermined pressure, write down this time point t1, t2, t3, wherein θ 0, θ 1, θ 2, θ 3, θ x, θ e representative arrive the angle of the angle position on each air bag with same clockwise along this air bag respectively from this zero degree position; And the pressure wave speed when transmitting pressure between air bag is v, list following simultaneous equations, and obtain this collision angle position θ x,
v(t1-t0)＝min{R(θ1-θx)，R[θx+(θe-θ1)]}，
v(t2-t0)＝min{R(θ2-θx)，R[θx+(θe-θ2)]}，
v(t3-t0)＝min{R(θ3-θx)，R[θx+(θe-θ3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and θ x, and all the other are known number, so can try to achieve unique solution v, t0 and θ x.
In above-mentioned collision checking method, also comprise: go out to collide the size of strength by the pressure variation of collision front-back direction x1, x2, x3 or by the angular position 1 of collision front and back, the pressure change calculations of θ 2, θ 3.
The above-mentioned method that goes out to collide strength by the pressure change calculations comprises: in a series of experiment, with difference collision strength bump air bag, the pressure variation of write down each air bag under the different collision strength is to set up the comparison list lattice in advance; Utilization contrast form calculates the collision strength corresponding to this collision.
By collision detecting device of the present invention and method, only need with air bag and the combination of air pressure detecting device, just can reach and reach simultaneously whether damp impacts, shock-absorbing, collision detection take place, functions such as collision detection strength size, collision detection orientation and position.And only need minority air pressure detecting device just can reach high-resolution direction and detect effect.Mechanism design entirely is movable piece not, and is simple and reliable for structure.Be with, the present invention only needs the assembly of minority, just can reach highly sensitive collision detection effect.
When collision detecting device of the present invention and method are applied in robot or suction cleaner, because collision detecting device itself just has shock-absorbing effect, robot or suction cleaner etc. do not need the additional designs shock sucking structure, and collision the time bumped object and collision detecting device or utilize the robot of this collision detecting device and momentum that body of dust collector etc. is suffered less.
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
Description of drawings
Fig. 1 is the floor map according to the collision detecting device of the present invention the 1st embodiment.
Synoptic diagram when Fig. 2 is collided for the collision detecting device of Fig. 1.
Fig. 3 is the curve map of the measured pressure of collision detecting device of the present invention each air pressure detecting device before and after collision to the time.
Fig. 4 is the step of collision checking method of the collision detecting device of Fig. 1.
Fig. 5 is the floor map according to the collision detecting device of the present invention the 2nd embodiment.
Fig. 6 is the floor map according to the collision detecting device of the present invention the 3rd embodiment.
Synoptic diagram when Fig. 7 is collided for the collision detecting device according to the present invention the 4th embodiment.
Fig. 8 is the step of collision checking method of the collision detecting device of Fig. 7.
Fig. 9 is the variation example according to the collision detecting device of the preferred embodiment of the present invention.
The primary clustering symbol description
50: barrier
100: body
110a, 110b, 110c: air bag
112: through hole
120: change-over circuit
130,230,330: collision detecting device
Pref: predetermined reference force value
R: annular or fan-shaped radius that air bag was linked to be
S1, S2, S3: air pressure detecting device
X0: start position
Xe: final position
X1, x2, x3: the position of each air pressure detecting device
T1, t2, t3: the measured pressure of each air pressure detecting device reaches the time point of a predetermined pressure
T1 ', t2 ', t3 ': the measured pressure of each air pressure detecting device reaches the time point of a predetermined reference force value
T1 ", t2 ", t3 ": the time point that the measured pressure of each air pressure detecting device begins to rise
θ 0: the zero degree position
θ e: terminal point angle position
θ 1, θ 2, θ 3: the angle position of each air pressure detecting device
Embodiment
[the 1st embodiment]
[collision detecting device]
With reference to Fig. 1, it is the collision detecting device according to the present invention the 1st embodiment.
Air pressure detecting device S1, S2, S3 are connected to air bag 110a, 110b, 110c respectively, to detect each air bag 110a, 110b, 110c in the force value of each time, obtain pressure to the curve map of time, i.e. P-t figure (see figure 3).
Change-over circuit 120 is the electric signal of analog or digital with air pressure detecting device S1, the measured conversion of signals of S2, S3.
Change by air pressure detecting device S1, the measured pressure of S2, S3, judge having or not of collision, and calculate the strength of collision, and obtain the time of collision scope/position of collision/collision angle, collision generation by P-t figure (see figure 3).Know clearly as described later about the time that detects the collision generation, the method for colliding strength and collision scope/position of collision/collision angle.
Above-mentioned collision detecting device 130 can have multiple application; for example; can be assemblied on the body of robot or suction cleaner; just change above-mentioned body 100 into this moment is that robot body or body of dust collector get final product; whereby, can make robot or suction cleaner have the function of time, collision detection strength and the collision detection position of Anti-bumping protection, collision detection generation.
[collision checking method]
Following with reference to the collision checking method of Fig. 2-Fig. 4 detailed description according to the 1st embodiment of the present invention.
Fig. 2 is synoptic diagram when barrier collides air bag, and Fig. 3 is the force value of detected each time of air pressure detecting device of different angles or position on air bag, and Fig. 4 is the step according to the collision detection of the present invention the 1st embodiment.
With reference to Fig. 2 and Fig. 4, in step S100, at fixing at least three air bags of the periphery of body 100, present embodiment is to be example with 3 air bag 110a, 110b, 110c, make air bag 110a, 110b, 110c in abutting connection with being fan-shaped or annular (this figure be to be that the full week that annular is surrounded body 100 is an example) that radius is R, and make a zero degree position θ 0 and a terminal point angular position e (when surrounding full week, θ e=2 π).These a little air bag 110a, 110b, 110c communicate with each other by two through hole 112 at least, to transmit pressure and postpone the transmission of this pressure between air bag 110a, 110b, 110c.
In step S110, detect and write down all angles position θ 1, θ 2 on each air bag 110a, 110b, the 110c, θ 3 in the force value of each time, obtain P-t figure as Fig. 3.In this step, can be connected to air pressure detecting device S1, S2, S3 the angular position 1, θ 2, θ 3 of above-mentioned air bag 110a, 110b, 110c and obtain P-t figure.In Fig. 3, solid line, dotted line, dotted line are represented air pressure detecting device S1, S2, the S3 pressure curve under each measured time respectively.
θ 0=0 wherein, θ 1, θ 2, θ 3, θ x, θ e representative reach the angle of this angle position on each air bag with same clockwise (for example be all inverse clock or be all clockwise, this figure is to be example with the counterclockwise) along each air bag 110a, 110b, 110c from the zero degree position.
When barrier when time t0 collides air bag, this barrier 50 can be general barrier (fixing or on-fixed all can, fixedly the person for example be the corner, the on-fixed person is the rubbish etc. of ground for example) or moving obstacle (for example animal).When barrier 50 touched air bag 110a, the P-t that changes at each angular position 1, θ 2, θ 3 detected pressure schemed as shown in Figure 3.
The inventor is found to because collision angle θ x near air pressure detecting device S1, changes so pressure takes place in Fig. 3 at first, and pressure variation maximum is angle θ 1 detected curve (solid line).Then, the variation of pressure sees through through hole 112 and transmits toward other, and what the pressure variation took place for next is angle θ 2 detected curves (dotted line).What the pressure variation took place the most slowly is angle θ 3 detected curves (dotted line).
Each bar pressure curve should only have a peak value, and before the collision power discharges, all can value that descends at a slow speed of convergence.Convergence this decline rate of drop-out value is then relevant with employed air pressure detecting device at a slow speed, if the sensor of working pressure leakage type, then the speed that descends at a slow speed can be quicker slightly, if use sealing not leak the sensor of type, then the speed that descends at a slow speed can be slow slightly.
In step S120, change by this angular position 1 of collision front and back, θ 2, θ 3 measured pressure, can judge just whether air bag is collided.
If when judging air bag and being subjected to collide, just in step S130, borrow those angular position 1 on each air bag 110a, 110b, 110c, θ 2, θ 3 measured pressure change, and calculate collision strength.Be respectively P1, P2, P3 in angular position 1, θ 2, θ 3 measured pressure maximal values, P1 and P2 difference Δ P1, P2 and P3 difference Δ P2.
Go out to collide the method for strength size by the pressure change calculations, for example, can comprise the steps: in advance in a series of experiment, clash into those air bags with difference collision strength, different angles, write down pressure differential Δ P1, the Δ P2 of each air bag under the different collision strength, to set up the comparison list lattice.After having built form, just can utilize this contrast form to calculate collision strength corresponding to each time collision.
In step S140, suppose that the collision angle position is θ x, collision time point is t0, and, write down this time point t1, t2, t3 when angular position 1, θ 2, when θ 3 detected pressure arrive a predetermined pressure when beginning to climb a some Prise (when for example reaching pressure maximal value Pmax, when reaching a predetermined reference pressure value P ref, reach pressure).With reference to Fig. 3, because air pressure detecting device S1, S2, S3 always in each angular position 1, θ 2, θ 3 detected pressures, be known so force value reaches each time point t1, t2, the t3 of this predetermined pressure, but collision time point t0 are unknown.
In above-mentioned steps S150, the pressure wave speed when transmitting pressure between air bag is v, list following simultaneous equations, and obtain collision angle position θ x,
v(t1-t0)＝min{R(θ1-θx)，R[θx+(θe-θ1)]}，
v(t2-t0)＝min{R(θ2-θx)，R[θx+(θe-θ2)]}，
v(t3-t0)＝min{R(θ3-θx)，R[θx+(θe-θ3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and θ x, and all the other are known number, so can try to achieve unique solution v, t0 and θ x.
The physical significance on the above-mentioned equation left side is meant that pressure wave goes to the distance of each pressure transducer from position of collision.The reason that the min{} function is got on equation the right is that after collision took place, pressure wave can be walked the shortest distance and arrive each pressure detector.
The inventor is found to from experiment repeatedly, and there is kind of a delicate relation mistiming of the pressure curve of each detection angles in the pressue-graph of Fig. 3.Being that following three kinds of mistimings are very approaching, almost is the same:
When each curve arrives the pressure maximal value, writing down each time point t1, t2, t3, the mistiming of any two air pressure detecting device gained: Δ t1=t2-t1 (air pressure detecting device S1, S2 reach the peaked mistiming of pressure), Δ t2=t3-t2 (air pressure detecting device S2, S3 reach the peaked mistiming of pressure), Δ t3=t3-t1 (air pressure detecting device S1, S3 reach the peaked mistiming of pressure).
When specifying a predetermined reference pressure value P ref, and when writing down time t1 ', t2 ' that each curve arrives this predetermined reference pressure value P ref, t3 ', the mistiming of any two air pressure detecting device gained: Δ t1 '=t2 '-t1 ', Δ t2 '=t3 '-t2 ', Δ t3 '=t3 '-t1 '.
When beginning to rise, write down this time t1 with each curve ", t2 ", t3 ", the mistiming of any two air pressure detecting device gained: Δ t1 "=t2 "-t1 ", Δ t2 "=t3 "-t2 ", Δ t3 "=t3 "-t1 ".
Mistiming Δ t1, Δ t1 ', Δ t1 that each mode of complying with obtains " approximate each other, Δ t2, Δ t2 ', Δ t2 " approximate each other, Δ t3, Δ t3 ', Δ t3 " approximate each other.Based on this characteristic, the inventor is also developed and is utilized look-up table to calculate collision angle position θ x.
Promptly in above-mentioned crash device, the full week that centers on body 100 with air bag is an example, do a series of experiment, spend along 360 with a fixing collision strength, each degree collides, and write down Δ t1, Δ t2, the Δ t3 of gained under each collision angle, and get the concordance list that wherein any two (Δ t1, Δ t2/ or Δ t2, Δ t3/ or Δ t1, Δ t3) make three, find collision angle position θ x by Δ t1, Δ t2/ or by Δ t2, Δ t3/ or by Δ t1, Δ t3.
In look-up table, the mistiming that can utilize any two air pressure detecting devices to reach Pmax, Pref, Prise is found collision angle position θ x.
In the present embodiment, air bag is to utilize the through hole with delay pressure transfer function to be connected each other, whereby, can elongate the mistiming of each curve among Fig. 3, like this, do not need the sample time of air pressure detecting device very shortly can obtain accurate sensing result yet.
In addition, utilize 3 air bags to surround the full week (360 degree) of body annularly in the present embodiment, cooperate 3 air pressure detecting devices to detect the pressure-time curve of each air bag again.Whereby, just can measure the collision angle in full week.
In addition, in the present embodiment 3 air pressure detecting devices be the position at an arbitrary position, not necessarily to uniformly-spaced dispose.
In the above-described embodiments, be to adopt 3 air bags and 3 air pressure detecting devices when detecting all full collision angles, the quantity of certain air bag and air pressure detecting device also can be more than 3.
[the 2nd embodiment]
If only need detect the collision of certain scope on the body, need not detect full week, can adopt the collision detecting device 230 of Fig. 5, use at least one air bag 110a, 110b (this figure is example with two air bags) to be the fan-shaped periphery that is fixed on body 100, and use at least one air pressure detecting device S1, S2 (this figure is example with two air pressure detecting device S1, S2).In Fig. 5, the assembly identical with the 1st embodiment adopts identical symbol, repeats no more.
And its collision detection and the 1st embodiment are roughly the same, can detect the strength that collisionless and collision are arranged in the scope that air bag 110a, 110b surround.
[the 3rd embodiment]
If only need collision detection strength, do not need collision detection angle/position of collision, can adopt the collision detecting device 330 of Fig. 6, use at least one air bag, this figure is to be example with two air bag 210a, 210b, at least one air pressure detecting device S1.Air bag need not be communicated with to each other, and air pressure detecting device S1 is connected to air bag 210a, change with the pressure that detects air bag 210a, and air bag 210b only makes crashproof usefulness, does not connect the air pressure detecting device.In Fig. 6, the assembly identical with the 1st embodiment adopts identical symbol, repeats no more.
[the 4th embodiment]
In the collision checking method in the 1st embodiment, be to utilize known detection angles to ask collision angle, in like manner, also can be with this method slightly modified, ask position of collision (distance of starting at from reference position) and change from known detection position (distance of starting at from starting point).
With reference to Fig. 7, Fig. 8, it is the collision checking method according to the present invention the 4th embodiment.Fig. 7 is the synoptic diagram when barrier collides air bag, and Fig. 8 is the step according to the collision detection of the present invention the 4th embodiment.In Fig. 7, the assembly identical with the 1st embodiment adopts identical symbol, repeats no more.
In step S200, at fixing at least three air bags of the periphery of body 100, this figure is to be example with 3 air bag 110a, 110b, 110c, make air bag 110a, 110b, 110c in abutting connection with being fan-shaped or annular (this figure be to be that the full week that annular is surrounded body 100 is an example), and make start position x0 and a final position xe (when surrounding full week, the full girth of xe=body).
In step S210, detect and write down a position x1 on each air bag 110a, 110b, the 110c, x2, x3 obtain the P-t figure as Fig. 3 in the force value of each time.In this step, air pressure detecting device S1, S2, S3 can be connected to the position x1 of above-mentioned air bag 110a, 110b, 110c, x2, x3 and obtain P-t figure.
X0=0 wherein, x1, x2, x3, x, xe representative from start position along each air bag 110a, 110b, 110c arrives the distance of the position on each air bag with same clockwise (for example be all inverse clock or be all clockwise, this figure is to be example with the counterclockwise).
When barrier when time t0 collides air bag, this barrier 50 can be general barrier (fixing or on-fixed all can, fixedly the person for example be the corner, the on-fixed person is the rubbish etc. of ground for example) or moving obstacle (for example animal).When barrier 50 touches air bag 110a, change as shown in Figure 3 at each position x1, x2, the detected pressure of x3.
In step S220, by collision front and back this angle position x1, the measured pressure of x2, x3 changes, and can judge just whether air bag is collided.
If when judging air bag and being subjected to collide, just in step S230, borrow the measured pressure of those positions x1, x2, x3 on each air bag S1, S2, the S3 to change, calculate collision strength.Be respectively P1, P2, P3 in angle position x1, x2, the measured pressure maximal value of x3, P1 and P2 difference Δ P1, P2 and P3 difference Δ P2.
Go out to collide the method for strength size by the pressure change calculations, for example, comprise look-up table.
In step S240, suppose that position of collision is x, collision time point is t0, and, write down this time point t1, t2, t3 as position x1, x2, when the detected pressure of x3 arrives a predetermined pressure when beginning to climb a some Prise (when for example reaching pressure maximal value Pmax, when reaching a predetermined reference pressure value P ref, reach pressure).With reference to Fig. 3, because air pressure detecting device S1, S2, S3 always in each position x1, x2, x3 detected pressures, be known so force value reaches each time point t1, t2, the t3 of this predetermined pressure, but collision time point t0 are unknown.
In above-mentioned steps S250, the pressure wave speed when transmitting pressure between air bag is v, list following simultaneous equations, and obtain position of collision x,
v(t1-t0)＝min{(x1-x)，[x+(xe-x1)]}，
v(t2-t0)＝min{(x2-x)，[x+(xe-x2)]}，
v(t3-t0)＝min{(x3-x)，[x+(xe-x3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and x, and all the other are known number, so can try to achieve unique solution v, t0 and x.
[changing example]
In the 1st embodiment, air bag is to be linked to be annular, thus calculating pressure from position of collision go to each air pressure detector location apart from the time, be to utilize radius R to be multiplied by radian to obtain distance.If air bag is not to be linked to be annular, for example be to be linked to be polygonal words, just can not utilize radius R to be multiplied by the distance that radian comes the calculating pressure walking.But, can utilize the method for the 4th embodiment, calculate position of collision by known detection position (distance).
Thereby the side collision detection of the 4th embodiment is applicable to changing example as shown in Figure 9.
In each above-mentioned embodiment, all can utilize pressure to the variation of time, try to achieve the strength size that has or not, collides of collision.
In addition, from the simultaneous equations of above-mentioned the 1st embodiment and the 4th embodiment as can be known, as long as 3 air bags, 3 air pressure detecting devices just can be listed 3 formulas, obtain unique solution, certainly, air bag and air pressure detecting device surpass three also can obtain unique solution.Then can comprehensive on try to achieve accurately collision time point, position of collision/collision angle if air bag surrounds the full week of body this moment; Then can in this scope try to achieve accurately collision time point, position of collision/collision angle if air bag surrounds certain scope of body this moment.
If have only one or two air bag, still can utilize pressure the variation of time to be tried to achieve the strength that has or not, collides of in certain scope, colliding.
Though the present invention with preferred embodiment openly as above; right its is not in order to qualification the present invention, any insider, without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking claims person of defining.
Claims (22)
1. collision detecting device comprises:
One body;
At least one air bag is positioned at this body periphery;
At least one air pressure detecting device, this air pressure detecting device is connected to this air bag, changes with the pressure that detects this air bag; And
One change-over circuit, the conversion of signals that this air pressure detecting device is measured are the electric signal of an analog or digital;
The pressure measured by this air pressure detecting device changes, and judges the strength that has or not and calculate collision of collision.
2. collision detecting device according to claim 1, wherein this air bag is a plurality of, this air pressure detecting device is a plurality of, and those air bags communicate with each other, this air pressure detecting device of each this air bag and each is connected, detecting respectively this air bag, and obtain a collision scope in the force value of each time by this air bag respectively in the force value of each time.
3. collision detecting device according to claim 2, wherein those air bags are adjacent to each other and are fan-shaped, are fixed on this body periphery.
4. collision detecting device according to claim 3, wherein those air bags are one of the forming, and have intercommunicating pore between those air bags of adjacency, reach respectively between this air bag the transmission of pressure and postpone the transmission of this pressure by this intercommunicating pore.
5. collision detecting device according to claim 2, wherein those air bags are adjacent to each other ringwise, are fixed on this body periphery.
6. collision detecting device according to claim 5, wherein those air bags are one of the forming, and have intercommunicating pore between those air bags of adjacency, reach respectively between this air bag the transmission of pressure and postpone the transmission of this pressure by this intercommunicating pore.
7. collision detecting device according to claim 1, wherein this air bag is fan-shaped, is fixed on this body periphery.
8. collision detecting device according to claim 1, wherein this air bag is fixed on this body periphery ringwise.
9. collision detecting device according to claim 1, wherein this air bag is made of resilient material.
10. a robot comprises collision detecting device according to claim 1.
11. a robot comprises collision detecting device according to claim 2.
12. a suction cleaner comprises collision detecting device according to claim 1.
13. a suction cleaner comprises collision detecting device according to claim 2.
14. a collision checking method comprises:
At fixing at least three air bags of the periphery of a body, and make a starting point position x0 and a final position xe, wherein those air bags communicate with each other by two through hole at least, to transmit pressure and postpone the transmission of this pressure between those air bags;
Detect and record respectively position x1, an x2 on this air bag, x3 in the force value of each time;
The pressure measured by those positions x1, x2, x3 on this air bag respectively changes, and judges whether those air bags are collided, and calculates collision strength;
When judgement is collided, suppose that position of collision is x, collision time point is t0, and as those positions x1, when the detected pressure of x2, x3 arrives a predetermined pressure, write down this time point t1, t2, t3, wherein x0, x1, x2, x3, x, xe representative arrive the distance of this position on this air bag respectively with same clockwise from this start position along this air bag respectively; And
Pressure wave speed when transmitting pressure between those air bags is v, lists following simultaneous equations, and obtains this position of collision x,
v(t1-t0)＝min{(x1-x)，[x+(xe-x1)]}，
v(t2-t0)＝min{(x2-x)，[x+(xe-x2)]}，
v(t3-t0)＝min{(x3-x)，[x+(xe-x3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and x, and all the other are known number, so can try to achieve unique solution v, t0 and x.
15. collision checking method according to claim 14 when wherein arriving this predetermined pressure, is meant that pressure at measured respectively this air bag of this position x1 respectively, x2, x3 reaches peaked the time.
16. collision checking method according to claim 14 when wherein arriving this predetermined pressure, is meant when the pressure of measured respectively this air bag of this position x1 respectively, x2, x3 reaches a predetermined reference force value.
17. collision checking method according to claim 14 when wherein arriving this predetermined pressure, is meant when the pressure of measured respectively this air bag of this position x1 respectively, x2, x3 begins to rise.
18. collision checking method according to claim 14, wherein those air bags linked to each other around the full week of enclosing this body.
19. collision checking method according to claim 14 also comprises: the pressure change calculations by collision front and back this position x1, x2, x3 goes out to collide the size of strength.
20. collision checking method according to claim 18 is wherein gone out to collide the method for strength by the pressure change calculations, comprising:
In a series of experiment, clash into those air bags with difference collision strength in advance, the pressure that writes down respectively this air bag under the different collision strength changes, to set up the comparison list lattice;
Utilize this contrast form to calculate collision strength corresponding to this collision.
21. collision checking method according to claim 14, wherein those air bags are integrally formed by resilient material.
22. a collision checking method comprises:
At fixing at least three air bags of the periphery of a body, make those air bags in abutting connection with being the fan-shaped or annular that radius is R, and make a zero degree position θ 0 and a terminal point angular position e, wherein those air bags communicate with each other by two through hole at least, to transmit pressure and postpone the transmission of this pressure between those air bags;
Detect and record respectively an angular position 1 on this air bag, θ 2, θ 3 in the force value of each time;
Change by those angular position 1 on this air bag respectively, θ 2, θ 3 measured pressure, judge whether those air bags are collided, and calculate collision strength;
When judgement is collided, suppose that the collision angle position is θ x, collision time point is t0, and when those angular position 1, θ 2, when θ 3 detected pressure arrive a predetermined pressure, write down this time point t1, t2, t3, wherein θ 0, θ 1, θ 2, θ 3, θ x, θ e representative arrive the angle of this angle position on this air bag respectively with same clockwise from this zero degree position along this air bag respectively; And
Pressure wave speed when transmitting pressure between those air bags is v, lists following simultaneous equations, and obtains this collision angle position θ x,
v(t1-t0)＝min{R(θ1-θx)，R[θx+(θe-θ1)]}，
v(t2-t0)＝min{R(θ2-θx)，R[θx+(θe-θ2)]}，
v(t3-t0)＝min{R(θ3-θx)，R[θx+(θe-θ3)]}，
Wherein the min{} function is represented the minimum value of getting each numerical value in the bracket, and unknown number is v, t0 and θ x, and all the other are known number, so can try to achieve unique solution v, t0 and θ x.
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| CN102175407A (en) * | 2011-01-18 | 2011-09-07 | 上海交通大学 | Anti-collision testing device for water pool model |
| CN103528739A (en) * | 2013-09-29 | 2014-01-22 | 北京市三一重机有限公司 | Impulse testing system |
| CN104007765A (en) * | 2014-06-16 | 2014-08-27 | 成都北斗群星智能科技有限公司 | Sweeping robot obstacle avoiding and positioning system and method |
| CN104502009A (en) * | 2014-11-28 | 2015-04-08 | 湖南三一智能控制设备有限公司 | Boom anti-collision device, boom anti-collision method and engineering machinery |
| CN105675176A (en) * | 2016-03-28 | 2016-06-15 | 合肥联宝信息技术有限公司 | Pressure detection device, manipulator and electronic device |
| CN108032303A (en) * | 2018-01-03 | 2018-05-15 | 杭州艾米机器人有限公司 | The collision detection mechanism and robot of robot |
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| CN102175407A (en) * | 2011-01-18 | 2011-09-07 | 上海交通大学 | Anti-collision testing device for water pool model |
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| CN111397706A (en) * | 2016-03-16 | 2020-07-10 | 美蓓亚三美株式会社 | Load detector and load detection system |
| CN105675176A (en) * | 2016-03-28 | 2016-06-15 | 合肥联宝信息技术有限公司 | Pressure detection device, manipulator and electronic device |
| CN108032303A (en) * | 2018-01-03 | 2018-05-15 | 杭州艾米机器人有限公司 | The collision detection mechanism and robot of robot |
| CN109254295A (en) * | 2018-08-28 | 2019-01-22 | 中科新松有限公司 | Anti-collision detection device, method and apparatus |
| CN109254295B (en) * | 2018-08-28 | 2023-06-16 | 中科新松有限公司 | Anti-collision detection device, method and equipment |
| CN109645900A (en) * | 2019-01-21 | 2019-04-19 | 中国计量大学 | A kind of collision detecting device and dust-collecting robot |
| CN110576950A (en) * | 2019-03-25 | 2019-12-17 | 宁波靖海智航科技有限公司 | Overwater equipment with foreign matter collision detection device |
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