CN106524886A - Collision position detection device and system, and detection method - Google Patents
Collision position detection device and system, and detection method Download PDFInfo
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- CN106524886A CN106524886A CN201611059334.1A CN201611059334A CN106524886A CN 106524886 A CN106524886 A CN 106524886A CN 201611059334 A CN201611059334 A CN 201611059334A CN 106524886 A CN106524886 A CN 106524886A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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Abstract
The invention provides a collision position detection device and system, and a detection method, and belongs to the technical field of collision detection. The device is used for wrapping a shell of a mobile device, and includes a first conducting layer, a support layer, a second conducting layer and a collision buffer layer which are arranged in sequence from inside to outside; one end of the first conducting layer is connected with a first wire, the first wire is used for connecting with an AD converter or an AD conversion interface of a microprocessor; and one side of the second conducting layer, which is in contact with the support layer, is conductive, one end of the second conducting layer is connected with a second wire, the other end is connected with a third wire, and the second wire and the third wire are used for connecting with a positive electrode and a negative electrode of a power supply respectively. According to the collision position detection device and system provided by the embodiment of the invention, the overall cost of a product is low, and the product is made of a bendable flexible material, and can be flexibly configured on various equipment; and the specific position of a collision can be calculated, and the precision and sensitivity of detection are high.
Description
Technical field
The present invention relates to Collision Detection field, in particular to a kind of device for detecting position of collision of, system and inspection
Survey method.
Background technology
Movable equipment, such as sweeper, in moving process, Jing often faces the surrounding enviroment of complexity, touches unavoidably
Hit.In order to when collision occurs, correct route avoiding barrier can be planned, need to arrange collision detection dress on sweeper
Put.System is by sensor output information labelling Obstacle Position, it is to avoid collide again, to make up robot obstacle-avoiding ability
Deficiency.
Existing collision detecting device includes following several：
Collision of the first kind detection means by the way of rough detection is switched by one or pressure transducer is connected to
On the larger face-piece of one area, when face-piece contacts barrier, cause to switch or sensor states change, so can
Collision interior in a big way is detected, is had the disadvantage：It is only able to detect whether robot integrally there occurs collision, and does not can determine that and touch
Hit the particular location of generation；
By arranging multiple said apparatus, certain that can perceive robot is several substantially for collision of the second kind detection means
Position of collision.Have the disadvantage：Due to having used multiple sensors, occupy space and processor resource is more, it is relatively costly, but accurately
Degree is not high.
The third collision detecting device coordinates the infrared distance measurement with condenser lenses to sense on the basis of the first device
Device come realize detect Obstacle Position purpose.When barrier is collided, robot itself rotation, by above-mentioned infrared distance measurement
Sensor is scanning the position of barrier.The position of barrier so can be accurately detected, is had the disadvantage：Barrier is encountered every time
Will rotate when hindering thing, the speed for detecting can be reduced to a certain extent；And it is relatively costly.
In sum, the collision detecting device of prior art has that high cost and detection degree of accuracy are low.
The content of the invention
In view of this, the invention provides a kind of device for detecting position of collision of, system and detection method, can be quick and precisely
The position of ground sensing collision.
In a first aspect, a kind of device for detecting position of collision of is embodiments provided, for being coated on movable equipment
Shell on, including the first conductive layer, supporting layer, the second conductive layer and the crusherbull zone layer that are arranged in order from inside to outside；
One end of first conductive layer is connected with the first wire, and first wire is used for connecting a/d converter or carrying
The sample port of the microprocessor of AD conversion module, the sample port include analog input interface；
The side that second conductive layer is contacted with the supporting layer is conductive, and one end of second conductive layer is led with second
Line connects, the other end connection privates relative with the second wire connecting ends, and second wire and privates are used respectively
In the positive pole and negative pole of connection power supply.
With reference in a first aspect, the embodiment of the present invention additionally provides the first possible embodiment of first aspect, wherein,
First conductive layer include the conductive material of the case surface for being painted on the movable equipment or be coated on it is described can
Conductive material on the shell of mobile device.
With reference in a first aspect, the embodiment of the present invention additionally provides second possible embodiment of first aspect, wherein,
The supporting layer includes reticulated elastomeric film.
With reference in a first aspect, the embodiment of the present invention additionally provides the third possible embodiment of first aspect, wherein,
Second conductive layer includes that side sputtering has the plastic sheeting of conductive coating, and the impedance of the conductive coating is uniformly distributed；Institute
The side that stating plastic sheeting sputtering has conductive coating is contacted with the supporting layer, and opposite side is contacted with the crusherbull zone layer.
With reference in a first aspect, the embodiment of the present invention additionally provides the 4th kind of possible embodiment of first aspect, wherein,
The crusherbull zone layer is made up of elastomeric material, and the elastomeric material includes rubber or silica gel.
With reference to above-mentioned any one possible embodiment, the embodiment of the present invention additionally provides the 5th kind of first aspect can
Can embodiment, wherein, first conductive layer, between supporting layer, the second conductive layer and crusherbull zone layer by bonding
Mode connects.
Second aspect, the embodiment of the present invention additionally provide a kind of position of collision detecting system, including it is above-mentioned any one touch
Hit position detecting device and movable equipment；The positive pole and negative pole of the power supply of the movable equipment connect respectively the second wire and
Privates, the movable equipment are directly connected to the first wire or connect the first wire by a/d converter；
The movable equipment is directly connected to the first wire, including：The simulation of the AD conversion module of the movable equipment
Signal input interface is connected with the first wire；
The movable equipment connects the first wire by a/d converter, including：The analogue signal of the a/d converter is defeated
Incoming interface is connected with the first wire.
With reference to second aspect, the embodiment of the present invention additionally provides the first possible embodiment of second aspect, wherein,
The movable equipment is the equipment for moving route ability with contexture by self.
The third aspect, the embodiment of the present invention additionally provide a kind of position of collision detection method, are applied to above-mentioned may move and set
It is standby upper, including：
The magnitude of voltage of the first wire is gathered by sample port；
The magnitude of voltage is compared with default reference value, if the magnitude of voltage is less than the reference value, is calculated
The ratio of the magnitude of voltage and the reference value；
According to the distance between the ratio and the second lead connection end for prestoring and the 3rd lead connection end, collision is calculated
The distance between point and the 3rd lead connection end；
The concrete position of the point of impingement is determined according to the installation site of calculated distance and the device for detecting position of collision of
Put.
With reference to the third aspect, the embodiment of the present invention additionally provides the first possible embodiment of the third aspect, wherein,
Methods described also includes：
The moving direction of the movable equipment is controlled according to the particular location of the point of impingement determined；
According to the particular location of the point of impingement determined record barrier particular location, it is to avoid movable equipment again with
The barrier collides.
The embodiment of the present invention brings following beneficial effect：
Device for detecting position of collision of provided in an embodiment of the present invention and system, lead including first for being arranged in order from inside to outside
Electric layer, supporting layer, the second conductive layer and crusherbull zone layer, product holistic cost are low.It is first conductive layer, supporting layer, second conductive
Layer and crusherbull zone layer are made using bent flexible material, and flexibly configurable is on various devices.When collision occurs, touch
The second conductive layer for hitting position is come in contact with the first conductive layer because deforming upon, and now, the both sides of position of collision are to two
Two resistance can be equivalent between wire, according to the ratio of two resistance, with reference to detection method provided in an embodiment of the present invention, i.e.,
The particular location of collision can be calculated, the accuracy and sensitivity of detection is high.
Other features and advantages of the present invention will be illustrated in the following description, also, partly be become from description
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in description, claims
And in accompanying drawing specifically noted structure realizing and obtain.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
Needed for embodiment or description of the prior art, accompanying drawing to be used is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The structural representation of the device for detecting position of collision of that Fig. 1 is provided by one embodiment of the invention；
The collision status figure of the device for detecting position of collision of that Fig. 2 is provided by one embodiment of the invention；
Equivalent circuit diagram of the device for detecting position of collision of that Fig. 3 is provided by one embodiment of the invention under collision status；
The flow chart of the position of collision detection method that Fig. 4 is provided by one embodiment of the invention.
Icon：
The shell of 1- movable equipments；The first conductive layers of 2-；3- supporting layers；The second conductive layers of 4-；5- crusherbull zone layers.
Specific embodiment
For making purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is a part of embodiment of the invention, rather than
Whole embodiments.The component of the embodiment of the present invention generally herein described and illustrated in accompanying drawing can be matched somebody with somebody with a variety of
Put to arrange and design.Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit
The scope of claimed invention, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, this
The every other embodiment obtained under the premise of creative work is not made by field those of ordinary skill, belongs to the present invention
The scope of protection.
At present, collision detecting device includes following several：
Collision of the first kind detection means by the way of rough detection is switched by one or pressure transducer is connected to
On the larger face-piece of one area, when face-piece contacts barrier, cause to switch or sensor states change, so can
Collision interior in a big way is detected, is had the disadvantage：It is only able to detect whether robot integrally there occurs collision, and does not can determine that and touch
Hit the particular location of generation；
By arranging multiple said apparatus, certain that can perceive robot is several substantially for collision of the second kind detection means
Position of collision.Have the disadvantage：Due to having used multiple sensors, occupy space and processor resource is more, it is relatively costly, but accurately
Degree is not high.
The third collision detecting device coordinates with condenser lenses infrared distance sensor on the basis of the first device
To realize detecting the purpose of Obstacle Position.When barrier is collided, robot itself rotation is passed by above-mentioned infrared distance measurement
Sensor is scanning the position of barrier.The position of barrier so can be accurately detected, is had the disadvantage：Obstacle is encountered every time
Will rotate during thing, the speed for detecting can be reduced to a certain extent；And it is relatively costly.
4th kind of collision detecting device is used in small scale robot, when center of gravity is relatively low, can be the whole of robot
Shell make can horizontal direction freely activity, then by accelerometer and gyroscope detecting position of collision.This device
Also the position of collision can be accurately detected, but is had the disadvantage：High cost, technology realize that difficulty is big.
The problem low for existing collision detecting device accuracy of detection, detection efficiency is low and production cost is high, the present invention
Embodiment provides a kind of device for detecting position of collision of and system, first the device for detecting position of collision of of the present invention is carried out below
It is discussed in detail.
Embodiment one
Fig. 1 shows a kind of cross-sectional view of device for detecting position of collision of that the embodiment is provided.Such as Fig. 1 institutes
Show, the device for detecting position of collision of of the embodiment, for being coated on the shell 1 of movable equipment, including from inside to outside successively
First conductive layer 2 of arrangement, supporting layer 3, the second conductive layer 4 and crusherbull zone layer 5.
Wherein, one end of the first conductive layer 2 is connected with the first wire；First wire is used for connecting a/d converter or with AD
The sample port of the microprocessor of modular converter, the sample port include analog input interface；, i.e. the first wire passes through
The analog input interface of a/d converter (analog-digital converter) is connected with microprocessor, or is connected directly between the AD of microprocessor
On the analog input interface of modular converter (analog-to-digital conversion module).
First conductive layer 2 is made up of flexible conducting material.First conductive layer 2 can be selected according to actually used situation as bottom
Select material and technique；The conductive material on 1 surface of shell that can select to be painted on movable equipment, it is also possible to select cladding
Conductive material on the shell of movable equipment.Such as：The conductive material for being sprayed on 1 surface of shell of movable equipment can be selected
With copper powder or aluminium powder, the conductive material being coated on the shell of movable equipment can select Copper Foil, flexible PCB or aluminium foil etc..
Flexible PCB is a kind of flexible PCB, is a kind of made by with polyimides or mylar as base material have height
Degree reliability, excellent flexible printed circuit.Abbreviation soft board or FPC are high, lightweight, thickness of thin with Distribution density
Feature.
Supporting layer 3 can be reticulated elastomeric film, and its material includes but is not limited to silica gel and rubber elastomeric material.Which is netted
Structure with holes, makes the second conductive layer after being collided, can make circuit turn-on with the first conductive layer directly contact.
The side that second conductive layer 4 is contacted with supporting layer 3 is conductive, and impedance is uniformly distributed, and sheet resistance value is appropriate, to control
The power consumption and certainty of measurement of detection means is in suitable scope.One end of second conductive layer 4 is connected with the second wire, the other end
It is connected with privates, the second wire and privates are respectively used to connect the positive pole and negative pole of power supply.
Second conductive layer 4 is flexible conducting material, the including but not limited to material such as ITO-PET thin film.ITO-PET thin film is
Using magnetron sputtering technique, transparent indium tin oxide (ITO) is sputtered on PET (poly terephthalic acid class plastics) base material conductive
The plastic sheeting of the side conduction that thin film coating Jing the high temperature anneals are obtained.Plastic sheeting sputtering has the side of conductive coating
Contact with supporting layer 3, opposite side is contacted with crusherbull zone layer 5.
Crusherbull zone layer 5 is made up of elastomeric material, including but not limited to the material such as rubber or silica gel.5, crusherbull zone layer
In outermost layer, for buffering from the impact of collision object, the purpose of the internal sensor being made up of two conductive layers of protection is played.
When object collides the shell of movable equipment, by made by elastomeric material, crusherbull zone layer 5 can deform.
Crusherbull zone layer 5 can also be air bag, and when object collides sensor, air bag can be used for buffering from touching
The impact of object is hit, while deforming.
Above-mentioned the first conductive layer 2, between supporting layer 3, the second conductive layer 4 and crusherbull zone layer 5 by way of bonding
Connection.
Structural representation when described device collides as shown in Figure 2；Equivalent electric when Fig. 3 shows that collision occurs
Lu Tu.As shown in Figures 2 and 3, when a collision occurs, outermost crusherbull zone layer is deformed upon, conductive so as to extrude second
Layer 4 is also deformed upon.Second conductive layer 4 of position of collision is come in contact with the first conductive layer 2 because deforming upon.
Now, the both sides of position of collision can be equivalent to two resistance to the second conductive layer between two wires, according to two
The ratio of individual resistance, you can calculate the particular location of collision, the accuracy and sensitivity of detection is high, and takes microprocessor resources
It is few；And reliability is high, good stability.
Due to device be integrally it is flexible, therefore, flexibly configurable on various devices, such as sweeping robot, server
Device people etc..When the device is applied on sweeping robot, during advancing in sweeping robot, collision typically all can
Occur in leading section.So device for detecting position of collision of is also disposed at the leading section of sweeping robot, profile is in Long Circle or length
Bar shaped.
The device for detecting position of collision of of the present embodiment compared with existing collision detecting device, easily realize by simple structure；
Material is easy to get, and manufacture difficulty is low, therefore product cost is low.
Embodiment two
A kind of position of collision detecting system is this embodiment offers, described in movable equipment and above-described embodiment one
Device for detecting position of collision of；The positive pole and negative pole of the power supply of movable equipment connect respectively the second conductive layer the second wire and
Privates, the analog input interface of the AD conversion module of the microprocessor of movable equipment connect the of the first conductive layer
One wire；
Another embodiment of the system is：First wire is connected with the analog input interface of a/d converter,
A/d converter is connected with the sample port of the microprocessor of movable equipment again.
The movable equipment is the equipment that robot etc. moves route ability with contexture by self, such as sweeping robot,
Service robot etc..
The device for detecting position of collision of and the course of work of detecting system provided by the embodiment of the present invention be：
During use, second wire and privates of device for detecting position of collision of are coupled with into positive source first and are born
Pole, the first wire are connected to the port of a/d converter or the microprocessor with AD conversion function.Supply voltage should be equal to AD conversion
The reference voltage of device.
If the position that the second wire is connected with the second conductive layer is A ends, the position that privates is connected with the second conductive layer
For B ends, when the certain point X on device for detecting position of collision of collides, by made by elastomeric material, crusherbull zone layer is subject to
Extruding, is deformed, while the second conductive layer on the inside of crusherbull zone layer is also deformed, and sends out with the first conductive layer
Raw contact.Now, the second conductive layer of point of impingement both sides can be equivalent into two resistance, and equivalent circuit is as shown in Figure 3.
As the impedance of the flexible conducting material of the second conductive layer is equally distributed, the magnitude of voltage V that the first wire is measuredS
With a/d converter reference voltage level VREFRatio equal to point of impingement X away from B ends apart from DXBWith A ends between B ends apart from DAB's
Ratio.I.e.
VS/VREF=DXB/DAB
Known VSWith VREFNumerical value, by calculate D is obtainedXBWith DABRatio, may thereby determine that X points apart from B ends
Distance, with reference to the installation site on equipment, just can calculate the particular location of the point of impingement.
Embodiment three
This embodiment disclose the position of collision detection being applied on the movable equipment of above-mentioned position of collision detecting system
Method.The flow chart of the method is as shown in figure 4, during position of collision is detected, microprocessor needs detection voltage value VS,
And calculate distance of the point of impingement apart from B ends.
Methods described is comprised the following steps that：
Step S401, gathers the magnitude of voltage Vs of the first wire by sample port；
Step S402, by magnitude of voltage Vs and default reference voltage level VREFIt is compared, if magnitude of voltage Vs is less than with reference to electricity
Pressure value VREF, then calculate magnitude of voltage Vs and reference voltage level VREFRatio；
Step S403, according to the distance between the ratio and the A ends for prestoring and B ends DAB, calculate point of impingement X points and B ends
The distance between, so that it is determined that the particular location of the point of impingement.
Methods described also includes：
The moving direction of the movable equipment is controlled according to the particular location of the point of impingement determined；
According to the particular location of the point of impingement determined record barrier particular location, it is to avoid movable equipment again with
The barrier collides.
Specifically, system is after sensor detects position of collision relative to the angle of itself, the labelling on map
Go out the accurate location of barrier.When come again this it is local when, this barrier can be judged with reference to other informations such as visions
Whether also exist；If also existed, change the moving direction of movable equipment, it is to avoid touch with same barrier again
Hit.The not enough purpose of other obstacle detection methods is made up to reaching.Final purpose is to make equipment avoid colliding.
From functional realiey angle, apparatus and method of the present invention is capable of achieving accurate position of collision detection, and manufacture difficulty is low,
Reliability is high, good stability, and low cost.As the device for detecting position of collision of is integrally flexible, flexibly configurable exists
In plurality of devices, such as sweeping robot, service robot etc., robot sheet is protected not suffer damage in moving process, together
When the barrier that also do not destroy or injure in movement environment.
Device for detecting position of collision of provided in an embodiment of the present invention, system and detection method have identical technical characteristic,
So can also solve identical technical problem, identical technique effect is reached.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation of the instruction such as " level ", " interior ", " outward " or position relationship be based on orientation shown in the drawings or position relationship, merely to
Be easy to description the present invention and simplify description, rather than indicate or imply indication device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
Finally it should be noted that：Embodiment described above, specific embodiment only of the invention, to illustrate the present invention
Technical scheme, rather than a limitation, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this
It is bright to be described in detail, it will be understood by those within the art that：Any those familiar with the art
The invention discloses technical scope in, which still can be modified to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of device for detecting position of collision of, for being coated on the shell of movable equipment, it is characterised in that described device bag
Include the first conductive layer, supporting layer, the second conductive layer and the crusherbull zone layer being arranged in order from inside to outside；
One end of first conductive layer is connected with the first wire, and first wire is used for connecting a/d converter or turns with AD
The sample port of the microprocessor of mold changing block, the sample port include analog input interface；
The side that second conductive layer is contacted with the supporting layer is conductive, and one end and second wire of second conductive layer connect
Connect, the other end connection privates relative with the second wire connecting ends, second wire and privates are respectively used to connect
Connect the positive pole and negative pole of power supply.
2. device according to claim 1, it is characterised in that first conductive layer includes being painted on described removable
The conductive material of the case surface of dynamic equipment or the conductive material being coated on the shell of the movable equipment.
3. device according to claim 1, it is characterised in that the supporting layer includes reticulated elastomeric film.
4. device according to claim 1, it is characterised in that second conductive layer includes that side sputtering has conductive coating
Plastic sheeting, the impedance of the conductive coating is uniformly distributed；Plastic sheeting sputtering have the side of conductive coating with it is described
Supporting layer is contacted, and opposite side is contacted with the crusherbull zone layer.
5. device according to claim 1, it is characterised in that the crusherbull zone layer is made up of elastomeric material, the bullet
Property material includes rubber or silica gel.
6. the device according to any one in claim 1-5, it is characterised in that first conductive layer, supporting layer,
Connected by way of bonding between second conductive layer and crusherbull zone layer.
7. a kind of position of collision detecting system, it is characterised in that the system is included in claim 1-6 described in any one
Device for detecting position of collision of and movable equipment；The positive pole and negative pole of the power supply of the movable equipment connects the second wire respectively
And privates, the movable equipment be directly connected to the first wire or by a/d converter connect the first wire；
The movable equipment is directly connected to the first wire, including：The analogue signal of the AD conversion module of the movable equipment
Input interface is connected with the first wire；
The movable equipment connects the first wire by a/d converter, including：The analogue signal input of the a/d converter connects
Mouth is connected with the first wire.
8. system according to claim 7, it is characterised in that the movable equipment is to move route with contexture by self
The equipment of ability.
9. a kind of position of collision detection method, it is characterised in that be applied on the movable equipment of system described in claim 7,
Including：
The magnitude of voltage of the first wire is gathered by sample port；
The magnitude of voltage is compared with default reference value, if the magnitude of voltage is less than the reference value, calculates described
The ratio of magnitude of voltage and the reference value；
According to the distance between the ratio and the second lead connection end for prestoring and the 3rd lead connection end, calculate the point of impingement with
The distance between 3rd lead connection end；
The particular location of the point of impingement is determined according to the installation site of calculated distance and the device for detecting position of collision of.
10. method according to claim 9, it is characterised in that methods described also includes：
The moving direction of the movable equipment is controlled according to the particular location of the point of impingement determined；
According to the particular location of the point of impingement determined record barrier particular location, it is to avoid movable equipment again with it is described
Barrier collides.
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| CN201611059334.1A CN106524886A (en) | 2016-11-25 | 2016-11-25 | Collision position detection device and system, and detection method |
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| CN201611059334.1A CN106524886A (en) | 2016-11-25 | 2016-11-25 | Collision position detection device and system, and detection method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107336266A (en) * | 2017-08-23 | 2017-11-10 | 江苏木盟智能科技有限公司 | Robot and its collision detection mechanism |
| CN110089979A (en) * | 2018-01-31 | 2019-08-06 | 光宝电子(广州)有限公司 | Inflatable device, system and its control method with Inflatable device |
| WO2020093554A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Contact-type detection electrode and movable electric apparatus |
| CN111189569A (en) * | 2018-11-15 | 2020-05-22 | 英纳法天窗系统集团有限公司 | Device for detecting impact forces and method for producing same |
| CN111562617A (en) * | 2020-05-27 | 2020-08-21 | 珠海格力智能装备有限公司 | Collision detection device |
| CN111716350A (en) * | 2020-04-28 | 2020-09-29 | 珠海格力智能装备有限公司 | Collision detection method and device, collision detector, system and storage medium |
| CN112114365A (en) * | 2019-06-19 | 2020-12-22 | 北京猎户星空科技有限公司 | Collision detection device and method and robot |
| CN112372638A (en) * | 2020-10-28 | 2021-02-19 | 深圳市优必选科技股份有限公司 | Robot anti-collision method and device, storage medium and robot |
| CN115031882A (en) * | 2022-02-28 | 2022-09-09 | 广州文远知行科技有限公司 | Collision sensing method and device, vehicle and storage medium |
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| CN112114365A (en) * | 2019-06-19 | 2020-12-22 | 北京猎户星空科技有限公司 | Collision detection device and method and robot |
| CN111716350A (en) * | 2020-04-28 | 2020-09-29 | 珠海格力智能装备有限公司 | Collision detection method and device, collision detector, system and storage medium |
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| CN111562617A (en) * | 2020-05-27 | 2020-08-21 | 珠海格力智能装备有限公司 | Collision detection device |
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