CN106526613B - Large-area anti-collision mechanism of robot - Google Patents
Large-area anti-collision mechanism of robot Download PDFInfo
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- CN106526613B CN106526613B CN201611191474.4A CN201611191474A CN106526613B CN 106526613 B CN106526613 B CN 106526613B CN 201611191474 A CN201611191474 A CN 201611191474A CN 106526613 B CN106526613 B CN 106526613B
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- infrared
- angle
- receiving sensor
- lens
- transmitting tube
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Manipulator (AREA)
Abstract
A large-area anti-collision mechanism of a robot comprises a walking and braking control module of the robot, an infrared ranging electronic module, an infrared transmitting tube and an infrared receiving sensor. The infrared ranging electronic module is connected with the walking and braking control module of the robot, the infrared transmitting tube and the infrared receiving sensor are respectively connected with the infrared ranging electronic module, and the transmitting direction of the infrared transmitting tube and the receiving direction of the infrared receiving sensor are installed in parallel in the same direction. The invention also comprises a large wide-angle lens, the infrared transmitting tube and the infrared receiving sensor are arranged on an imaging effective focal plane of the large wide-angle lens, the installation size of the infrared transmitting tube and the infrared receiving sensor is smaller than the imaging effective focal plane of the large wide-angle lens, and the induction angle of the infrared receiving sensor is larger than or equal to the emission angle of the infrared transmitting tube. The invention has the effect of large-area anti-collision.
Description
Technical Field
The invention relates to an anti-collision mechanism, in particular to a large-area anti-collision mechanism applied to a robot.
Background
In the current autonomous walking robot application environment, a non-contact method such as an ultrasonic sensor, an infrared sensor, laser scanning, 3D depth vision and the like is generally adopted to achieve the purpose of collision avoidance. The 3D depth vision method has complex equipment and high cost; the laser scanning equipment has high cost, and the laser 2D scanning can only detect one sector; the ultrasonic and infrared sensors have a small detection beam angle, so that the robot has a large volume in many application scenes, and a large-area non-contact anti-collision purpose can be achieved by using a plurality of ultrasonic, infrared and laser 2D scanning detection sensors.
Disclosure of Invention
In order to overcome the defects, the invention provides the robot anti-collision mechanism which has the effect of large-area anti-collision.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a large tracts of land anticollision institution of robot, includes walking and braking control module, infrared range finding electronic module, infrared transmitting tube and infrared receiving sensor of robot, infrared range finding electronic module is connected with walking and braking control module of robot, and infrared transmitting tube and infrared receiving sensor are connected with infrared range finding electronic module respectively, and infrared transmitting tube's emission direction and infrared receiving sensor's direction of receipt are the parallel installation of syntropy, still include big wide angle lens, infrared transmitting tube and infrared receiving sensor install on big wide angle lens's the effective focal plane of formation of image, and infrared transmitting tube and infrared receiving sensor's installation size is less than big wide angle lens's the effective focal plane of formation of image, and infrared receiving sensor's sensing angle is greater than or equal to infrared transmitting tube's emission angle.
As a further improvement of the present invention, the large wide angle lens is a lens group composed of a concave lens and a convex lens, the convex lens being forward and the concave lens being backward along the propagation direction of the emitted light beam.
As a further improvement of the invention, a light absorbing plate is arranged at the opposite side of the large wide-angle lens relative to the infrared transmitting tube and the infrared receiving sensor, and the light absorbing plate is arranged below the central horizontal plane of the large wide-angle lens.
As a further improvement of the invention, the effective angle of the beam direction angle emitted by the infrared emitting tube is theta 0 The effective angle of the beam direction angle expanded by the wide-angle lens is θ, which is known as: an effective detection distance when the large wide-angle lens is not installed is L 0 Calculating the effective detection spherical radius l=l according to the spherical crown area formula 0 *((1-SIN((π-θ 0 )/2))/(1-SIN((π-θ)/2))) 1/2 。
The beneficial effects of the invention are as follows: the large-area anti-collision mechanism of the robot expands the wave beam emitted by the infrared emission tube through the large-wide-angle lens, the expanded wave beam meets an obstacle and then forms a reflected wave, and the reflected wave is detected by the infrared receiving sensor after passing through the large-wide-angle lens, so that the purpose of large-area non-contact anti-collision is realized.
Drawings
FIG. 1 is a schematic view of a spherical crown formed by a large-area anti-collision mechanism of a robot of the present invention.
Fig. 2 is an overall assembly view of a large-area impact mechanism of the robot of the present invention.
Fig. 3 is a schematic diagram of a spherical crown of beam forming without adding a large wide-angle convex lens.
The following supplementary explanation is made with reference to the above drawings:
1- - -infrared emission tube
2- - -wide angle lens
3-spherical crown formed by the wave vibration surface after expansion
4-beam direction angle after expansion of wide angle lens 2
5- - -light absorption plate
6- -the beam direction angle emitted by the infrared emission tube 1
7-infrared receiving sensor
8-effective crashproof surface
9-infrared distance measuring electronic module
10-running and braking control module
11-ground
Detailed Description
A large-area anti-collision mechanism of a robot comprises a walking and braking control module 10 of the robot, an infrared ranging electronic module 9, an infrared transmitting tube 1 and an infrared receiving sensor 7. The infrared ranging electronic module 9 is connected with the walking and braking control module 10 of the robot, the infrared transmitting tube 1 and the infrared receiving sensor 7 are respectively connected with the infrared ranging electronic module 9, and the transmitting direction of the infrared transmitting tube 1 and the receiving direction of the infrared receiving sensor 7 are installed in parallel in the same direction. The large-area anti-collision mechanism of the robot further comprises a large wide-angle lens 2, the infrared transmitting tube 1 and the infrared receiving sensor 7 are arranged on an imaging effective focal plane of the large wide-angle lens 2, the installation size of the infrared transmitting tube 1 and the infrared receiving sensor 7 is smaller than the imaging effective focal plane of the large wide-angle lens 2, and the induction angle of the infrared receiving sensor 7 is larger than or equal to the emission angle of the infrared transmitting tube 1.
The working principle of the invention is as follows: the robot walks on ground 11, after the wave beam of infrared transmitting tube 1 shines the obstacle object that gets into the anticollision region after expanding through big wide-angle lens 2, produces the reflected wave, and the reflected wave is detected by infrared receiving sensor 7 through big wide-angle lens 2, sends the signal to walking and braking control module 10 after infrared ranging electronic module 9 processes to walking and braking control module 10 control robot carries out actions such as brake dodges, prevents that the robot from colliding with the obstacle object in the large tracts of land anticollision region.
In a specific embodiment, the wide-angle lens 2 is a lens group, and is composed of a concave lens and a convex lens, the convex lens is in front, and the concave lens is in back along the propagation direction of the emitted light beam. The total optical path of the large wide-angle lens 2 is concave, so that the emitted light beam of the infrared emission tube 1 is expanded after passing through the large wide-angle lens 2, and the reflected light beam generated after encountering an obstacle is converged after passing through the large wide-angle lens 2. The large wide angle lens 2 of the present invention is not limited to this embodiment but includes other forms of lens combinations in which the total optical path length is concave.
The large-area anti-collision mechanism of the robot is also provided with a light absorption plate 5 positioned at the opposite side of the large-wide-angle lens 2 relative to the infrared transmitting tube 1 and the infrared receiving sensor 7, and the light absorption plate 5 is arranged below the central horizontal plane of the large-wide-angle lens 2. The light-absorbing plate 5 serves to shield the direction surfaces which do not need to be illuminated. The spherical crown surface 3 formed by the expanded wave vibration surface is shown in fig. 1, and the effective crashworthy surface 8 is shown in fig. 2.
The effective angle of the beam direction angle 6 emitted by the infrared emitting tube 1 is θ0 (radian), and the effective angle of the beam direction angle 4 expanded by the wide-angle lens 2 is θ (radian), which is known as follows: the effective detection distance when the large wide-angle lens 2 is not mounted is L0 (meter), and the effective detection spherical radius L (meter) =l0 ((1-SIN ((pi- θ0)/2))/(1-SIN ((pi- θ)/2))) 1/2 is calculated according to the spherical cap area formula. In the specific embodiment, the effective detection spherical radius L (meters) is obtained according to the spherical cap area formula, under the condition that the loss and the geometric distortion of the wide-angle lens 2, that is, the equal luminous fluxes in the two states before and after expansion are ignored. Then, according to the calculated effective detection spherical radius L (meter), the power of the infrared transmitting tube 1 and the sensitivity of the infrared receiving sensor 7 can be selected so as to meet the requirement of the anti-collision distance.
The large-area anti-collision mechanism of the robot expands the wave beam emitted by the infrared emission tube 1 through the large-wide-angle lens 2, the expanded wave beam meets an obstacle and then forms a reflected wave, and the reflected wave is detected by the infrared receiving sensor 7 after passing through the large-wide-angle lens 2, so that the purpose of large-area non-contact anti-collision is realized.
Claims (3)
1. The utility model provides a large tracts of land anticollision institution of robot, includes walking and the braking control module of robot, infrared ranging electronic module, infrared transmitting tube and infrared receiving sensor, infrared ranging electronic module is connected with the walking and the braking control module of robot, and infrared transmitting tube and infrared receiving sensor are connected with infrared ranging electronic module respectively, and infrared transmitting tube's emission direction and infrared receiving sensor's direction of receipt are the syntropy parallel mount, characterized by: the infrared sensor comprises an infrared transmitting tube, an infrared receiving sensor, a large wide-angle lens, a lens assembly and a lens assembly, wherein the imaging surface of the large wide-angle lens is arranged on the effective focal planes of the infrared transmitting tube and the infrared receiving sensor, the installation size of the infrared transmitting tube and the infrared receiving sensor is smaller than the imaging effective focal plane of the large wide-angle lens, and the induction angle of the infrared receiving sensor is larger than or equal to the emission angle of the infrared transmitting tube;
the effective angle of the beam direction angle emitted by the infrared emission tube is theta 0 The effective angle of the beam direction angle expanded by the wide-angle lens is θ, which is known as: an effective detection distance when the large wide-angle lens is not installed is L 0 Calculating the effective detection spherical radius l=l according to the spherical crown area formula 0 *((1-SIN((π-θ 0 )/2))/(1-SIN((π-θ)/2))) 1/2 。
2. The large area anti-collision mechanism of a robot of claim 1, wherein: the large wide-angle lens is a lens group and consists of a concave lens and a convex lens, wherein the convex lens is arranged in front, and the concave lens is arranged in back along the propagation direction of the emitted light beam.
3. The large area anti-collision mechanism of a robot of claim 1, wherein: the infrared sensor is characterized by further comprising a light absorption plate positioned on the opposite side of the large wide-angle lens relative to the infrared transmitting tube and the infrared receiving sensor, and the light absorption plate is arranged below the central horizontal plane of the large wide-angle lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191474.4A CN106526613B (en) | 2016-12-21 | 2016-12-21 | Large-area anti-collision mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191474.4A CN106526613B (en) | 2016-12-21 | 2016-12-21 | Large-area anti-collision mechanism of robot |
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| CN106526613A CN106526613A (en) | 2017-03-22 |
| CN106526613B true CN106526613B (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611191474.4A Active CN106526613B (en) | 2016-12-21 | 2016-12-21 | Large-area anti-collision mechanism of robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108387903A (en) * | 2018-03-06 | 2018-08-10 | 中电科海洋信息技术研究院有限公司 | Undersea ranging device |
| CN111487635A (en) * | 2020-05-11 | 2020-08-04 | 苏州市运泰利自动化设备有限公司 | High-precision infrared dynamic infrared ranging system and method |
| CN212980385U (en) | 2020-08-25 | 2021-04-16 | 杭州宇树科技有限公司 | Quadruped robot with ultra-wide visual angle |
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| US6051836A (en) * | 1997-01-30 | 2000-04-18 | Matsushita Electric Works, Ltd. | Low-profile dome-shaped multi-lens system |
| CN101359087A (en) * | 2007-08-02 | 2009-02-04 | 鸿富锦精密工业（深圳）有限公司 | Wide-angle lens and vehicle apparatus using the wide-angle lens |
| CN103543518A (en) * | 2013-11-15 | 2014-01-29 | 哈尔滨工业大学 | Wide-angle lens applied to LED lighting optical communication system |
| WO2014162991A1 (en) * | 2013-04-02 | 2014-10-09 | 株式会社ニコン・トリンブル | Ranging device |
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| JP2016045137A (en) * | 2014-08-25 | 2016-04-04 | リコー光学株式会社 | Laser radar device and light-receiving device of laser radar device |
| CN205656309U (en) * | 2016-06-02 | 2016-10-19 | 北醒（北京）光子科技有限公司 | Small -size infrared distance measuring device |
| CN206523640U (en) * | 2016-12-21 | 2017-09-26 | 苏州穿山甲机器人股份有限公司 | The large area anticollision mechanism of robot |
-
2016
- 2016-12-21 CN CN201611191474.4A patent/CN106526613B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6051836A (en) * | 1997-01-30 | 2000-04-18 | Matsushita Electric Works, Ltd. | Low-profile dome-shaped multi-lens system |
| CN101359087A (en) * | 2007-08-02 | 2009-02-04 | 鸿富锦精密工业（深圳）有限公司 | Wide-angle lens and vehicle apparatus using the wide-angle lens |
| WO2014162991A1 (en) * | 2013-04-02 | 2014-10-09 | 株式会社ニコン・トリンブル | Ranging device |
| CN103543518A (en) * | 2013-11-15 | 2014-01-29 | 哈尔滨工业大学 | Wide-angle lens applied to LED lighting optical communication system |
| JP2016045137A (en) * | 2014-08-25 | 2016-04-04 | リコー光学株式会社 | Laser radar device and light-receiving device of laser radar device |
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN205656309U (en) * | 2016-06-02 | 2016-10-19 | 北醒（北京）光子科技有限公司 | Small -size infrared distance measuring device |
| CN206523640U (en) * | 2016-12-21 | 2017-09-26 | 苏州穿山甲机器人股份有限公司 | The large area anticollision mechanism of robot |
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| CN106526613A (en) | 2017-03-22 |
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