CN107378977A - A kind of mobile robot and its emergency stop device and method - Google Patents
A kind of mobile robot and its emergency stop device and method Download PDFInfo
- Publication number
- CN107378977A CN107378977A CN201710642042.9A CN201710642042A CN107378977A CN 107378977 A CN107378977 A CN 107378977A CN 201710642042 A CN201710642042 A CN 201710642042A CN 107378977 A CN107378977 A CN 107378977A
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- China
- Prior art keywords
- mobile robot
- jerk
- order
- power switch
- power
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Selective Calling Equipment (AREA)
- Manipulator (AREA)
Abstract
The present invention is applied to robot field, there is provided a kind of mobile robot and its emergency stop device and method.Device includes being arranged on antenna, wireless receiving module, controller and power switch on mobile robot body, be sequentially connected electrically, and power switch is connected on the power output end or driver feeder ear of mobile robot；Wireless receiving module is used to receive wireless remote control signals by antenna and is sent to controller；Controller is used to parse wireless remote control signals, performs jerk order, and control power switch disconnects；Power switch is used to upon opening, disconnect the power supply of mobile robot.In the present invention, moveable robot movement is abnormal, but when nobody or motion are too fast beside mobile robot, directly Remote it can stop, so as to which injury be preferably minimized, again because power switch is connected on the power output end or driver feeder ear of mobile robot, therefore mobile robot self-control system is completely disengaged, can prevent artificial maloperation or assault from causing damage.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of mobile robot and its emergency stop device and method.
Background technology
Mobile robot, which has, automatically moves ability, that is, can be according to program or electricity in the case of not needing human intervention
Brain relative program autonomous control.But due to program imperfection, faulty sensor, system exception, hacker attacks, artificial behaviour by mistake
The many factors such as work, can cause mobile robot to fail it is anticipated that working or moving, and cause to surrounding people and facility infringement,
Mobile robot body also suffers damage simultaneously.
Current essentially all mobile robot is in order to prevent from unexpected all having manual emergency stop switch, but manual emergency stop switch
All be mounted on robot body, thus beside mobile robot nobody when or motion it is too fast when, can not jerk machine immediately
Device people, therefore still surrounding people and facility can be damaged, mobile robot body is also suffered damage.
The content of the invention
It is an object of the invention to provide a kind of mobile robot and its emergency stop device and method, it is intended to solves manual jerk
Switch is arranged on robot body, thus beside mobile robot nobody when or motion it is too fast when, can not jerk machine immediately
The problem of device people.
In a first aspect, the invention provides a kind of emergency stop device of mobile robot, described device includes being arranged on movement
Antenna, wireless receiving module, controller and power switch on robot body, being sequentially connected electrically, power switch are connected on
The power output end or driver feeder ear of mobile robot；
Wireless receiving module is used to receive wireless remote control signals by antenna and is sent to controller；
Controller is used to parse wireless remote control signals, performs jerk order, and control power switch disconnects；
Power switch is used to upon opening, disconnect the power supply of mobile robot.
Further, the controller is additionally operable to parse wireless remote control signals, and reset command is restarted in execution, and control power supply is opened
Close and close；
The power switch is additionally operable to when closing, again to electric in mobile robot.
Second aspect, the invention provides a kind of mobile robot, the mobile robot includes above-mentioned mobile machine
The emergency stop device of people.
Further, the mobile robot also includes manual emergency stop switch, the power supply of the emergency stop device of mobile robot
Switch is connected on the power circuit of mobile robot with manual emergency stop switch.
The third aspect, the invention provides a kind of jerk method of mobile robot, methods described includes：
Controller judges whether to receive wireless remote control signals；
If it is, determine whether to control the order of the machine；
If the order of control the machine, then judge whether jerk order；
If jerk order, then power switch is controlled to disconnect power supply.
Further, it is described judge whether jerk order after, methods described also includes：
If not jerk order, then judge whether power up commands；
If it is, control power switch closure, re-powers mobile robot.
Fourth aspect, the invention provides a kind of jerk remote control of mobile robot, described device includes electric successively
Order input module, controller, wireless transmitter module and the antenna of connection；
Order input module is used to input jerk order for user；
Controller is used to jerk order being packaged；
Wireless transmitter module is used to the jerk order after encapsulation being modulated into wireless remote control signals, and is transmitted into by antenna
The emergency stop device of mobile robot.
Further, the order input module is additionally operable to input power up commands for user；
Controller is additionally operable to power up commands being packaged；
Wireless transmitter module is additionally operable to the power up commands after encapsulation being modulated into wireless remote control signals, and is launched by antenna
To the emergency stop device of mobile robot.
In the present invention, because the emergency stop device of the mobile robot on mobile robot body is wireless jerk
Device, therefore when moveable robot movement is abnormal, and nobody or motion are too fast beside mobile robot, although can not use
Manual emergency stop switch, but directly Remote can stop, it will injure the purpose being preferably minimized so as to reach.Again because power supply is opened
The power output end or driver feeder ear for being connected on mobile robot are closed, therefore completely disengages mobile robot autonomous control system
System, can prevent artificial maloperation or assault from causing damage.
Again because controller is additionally operable to parse wireless remote control signals, reset command, control power switch closure are restarted in execution；
The power switch is additionally operable to when closing, again to electric in mobile robot.Therefore, can be long-range when hazards release
Mobile robot electrification reset is controlled, is worked on.
Again because mobile robot includes the emergency stop device of mobile robot and manual emergency stop switch, the urgency of mobile robot
The power switch of stop device is connected on the power circuit of mobile robot with manual emergency stop switch.Therefore any triggering,
Can be safer with jerk, duplicate protection.
Brief description of the drawings
Fig. 1 is the structural representation of the emergency stop device for the mobile robot that the embodiment of the present invention one provides.
Fig. 2 is the jerk method flow diagram for the mobile robot that the embodiment of the present invention three provides.
Fig. 3 is the structural representation of the jerk remote control for the mobile robot that the embodiment of the present invention four provides.
Embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only explaining this hair
It is bright, it is not intended to limit the present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one：
Referring to Fig. 1, the emergency stop device for the mobile robot that the embodiment of the present invention one provides includes being arranged on mobile machine
Antenna 11 on human body, being sequentially connected electrically, wireless receiving module 12, controller 13 and power switch 14, power switch 14
It is connected on the power output end or driver feeder ear of mobile robot.
Wireless receiving module 12 is used to receive wireless remote control signals by antenna 11 and is sent to controller 13；
Controller 13 is used to parse wireless remote control signals, performs jerk order, and control power switch 14 disconnects；
Power switch 14 is used to upon opening, disconnect the power supply of mobile robot.
In the embodiment of the present invention one, controller 13 can be MCU.Power switch 14 can be relay switch.
In the embodiment of the present invention one, the controller be can be also used for parsing wireless remote control signals, and reset is restarted in execution
Order (re-powering), control power switch closure；
The power switch can be also used for when closing, again to electric in mobile robot.
Embodiment two：
The mobile robot that the embodiment of the present invention two provides includes the urgency for the mobile robot that the embodiment of the present invention one provides
Stop device.
In the embodiment of the present invention two, mobile robot can also include manual emergency stop switch, the jerk of mobile robot
The power switch of device is connected on the power circuit of mobile robot with manual emergency stop switch.
Embodiment three：
Referring to Fig. 2, be the embodiment of the present invention three provide mobile robot jerk method flow diagram, the moving machine
Device people is the mobile robot that the embodiment of the present invention two provides, it should be noted that, it is of the invention if there is substantially the same result
The jerk method of mobile robot is not limited with the flow order shown in Fig. 2.It the described method comprises the following steps：
S101, controller judge whether to receive wireless remote control signals；
S102, if it is, determine whether control the machine order, otherwise, directly terminate flow；
S103, if control the machine order, then judge whether jerk order；
S104, if jerk order, then control power switch disconnect power supply.
In the embodiment of the present invention three, after S103, methods described can also include：
If not jerk order, then judge whether power up commands；
If it is, control power switch closure, re-powers mobile robot；Otherwise, flow is directly terminated.
Example IV：
Referring to Fig. 3, the jerk remote control for the mobile robot that the embodiment of the present invention four provides includes being sequentially connected electrically
Order input module 21, controller 22, wireless transmitter module 23 and antenna 24.
Order input module 21 is used to input jerk order for user, and the jerk order can also carry mobile robot
Identity code；
Controller 22 is used to jerk order being packaged；
Wireless transmitter module 23 is used to the jerk order after encapsulation being modulated into wireless remote control signals, and is sent out by antenna 24
It is mapped to the emergency stop device of mobile robot.
In the embodiment of the present invention four, wireless transmitter module 23 can be low frequencies module, such as 433mhz etc., low frequency
Transmitter module is relatively stable.
In the embodiment of the present invention four, order input module 21 can be also used for inputting power up commands for user；
Controller 22 can be also used for power up commands being packaged；
Wireless transmitter module 23 can be also used for the power up commands after encapsulation being modulated into wireless remote control signals, and pass through day
Line is transmitted into the emergency stop device of mobile robot.
Because jerk order or power up commands that order input module inputs can carry the identification of mobile robot
Code, therefore the jerk remote control of the mobile robot of the offer of the embodiment of the present invention four can include multiple buttons, such as one
The jerk of the corresponding mobile robot of button or upper electricity, it is also possible that a button is to that should be able to receive the mobile robot
Jerk remote control all mobile robots jerk or upper electricity.Therefore can support to control more mobile robot urgency simultaneously
Stop and upper electricity.
The jerk remote control for the mobile robot that one robot can also be provided by multiple embodiment of the present invention four controls
Jerk and upper electricity, the jerk remote control of mobile robot can be arranged on the wall of use environment, so as to select recently
Emergency stop switch control mobile robot jerk.
Battery powered can be used in the jerk remote control for the mobile robot that the embodiment of the present invention four provides, and uses and installs
It is convenient.
In embodiments of the present invention, because the emergency stop device of the mobile robot on mobile robot body is nothing
Line emergency stop device, therefore when moveable robot movement is abnormal, and nobody or motion are too fast beside mobile robot, although nothing
Method uses manual emergency stop switch, but directly Remote can stop, and the purpose being preferably minimized will be injured so as to reach.And due to
Power switch is connected on the power output end or driver feeder ear of mobile robot, therefore it is autonomous to completely disengage mobile robot
Control system, it can prevent artificial maloperation or assault from causing damage.
Again because controller is additionally operable to parse wireless remote control signals, reset command, control power switch closure are restarted in execution；
The power switch is additionally operable to when closing, again to electric in mobile robot.Therefore, can be long-range when hazards release
Mobile robot electrification reset is controlled, is worked on.
Again because mobile robot includes the emergency stop device of mobile robot and manual emergency stop switch, the urgency of mobile robot
The power switch of stop device is connected on the power circuit of mobile robot with manual emergency stop switch.Therefore any triggering,
Can be safer with jerk, duplicate protection.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of emergency stop device of mobile robot, it is characterised in that described device includes being arranged on mobile robot body
, the antenna being sequentially connected electrically, wireless receiving module, controller and power switch, power switch be connected on mobile robot
Power output end or driver feeder ear；
Wireless receiving module is used to receive wireless remote control signals by antenna and is sent to controller；
Controller is used to parse wireless remote control signals, performs jerk order, and control power switch disconnects；
Power switch is used to upon opening, disconnect the power supply of mobile robot.
2. device as claimed in claim 1, it is characterised in that
The controller is additionally operable to parse wireless remote control signals, and reset command, control power switch closure are restarted in execution；
The power switch is additionally operable to when closing, again to electric in mobile robot.
3. device as claimed in claim 1 or 2, it is characterised in that the power switch is relay switch.
4. a kind of mobile robot, it is characterised in that the mobile robot includes the movement described in claim any one of 1-3
The emergency stop device of robot.
5. mobile robot as claimed in claim 4, it is characterised in that the mobile robot is also opened including manual jerk
Close, the power switch of the emergency stop device of mobile robot is connected on the power circuit of mobile robot with manual emergency stop switch.
6. a kind of jerk method of mobile robot, it is characterised in that methods described includes：
Controller judges whether to receive wireless remote control signals；
If it is, determine whether to control the order of the machine；
If the order of control the machine, then judge whether jerk order；
If jerk order, then power switch is controlled to disconnect power supply.
7. method as claimed in claim 6, it is characterised in that it is described judge whether jerk order after, methods described is also wrapped
Include：
If not jerk order, then judge whether power up commands；
If it is, control power switch closure, re-powers mobile robot.
8. the jerk remote control of a kind of mobile robot, it is characterised in that the order that described device includes being sequentially connected electrically is defeated
Enter module, controller, wireless transmitter module and antenna；
Order input module is used to input jerk order for user；
Controller is used to jerk order being packaged；
Wireless transmitter module is used to the jerk order after encapsulation being modulated into wireless remote control signals, and is transmitted into movement by antenna
The emergency stop device of robot.
9. device as claimed in claim 8, it is characterised in that
The order input module is additionally operable to input power up commands for user；
Controller is additionally operable to power up commands being packaged；
Wireless transmitter module is additionally operable to the power up commands after encapsulation being modulated into wireless remote control signals, and is transmitted into shifting by antenna
The emergency stop device of mobile robot.
10. device as claimed in claim 9, it is characterised in that the jerk order and power up commands can also carry movement
The identity code of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642042.9A CN107378977A (en) | 2017-07-31 | 2017-07-31 | A kind of mobile robot and its emergency stop device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642042.9A CN107378977A (en) | 2017-07-31 | 2017-07-31 | A kind of mobile robot and its emergency stop device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378977A true CN107378977A (en) | 2017-11-24 |
Family
ID=60343470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642042.9A Pending CN107378977A (en) | 2017-07-31 | 2017-07-31 | A kind of mobile robot and its emergency stop device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107378977A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039574A (en) * | 2019-04-24 | 2019-07-23 | 北京猎户星空科技有限公司 | A kind of robot braking circuit, robot, robot braking method and device |
| CN111426488A (en) * | 2020-04-25 | 2020-07-17 | 华南理工大学 | Unmanned vehicle safety emergency stop system based on L ora communication |
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| CN103345253A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Mountain agricultural robot car body leveling remote control system |
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| CN206039267U (en) * | 2016-06-21 | 2017-03-22 | 珞石（北京）科技有限公司 | A high reliability safety control unit for industrial robot |
| CN207127896U (en) * | 2017-07-31 | 2018-03-23 | 深圳市神州云海智能科技有限公司 | A kind of mobile robot and its emergency stop device and jerk remote control |
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2017
- 2017-07-31 CN CN201710642042.9A patent/CN107378977A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345253A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Mountain agricultural robot car body leveling remote control system |
| CN206039267U (en) * | 2016-06-21 | 2017-03-22 | 珞石（北京）科技有限公司 | A high reliability safety control unit for industrial robot |
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN106346479A (en) * | 2016-11-16 | 2017-01-25 | 合肥欣奕华智能机器有限公司 | Controller and a safety protection system of robot |
| CN207127896U (en) * | 2017-07-31 | 2018-03-23 | 深圳市神州云海智能科技有限公司 | A kind of mobile robot and its emergency stop device and jerk remote control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039574A (en) * | 2019-04-24 | 2019-07-23 | 北京猎户星空科技有限公司 | A kind of robot braking circuit, robot, robot braking method and device |
| CN111426488A (en) * | 2020-04-25 | 2020-07-17 | 华南理工大学 | Unmanned vehicle safety emergency stop system based on L ora communication |
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