CN113406952A - Obstacle meeting signal triggering device, farm work robot and obstacle avoiding method thereof - Google Patents
Obstacle meeting signal triggering device, farm work robot and obstacle avoiding method thereof Download PDFInfo
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Abstract
The invention provides an obstacle meeting signal triggering device, a farm working robot and an obstacle avoiding method thereof, wherein the obstacle meeting signal triggering device comprises a bracket, at least one tension rope and at least one sensor. The tension rope is arranged on the support and supported by the support, the sensor is connected with the tension rope, the sensor detects the tension of the tension rope, a standard detection tension value is preset by the sensor, when the tension rope is in contact with the obstacle, and if the tension value detected by the sensor is larger than the standard detection tension value, the obstacle signal is triggered.
Description
Technical Field
The invention relates to the field of animal farms, in particular to an obstacle meeting signal triggering device, an operation robot for a farm and an obstacle avoiding method thereof.
Background
Because swine fever epidemic and other diseases are becoming the main problems affecting the biological safety of the farm, especially the flow of personnel in the farm above the scale becomes one of the ways of virus transmission, the farm tries to avoid excessive direct participation of personnel in the farm through automation; the aging problem is gradually prominent, and the work problem is gradually sharp and the labor cost is continuously increased due to the dirty and high-intensity operation of the farm; meanwhile, in recent years, the industry is upgraded, and the precision, high efficiency, high automation and intellectualization of the farm are tried.
Under this background, robots such as cleaning of rearing houses, disinfection, patrolling and examining get into the plant gradually, for example the market demand in the plant is obvious, because of there are barrier, interferent such as a large amount of columns, feeding pipeline, electric wire in the plant simultaneously, especially take the robotic arm to enter the operation and receive the limitation more, consequently become very critical function to the discernment of barrier. The prior farm also has the following technical problems: firstly, modeling is carried out on a farm, an obstacle area is directly marked and bypassed, and a robot is positioned at a fixed point to carry out action design, but the standardization degree of the farm is poor, modeling operation is complex, and foreign personnel cannot enter the farm conveniently and are difficult to use; secondly, infrared and ultrasonic technologies and laser radar searchlighting identification are used, pipelines with different thicknesses and searchlighting ranges are stored in pipelines with different distances from front to back, non-target obstacle information is easy to obtain, the influence of external noise such as light and water mist in a breeding house is large, or the detection width is small, the requirement on the configuration quantity of sensors is high, and the sensors cannot be used; thirdly, adopt vision system, need carry out the plant transformation, raise according to the difference and increase the discernment thing with the operation function, the water smoke when wasing the operation can influence vision function.
Disclosure of Invention
One main advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm work robot, and an obstacle avoiding method thereof, wherein the obstacle encountering signal triggering device detects an obstacle in contact with a farm and generates a corresponding obstacle signal, so that the farm work robot performs obstacle encountering processing according to the obstacle signal, thereby improving the work stability of the farm work robot.
Another advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm working robot and an obstacle avoiding method thereof, wherein the obstacle encountering signal triggering device detects obstacles in a farm in a contact detection manner, and is not interfered by environmental factors, so that accuracy of a detection result is improved.
Another advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm work robot, and an obstacle avoidance method thereof, wherein when the obstacle encountering signal triggering device encounters an obstacle, and the obstacle encountering signal triggering device contacts the obstacle encountering signal triggering device, whether the obstacle exists is determined according to a tension value of the obstacle encountering signal triggering device, and a corresponding obstacle encountering signal is generated.
Another advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm working robot and an obstacle avoiding method thereof, wherein the obstacle encountering signal triggering device is suitable for the farm working robot, and the obstacle encountering signal triggering device moves synchronously with the farm working robot, so that an obstacle in front of the farm working robot is detected by the obstacle encountering signal triggering device, which is beneficial to improving the working efficiency of the farm working robot.
Another advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm working robot and an obstacle avoiding method thereof, wherein the farm working robot includes at least one working arm, the obstacle encountering signal triggering device is disposed on the working arm, the obstacle encountering signal triggering device detects an obstacle signal encountered around the working arm, and the farm working robot adjusts a running direction according to the obstacle signal, which is beneficial to improving the working stability of the farm working robot.
Another advantage of the present invention is to provide an obstacle encountering signal triggering device, a farm work robot and an obstacle avoiding method thereof, wherein the obstacle encountering signal triggering device sends obstacle information when encountering an obstacle, and the farm work robot reversely rotates according to the obstacle information to avoid damaging pipelines or robots in the farm.
Another advantage of the present invention is to provide an obstacle signal triggering apparatus, a farm work robot and an obstacle avoidance method thereof, in which the obstacle signal triggering apparatus does not require expensive detection equipment nor a complicated mechanical structure. Therefore, the invention provides an economical and effective solution for the operation of the farm operation robot.
Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.
In accordance with one aspect of the present invention, the foregoing and other objects and advantages are achieved by a distress signal triggering apparatus, comprising:
a support;
at least one tension cord, wherein the tension cord is disposed on the stent, the tension cord being supported by the stent; and
the sensor is connected with the tension rope, the sensor detects the tension of the tension rope, a standard detection tension value is preset by the sensor, when the tension rope is in contact with the obstacle, and if the tension value detected by the sensor is larger than the standard detection tension value, the obstacle signal is triggered.
According to one embodiment of the invention, the tension cords are arranged around the circumference of the stent in such a way that they encircle the stent and are in tension.
According to one embodiment of the present invention, the stent includes a stent proximal end support unit and a stent distal end support unit, wherein the tension cords are supported at the stent proximal end support unit and the stent distal end support unit, respectively, of the stent.
According to an embodiment of the present invention, the tension string further comprises at least one tension unit, wherein each tension unit is disposed between the stent proximal end support unit and the stent distal end support unit of the stent, and at least one end of each tension unit is connected to the sensor, and the tension of each tension unit is detected by the sensor.
According to an embodiment of the present invention, the number of the tension cords is two or more, wherein the two tension cords are disposed at the upper end and the lower end and/or the front end and the rear end of the bracket, so that the obstacle signal triggering device detects obstacles encountered during forward movement and backward movement, or detects obstacles above or below the obstacle signal triggering device.
According to an embodiment of the present invention, the obstacle signal triggering device further includes at least one pulley, wherein the pulley is disposed at an end of the bracket, wherein the tension rope is wound around the pulley, and the tension rope is supported by the pulley such that the tension rope is in a tensioned state.
According to an embodiment of the present invention, the obstacle signal triggering device further includes at least one buffer, the buffer is telescopically disposed on the tension rope, when the tension applied to the tension rope becomes large, the buffer is stretched and deformed by the tension rope, so as to prevent the tension rope from being excessively deformed.
According to one embodiment of the invention, the damper is implemented as a gas spring or an extension spring.
According to one embodiment of the invention, the sensor is selected from the group of sensors consisting of a tension sensor, a pull sensor and a pull string sensor.
According to another aspect of the present invention, the present invention further provides a farm work robot comprising:
a robot local; and
at least one obstacle signal triggering device, wherein the obstacle signal triggering device is arranged on the robot, and the obstacle signal triggering device comprises:
a support;
at least one tension cord, wherein the tension cord is disposed on the stent, the tension cord being supported by the stent; and
the sensor is connected with the tension rope, the sensor detects the tension of the tension rope, a standard detection tension value is preset by the sensor, and when the tension rope is in contact with an obstacle, if the tension value detected by the sensor is larger than the standard detection tension value, the obstacle signal is triggered;
and the obstacle signal triggering device is connected with the robot in a communication mode, and the robot controls the operation state based on the obstacle signal.
According to one embodiment of the invention, the tension cords are arranged around the circumference of the stent in such a way that they encircle the stent and are in tension.
According to one embodiment of the present invention, the stent includes a stent proximal end support unit and a stent distal end support unit, wherein the tension cords are supported at the stent proximal end support unit and the stent distal end support unit, respectively, of the stent.
According to an embodiment of the present invention, the tension string further comprises at least one tension unit, wherein each tension unit is disposed between the stent proximal end support unit and the stent distal end support unit of the stent, and at least one end of each tension unit is connected to the sensor, and the tension of each tension unit is detected by the sensor.
According to an embodiment of the present invention, the number of the tension cords is two or more, wherein the two tension cords are disposed at the upper end and the lower end and/or the front end and the rear end of the bracket, so that the obstacle signal triggering device detects obstacles encountered during forward movement and backward movement, or detects obstacles above or below the obstacle signal triggering device.
According to an embodiment of the present invention, the obstacle signal triggering device further includes at least one pulley, wherein the pulley is disposed at an end of the bracket, wherein the tension rope is wound around the pulley, and the tension rope is supported by the pulley such that the tension rope is in a tensioned state.
According to an embodiment of the present invention, the obstacle signal triggering device further includes at least one buffer, the buffer is telescopically disposed on the tension rope, when the tension applied to the tension rope becomes large, the buffer is stretched and deformed by the tension rope, so as to prevent the tension rope from being excessively deformed.
According to one embodiment of the invention, the damper is implemented as a gas spring or an extension spring.
According to one embodiment of the invention, the sensor is selected from the group of sensors consisting of a tension sensor, a pull sensor and a pull string sensor.
According to one embodiment of the invention, the robot comprises a vehicle body and at least one mechanical arm arranged on the vehicle body, wherein the obstacle signal triggering device is arranged on the mechanical arm.
According to an embodiment of the present invention, the robot further includes an obstacle avoidance adjusting mechanism, wherein the obstacle avoidance adjusting mechanism is adjustably disposed between the vehicle body and the mechanical arm, and the obstacle avoidance adjusting mechanism adjusts a position of the mechanical arm based on an obstacle avoidance adjusting signal to avoid an encountered obstacle.
According to an embodiment of the present invention, the robot further includes a control system, the control system is communicatively connected to the obstacle-encountering signal triggering device and the robot local, and the control system obtains a corresponding obstacle avoidance control instruction based on a detection result of the obstacle-encountering signal triggering device, and adjusts a working state of the robot local.
According to another aspect of the invention, the invention further provides an obstacle avoiding method for the farm operation robot, wherein the obstacle avoiding method comprises the following steps:
(1) detecting a tension value F of a tension rope of a fault signal triggering device;
(2) judging whether the obstacle encountering signal trigger device touches the obstacle or not based on the detected tension value, and generating an obstacle avoidance control instruction when judging that the obstacle encountering signal trigger device touches the obstacle; and
(3) a mechanical arm of a robot main machine is driven to rotate in the direction opposite to the obstacle encountering direction so as to be separated from the obstacle.
According to an embodiment of the present invention, the obstacle avoidance method further includes the steps of:
presetting a detection standard tension value F0, wherein when the tension value F of the tension rope is detected to be more than or equal to F0, the situation that the tension rope meets an obstacle is judged; and when the tension value F < F0 of the tension rope is detected, judging that no obstacle is encountered.
According to one embodiment of the invention, said preset tension value F is greater than a minimum tension value in a tensioned state of said tension cord.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 is a schematic view of a farm work robot according to a first preferred embodiment of the present invention.
Fig. 2 is a schematic view of a distress signal triggering device of the farm work robot according to the first preferred embodiment of the present invention.
Fig. 3 is a schematic diagram of the framework of the farm work robot according to the above first preferred embodiment of the present invention.
FIG. 4 is a schematic view of the working layout of the farm working robot according to the above first preferred embodiment of the present invention
Fig. 5 is a schematic view of the working state of the obstacle avoidance device when the farm working robot meets the obstacle according to the first preferred embodiment of the invention.
Fig. 6 is a schematic view of a farm work robot according to a second preferred embodiment of the present invention.
Fig. 7 is a schematic view of a farm work robot according to a third preferred embodiment of the present invention.
Fig. 8 is a schematic view of an alternative embodiment of a farm work robot according to a third preferred embodiment of the invention.
Fig. 9 is a block diagram of the obstacle avoidance process of the farm work robot according to the above preferred embodiment of the invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to figures 1 to 5 of the drawings accompanying this specification, a farm work robot according to a first preferred embodiment of the invention is illustrated in the following description. The farm work robot comprises a robot body 10 and at least one obstacle signal triggering device 20 arranged on the robot body 10, wherein the obstacle signal triggering device 20 is communicatively connected to the robot body 10, and obstacles existing around the robot body 10 are detected by the obstacle signal triggering device 20. When the obstacle signal triggering device 20 is triggered by an obstacle, an obstacle signal corresponding to the obstacle is generated by the obstacle signal triggering device 20, and the generated obstacle signal is sent to the robot 10 by the obstacle signal triggering device 20. The robot local machine 10 performs corresponding obstacle avoidance operations, such as shutdown processing, according to the obstacle encountering signal triggering device 20, and sends out an alarm signal to control the robot local machine 10 to change a running track or move reversely so as to avoid the obstacle.
As shown in fig. 1 to 3, the farm working robot may operate in a farm 100, which may be a pigsty, a cowshed, a sheep pen, etc., or a nursery, a fattening house, a gestational house, etc., for raising animals. It is worth mentioning that the farm 100 is presented with obstacles arranged in pipes or lines arranged to feed the animals of the farm. The farm work robot may be implemented as a cleaning, disinfecting, inspecting, etc. work machine, wherein the farm work robot works in the farm and an obstacle encountered during the work of the farm work robot is detected by the obstacle signal triggering device 20. It will be appreciated by those skilled in the art that the obstacle in the farm may also be another object capable of blocking the farm work robot.
The robot machine 10 of the farm work robot comprises a vehicle body 11 and at least one mechanical arm 12 arranged on the vehicle body 11, and the vehicle body 11 drives the mechanical arm 12 to walk. It should be noted that, in the preferred embodiment of the present invention, the robot 12 is driven by the vehicle body 11 to complete the corresponding work task, for example, the robot 12 may be implemented as a washing device, and the vehicle body 11 drives the robot 12 to perform the cleaning task of the farm 100; alternatively, the robot 12 is implemented as a disinfection device, and the vehicle body 11 drives the robot 12 to move and perform a disinfection task of the farm 100; alternatively, the robot 12 is implemented as an inspection device, and the vehicle body 11 drives the robot 12 to move and perform an inspection task of the farm during the movement. It is worth mentioning that in this preferred embodiment of the invention, the specific type and function of the farm work robots are not limited, and the number and function of the robotic arms 12 are not limited.
The obstacle signal triggering device 20 is disposed on the vehicle body 11 or the mechanical arm 12 of the robot main body 10, and the obstacle signal triggering device 20 detects whether an obstacle is encountered near the robot main body 10 by the obstacle signal triggering device 20 in the process of moving with the robot main body 10, and generates corresponding obstacle information when an obstacle is encountered. The robot main body 10 controls the traveling of the vehicle body 11 and the working action of the mechanical arm 12 according to the obstacle information detected by the obstacle signal triggering device 20, so as to prevent the robot main body 10 and/or the obstacle signal triggering device 20 from colliding with the obstacle, and thus damaging the farm working robot or equipment in the farm, such as a pipeline or a pipeline in the farm.
The robot 10 further includes an obstacle avoidance adjusting mechanism 13, wherein the obstacle avoidance adjusting mechanism 13 is adjustably disposed between the vehicle body 11 and the mechanical arm 12, and the obstacle avoidance adjusting mechanism 13 adjusts the position of the mechanical arm 12 based on an obstacle avoidance adjusting signal to avoid an encountered obstacle.
Preferably, in the preferred embodiment of the present invention, the obstacle avoidance adjusting mechanism 13 is implemented as a steering device, wherein the mechanical arm 12 is pivotally connected to the obstacle avoidance adjusting mechanism 13. When the obstacle encountering signal triggering device 20 detects an obstacle, the obstacle avoidance adjusting mechanism 13 adjusts the position of the mechanical arm 12 based on an adjusting signal, so that the mechanical arm 12 and the obstacle encountering signal triggering device 20 avoid the obstacle.
The mechanical arm 12 is pivotally disposed on the vehicle body 11 through the obstacle avoidance adjusting mechanism 13, wherein the obstacle avoidance adjusting mechanism 13 can circumferentially drive the mechanical arm 12 to rotate along a rotation axis direction. By way of example, in the preferred embodiment of the present invention, the obstacle avoidance adjusting mechanism 13 may rotate the robotic arm 12 in a forward rotational direction so that the robotic arm 12 is in a proper working position in the farm. When the obstacle-encountering signal triggering device 12 detects that an obstacle exists, the obstacle-avoiding adjusting mechanism 13 rotates in a reverse direction to drive the mechanical arm 12 to rotate in the reverse direction, so that the mechanical arm 12 and the obstacle-encountering signal triggering device 20 are separated or avoid the obstacle.
It should be noted that, in the preferred embodiment of the present invention, the specific implementation of the obstacle avoidance adjusting mechanism 13 of the robot main body 10 is not limited herein, and in other alternative implementations of the present invention, the obstacle avoidance adjusting mechanism 13 may also be implemented as a driving device in the up-down direction, or a folding device, etc.
As shown in fig. 1 to 3, the obstacle signal triggering device 20 detects whether an obstacle is encountered by means of contact. In detail, the obstacle signal triggering device 20 is disposed on the mechanical arm 12, wherein the obstacle signal triggering device 20 moves synchronously with the mechanical arm 12. In the moving process, if there is an obstacle touching the obstacle signal triggering device 20, the obstacle signal triggering device 20 generates an obstacle signal corresponding to the obstacle.
The farm work robot further includes a control system 30, wherein the control system 30 is communicatively connected with the robot body 10 and the obstacle encountering signal triggering device 20, and the control system 30 is used for controlling the operation of the robot body 10, such as controlling the operation of the robot body 10, adjusting the rotation direction of the obstacle avoiding adjusting mechanism 13 of the robot body 10, and the like. The obstacle meeting signal triggering device 20 transmits the generated obstacle signal to the control system 30, and the control system 30 generates an obstacle avoidance control instruction based on the obstacle signal sent by the obstacle meeting signal triggering device 20, and controls the movement of the robot body 10 according to the obstacle avoidance control instruction.
As shown in fig. 1 to 3, the distress signal triggering device 20 includes a bracket 21, at least one tension rope 22 disposed on the bracket 21, and at least one sensor 23, wherein the sensor 23 is disposed on the tension rope 22, and the sensor 23 detects a tension or pulling force of the tension rope 22. Preferably, in the preferred embodiment of the present invention, the obstacle signal triggering device 20 is disposed at the robot arm 12 of the robot 10, and the obstacle signal triggering device 20 synchronously moves the robot arm 12. The obstacle signal triggering device 20 is disposed along the axial direction of the mechanical arm 12, and the obstacle signal triggering device 20 is located at the outer periphery of the mechanical arm 12, so that when the robot 10 encounters an obstacle during operation, the obstacle signal triggering device 20 firstly touches the obstacle at the outer side of the mechanical arm 12.
It should be noted that in the preferred embodiment of the present invention, when the obstacle signal triggering device 20 contacts with the obstacle, the obstacle signal triggering device 20 is touched by the obstacle signal triggering device 20, and whether the obstacle signal triggering device encounters the obstacle is determined by the obstacle signal triggering device 20 according to the change of the tension or pulling force of the tension rope 22. It will be appreciated by those skilled in the art that in the preferred embodiment of the present invention, the obstacle signal triggering device 20 detects the presence of an obstacle by contact, so that light, water mist, etc. in the farm 100 will not affect the obstacle signal triggering device 20. In other words, the obstacle signal triggering device 20 of the present invention can adapt to a complex farm environment, and the detection accuracy is not affected by environmental changes. In another aspect, since the obstacle signal triggering device 20 is located at the periphery of the mechanical arm 12, the obstacle signal triggering device 20 blocks the mechanical arm 12 from colliding with the obstacle, thereby facilitating protection of the pipelines or pipes in the robot 10 and the farm. It can be understood that, when the obstacle signal triggering device 20 encounters a pipeline or a pipeline in the farm 100, each pipeline or pipeline in the farm 100 may be used as an obstacle, and then a corresponding avoidance signal is generated, so that the control system 30 controls the robot 10 to avoid the obstacle, and the robot 10 does not affect the pipeline or the pipeline in the farm 100.
The tension string 22 is disposed around the bracket 21, and the tension string 22 is in a tensioned state, and the tension or pulling force of the tension string 22 is detected by the sensor 23 in real time. When the tension cord 22 encounters an obstacle, the tension cord 22 is blocked by the obstacle and its tension or pulling force increases. The sensor 23 detects the tension or the change of the pulling force of the tension rope 22, and judges whether the obstacle signal triggering device 20 encounters an obstacle according to the tension or the edge-pulling change value.
Preferably, in the preferred embodiment of the present invention, the tension rope 22 is a steel wire rope, wherein the tension rope 22 is disposed outside the bracket 21, and the tension rope 22 is disposed in the same direction as the robot arm 12 of the robot 10, and the tension rope 22 blocks the obstacle from touching the robot arm 12. In other words, in this preferred embodiment of the invention, the tension cord 22 is supported by the bracket 21 and the tension cord 22 is tensioned by the bracket 21 in the direction of the robot arm 12, wherein the sensor detects the tension or pulling force of the tension cord 22.
Alternatively, in other alternative embodiments of the present invention, the tension string 22 is implemented as an elastic string, a chain, a belt, or the like of a polymer fiber material. The tension cord 22 has a certain tension and softness.
Preferably, in this preferred embodiment of the present invention, the sensor 23 is a tension sensor or a tension sensor.
Preferably, in the preferred embodiment of the present invention, the bracket 21 is fixed to the robot arm 12, and the bracket 21 is moved synchronously by the robot arm 12. The bracket 21 is arranged around the outer side of the mechanical arm 12, and the tension rope 22 is supported by the bracket 21, so that the tension rope 22 is tensioned on the outer periphery of the mechanical arm 12. The frame 21 may be implemented as a ring structure, a rectangular parallelepiped frame structure with a roller-shaped structure, or the like, wherein the robot arm 12 is located inside the frame 21, and the tension cord 22 is supported by the frame 21 to form an anti-collision space, i.e., the robot arm 12 is located in the anti-collision space formed by the frame 21 and the tension cord 22.
Alternatively, in the preferred embodiment of the present invention, the support 21 is fixed to the robot 10, or the support 21 is pivotally connected to the obstacle avoidance adjusting mechanism 13, and the support 21 is driven to rotate by the obstacle avoidance adjusting mechanism 13. It should be noted that in the preferred embodiment of the present invention, the support 21 is located in front of the robot arm 12, i.e. along the moving direction of the robot 10, and the support 21 is located in front of the robot arm 12.
The stent 21 includes a stent proximal end support unit 211 and a stent distal end support unit 212, wherein the tension string 22 is supported between the stent proximal end support unit 211 and the stent distal end support unit 212 of the stent 21, respectively. The tension cord 22 is tensioned at the stent proximal end supporting unit 211 and the stent distal end supporting unit 212, and one end of the tension cord 22 is drivingly connected to the sensor 23, when the tension of the tension cord 22 exceeds a preset tension value, the sensor 23 transmits a detection result to the control system 30, and the control system 30 determines the existence of an obstacle according to the detected tension value.
It should be noted that the tension cord 22 further comprises at least one tension unit 221, wherein each tension unit 221 is disposed between the stent proximal end support unit 211 and the stent distal end support unit 212 of the stent 21, and at least one end of each tension unit 221 is connected to the sensor 23, and the sensor 23 detects the tension of each tension unit 221.
The obstacle signal triggering device 20 further includes at least one pulley 24, wherein the pulley 24 is disposed at an end of the bracket 21, i.e., a corner of the bracket, and wherein the tension rope 22 is wound around the pulley 24 and supported by the pulley 24, so that the tension rope 22 is in a tensioned state.
Preferably, in the preferred embodiment of the present invention, the pulley 24 is disposed at the corners of the proximal and distal support units 211 and 212 of the stent 21, wherein the tension cord 22 is wound around the outer circumference of the stent 21 via the pulley 24.
The obstacle signal triggering device 20 further includes at least one buffer 25, the buffer 25 is telescopically disposed on the tension rope 22, when the tension rope 22 touches the obstacle and is blocked, the tension rope 22 is deformed by force, and the tension force applied to the tension rope 22 is increased, wherein the buffer 25 is deformed by the tension rope 22 in a stretching manner, so as to prevent the tension rope 22 from being excessively deformed by force.
Preferably, in the preferred embodiment of the present invention, the buffer 25 is implemented as an air spring or an extension spring, wherein the buffer 25 is disposed on the bracket 21 and connected with the tension rope 22 to buffer the tension or pulling force applied to the tension rope 22. In short, the buffer 25 is an elastic buffer, and is used for buffering the acting force applied to the tension cord 22 to prevent the tension cord 22 from being excessively stretched and deformed.
More preferably, in the preferred embodiment of the present invention, the buffer 25 is located at the stent distal end support unit 212, and the sensor 23 is located at the stent proximal end support unit 211. In other words, the damper 25 and the sensor 23 are connected by the tension cord 22 and fixed to the bracket 21.
It is worth mentioning that in this preferred embodiment of the invention, the tension cord 22 and other component connections are configured by a tensioning device such that the tension cord 22 is in tension both before and after touching and disengaging an obstacle.
The sensor 23 presets a detection standard tension value F0, wherein the sensor 23 detects the tension value F of the tension rope 22 and compares the detected tension value with the detection standard tension value F0. If F is greater than or equal to F0, it indicates that the obstacle-encountering signal triggering device 20 encounters an obstacle, and the resistance of the obstacle exceeds a set value, and it is necessary to adjust the operating state of the robot main unit 10 or adjust the mechanical arm 12 of the robot main unit 10 to avoid the obstacle. On the contrary, if F < F0, it indicates that the obstacle signal triggering device 20 does not encounter an obstacle, the control system 30 controls the robot main unit 10 to operate normally.
Preferably, when the obstacle-encountering signal triggering device 20 encounters an obstacle, that is, when the sensor 23 detects that the tension value F is greater than or equal to F0, the obstacle-avoiding adjustment mechanism 13 of the robot main unit 10 drives the mechanical arm 12 to rotate in the reverse direction, that is, in the direction opposite to the obstacle, so that the mechanical arm 12 and the obstacle-encountering signal triggering device 20 avoid or separate from the obstacle, and thus, pipeline facilities or robots are prevented from being damaged.
As shown in fig. 4 and 5, the arrangement of the farm work robot in the farm is such that the farm work robot works in the passage of the farm 100 and the robot body 10 of the farm work robot moves in the passage, wherein the robot arm 12 of the robot body 10 extends to a work area of the farm 100, such as a bed, a breeding area, a disinfection area, and the like. The farm 100 is arranged by a pipeline 110, wherein the pipeline 110 is arranged from top to bottom, wherein the upper end of the pipeline 110 is fixed to the ceiling of the farm 100. During operation of the farm work robot, the robotic arm 12 of the robot main body 10 may touch the pipeline.
When the robot drives forward, the tension rope 22 of the obstacle signal triggering device 20 hits a pipeline (i.e. an obstacle), wherein the sensor 23 detects the tension of the tension rope 22, and when the tension detected by the sensor 23 is greater than a set detection standard tension value F0, an obstacle signal is triggered by the control system 30. The control system 30 generates an avoidance control instruction based on the obstacle encountering signal, and the control system 30 controls the robot 10 according to the avoidance control instruction.
In this embodiment, the control system 30 controls the obstacle avoidance adjusting mechanism 13 based on the avoidance control instruction, wherein the obstacle avoidance adjusting mechanism 13 rotates in a direction opposite to the obstacle after the trigger signal is received and disengages from the obstacle, so as to avoid damage to the pipeline facility or the robot.
It should be noted that the tension rope 22 should have a tension device to avoid loosening and affecting the obstacle detection effect. The minimum value f of the measuring range of the sensor 23 is larger than the tension of the steel wire rope, so that tension change signals caused by mechanical vibration, road jolt, steel wire tensioning and the like are prevented from being output. Due to the fact that the buffer 25 is stretched under force, the tension rope 22 has certain deflection change, and damage to a pipeline or a robot caused by the fact that the robot cannot stop timely is avoided.
Referring to fig. 6 of the drawings accompanying the present specification, a farm work robot according to a second preferred embodiment of the present invention will be explained in the following description. The farm work robot comprises a robot body 10 and at least one obstacle signal triggering device 20 arranged on the robot body 10, wherein the obstacle signal triggering device 20 is communicatively connected to the robot body 10, and obstacles existing around the robot body 10 are detected by the obstacle signal triggering device 20. When the obstacle signal triggering device 20 is triggered by an obstacle, an obstacle signal corresponding to the obstacle is generated by the obstacle signal triggering device 20, and the generated obstacle signal is sent to the robot 10 by the obstacle signal triggering device 20. The robot local machine 10 performs corresponding obstacle avoidance operations, such as shutdown processing, according to the obstacle encountering signal triggering device 20, and sends out an alarm signal to control the robot local machine 10 to change a running track or move reversely so as to avoid the obstacle.
The obstacle signal triggering device 20 includes a bracket 21, at least two tension ropes 22 disposed on the bracket 21, and at least two sensors 23, wherein the sensors 23 are disposed on the tension ropes 22, and the sensors 23 detect tension or pulling force of the tension ropes 22. The obstacle signal triggering device 20 further includes at least one pulley 24, wherein the pulley 24 is disposed at an end of the bracket 21, i.e., a corner of the bracket, and wherein the tension rope 22 is wound around the pulley 24 and supported by the pulley 24, so that the tension rope 22 is in a tensioned state. The obstacle signal triggering device 20 further includes at least one buffer 25, the buffer 25 is telescopically disposed on the tension rope 22, when the tension rope 22 touches the obstacle and is blocked, the tension rope 22 is deformed by force, and the tension force applied to the tension rope 22 is increased, wherein the buffer 25 is deformed by the tension rope 22 in a stretching manner, so as to prevent the tension rope 22 from being excessively deformed by force. The difference from the first preferred embodiment is the manner of mounting the sensor 23 and the tension cord 22.
In detail, in this wired embodiment of the present invention, the number of the tension cords 22 is two or more, and each of the sensors 23 is provided to the tension cord 22. The tension cords 22 are disposed at symmetrical sides of the bracket 21, such as the upper and lower ends of the bracket 21 and/or the front and rear ends of the bracket 21. As an example, in the preferred embodiment of the present invention, the number of the tension ropes 22 and the number of the sensors 23 are two, respectively, one of the tension ropes 22 is disposed at the front end of the support frame 21, i.e., the front end in the moving direction of the robot arm 12, and the other tension rope 22 is disposed at the rear end of the support frame 21, i.e., the rear side in the moving direction of the robot arm 12. Therefore, when the robot 10 moves forward or backward, the obstacle signal triggering device 20 can detect the obstacle encountered in the forward and backward movements. When the tension string 22 is disposed at the upper end and below the bracket 21, the sensor 23 can detect an obstacle above and/or below the robot arm 12.
The farm work robot of the present embodiment can recognize the front and rear positions of the obstacle with respect to the robot arm 12, and can detect and recognize the up and down position of the obstacle regardless of the traveling direction.
Referring to fig. 7 and 8 of the drawings accompanying the present specification, a farm work robot according to a third preferred embodiment of the present invention will be explained in the following description. The farm work robot comprises a robot body 10 and at least one obstacle signal triggering device 20 arranged on the robot body 10, wherein the obstacle signal triggering device 20 is communicatively connected to the robot body 10, and obstacles existing around the robot body 10 are detected by the obstacle signal triggering device 20. When the obstacle signal triggering device 20 is triggered by an obstacle, an obstacle signal corresponding to the obstacle is generated by the obstacle signal triggering device 20, and the generated obstacle signal is sent to the robot 10 by the obstacle signal triggering device 20. The robot local machine 10 performs corresponding obstacle avoidance operations, such as shutdown processing, according to the obstacle encountering signal triggering device 20, and sends out an alarm signal to control the robot local machine 10 to change a running track or move reversely so as to avoid the obstacle.
The obstacle signal triggering device 20 includes a bracket 21, at least two tension ropes 22 disposed on the bracket 21, and at least two sensors 23, wherein the sensors 23 are disposed on the tension ropes 22, and the sensors 23 detect tension or pulling force of the tension ropes 22. The obstacle signal triggering device 20 further includes at least one pulley 24, wherein the pulley 24 is disposed at an end of the bracket 21, i.e., a corner of the bracket, and wherein the tension rope 22 is wound around the pulley 24 and supported by the pulley 24, so that the tension rope 22 is in a tensioned state.
In contrast to the first preferred embodiment described above, the sensor 23 is implemented as a pull cord sensor in the preferred embodiment of the present invention, wherein the sensor 23 has elastic tensile properties and is provided on the tension cord 22. In the preferred embodiment of the present invention, the sensor 23 detects the tension or pulling force of the tension rope 22, and when the tension rope 22 touches the obstacle and is blocked, the tension rope 22 is deformed under force, and the tension applied to the tension rope 22 becomes large, wherein the sensor 23 is deformed under tension by the tension rope 22, so as to prevent the tension rope 22 from being deformed excessively under force. The difference from the first preferred embodiment is the manner of mounting the sensor 23 and the tension cord 22.
In short, in the preferred embodiment of the present invention, the distress signal triggering device is not provided with a tensioning device and a buffer.
In the preferred embodiment of the present invention, one end of the tension rope 22 is fixed to one end of the bracket 21, the other end of the tension rope 22 is fixed to the sensor 23, and the pulley 24 is provided at the corner of the bracket 22. It will be appreciated that in the preferred embodiment of the present invention, the number of pulleys 24 is one less pulley 24 than the fault signal triggering device of the first preferred embodiment.
In other words, the end of the sensor 23 may be directly connected to the bracket 21 without a pulley, and the tension cord 22 may be deflected after contacting an obstacle, and then determine whether to encounter the obstacle according to the displacement change and process the obstacle. Similar to the tension sensor, the displacement change sets a valid identification value, and the robot obstacle-encountering trigger signal allows a minimum displacement value s (or a measurement range minimum value s of the sensor parameter), wherein s is greater than 0. When the moving value of the sensor 23 is larger than the set minimum displacement value s, the control system 30 determines that the obstacle signal triggering device 20 encounters an obstacle.
As shown in fig. 8, another alternative embodiment of a farm work robot according to a third preferred embodiment of the invention will be elucidated in the following description. As in the third preferred embodiment, the sensor 23 is a pull cord sensor. The stent 21 includes a stent proximal end support unit 211 and a stent distal end support unit 212, wherein the tension string 22 is supported between the stent proximal end support unit 211 and the stent distal end support unit 212 of the stent 21, respectively. It is worth mentioning that in this preferred embodiment of the invention, the distress signal triggering device 20 is no longer provided with a cancelling pulley and a resilient bumper and no tensioning device is required. The robot control system can identify the front and back positions of the obstacle relative to the mechanical arm, and can detect and identify the upper and lower obstacle positions independent of the walking direction.
Referring to fig. 9 of the drawings accompanying the present specification, a method of obstacle avoidance for operation by a farm work robot according to another aspect of the present invention is illustrated in the following description. When the breeding robot runs, the tension rope 22 of the breeding robot touches an obstacle, wherein the sensor 23 detects a real-time change value of the tension rope 22. The control system 30 determines whether an obstacle is encountered according to the real-time tension value detected by the sensor 23, if it is determined that the obstacle is encountered, the control system 30 generates an obstacle control command, wherein the control system 30 controls the robot 10 to stop and/or controls the mechanical arm 12 of the robot 10 to move reversely according to the obstacle control command, so as to avoid damage to the mechanical arm 12 and/or the obstacle.
The obstacle avoidance method for the operation of the farm working robot comprises the following steps:
(1) detecting a tension value F of a tension rope 22 of a fault signal triggering device 20;
(2) judging whether the obstacle encountering signal trigger device 20 touches the obstacle or not based on the detected tension value, and generating an obstacle avoidance control instruction when judging that the obstacle encountering signal trigger device meets the obstacle; and
(3) a robot arm 12 of a robot main body 10 is driven to rotate in the opposite direction to the obstacle to escape from the obstacle.
In the above obstacle avoidance method, further comprising the steps of:
presetting a detection standard tension value F0, wherein when the tension value F of the tension rope 22 is detected to be more than or equal to F0, the situation that an obstacle is encountered is judged; when the tension value F < F0 of the tension rope 22 is detected, it is judged that no obstacle is encountered.
In the step of the obstacle avoidance method, the preset tension value F is greater than the minimum tension value when the tension rope is in a tension state. The tension change signal output caused by mechanical vibration, road bumping, steel wire tensioning and the like is avoided. The tension value of the tension rope 22 is transmitted to a control system 30, the control system generates the obstacle avoidance control command, wherein the control system 30 controls the robot main machine 10 to stop and/or controls the obstacle avoidance adjusting mechanism 13 of the robot main machine 10 to rotate reversely based on the obstacle avoidance control command, so that the obstacle avoidance adjusting mechanism 13 adjusts the mechanical arm 12 to rotate reversely to disengage from the obstacle.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (24)
1. An obstacle signal triggering device adapted to detect an obstacle, comprising:
a support;
at least one tension cord, wherein the tension cord is disposed on the stent, the tension cord being supported by the stent; and
the sensor is connected with the tension rope, the sensor detects the tension of the tension rope, a standard detection tension value is preset by the sensor, when the tension rope is in contact with the obstacle, and if the tension value detected by the sensor is larger than the standard detection tension value, the obstacle signal is triggered.
2. A distress signal triggering device according to claim 1, wherein the tension line is provided around the periphery of the bracket in a manner to encircle the bracket, and the tension line is in tension.
3. The distress signal triggering device according to claim 2, wherein the bracket includes a bracket proximal support unit and a bracket distal support unit, wherein the tension cord is supported at the bracket proximal support unit and the bracket distal support unit of the bracket, respectively.
4. The distress signal triggering device according to claim 3, wherein the tension cord further comprises at least one tension unit, wherein each tension unit is disposed between the stent proximal support unit and the stent distal support unit of the stent, and at least one end of each tension unit is connected to the sensor, and the tension of each tension unit is detected by the sensor.
5. The obstacle signal triggering device according to claim 3, wherein the number of the tension strings is two or more, wherein the two tension strings are provided at upper and lower ends and/or front and rear ends of the bracket, so that the obstacle signal triggering device detects obstacles encountered in forward and reverse movements or obstacles above or below the obstacle signal triggering device.
6. The distress signal triggering device according to claim 1, wherein the distress signal triggering device further comprises at least one pulley, wherein the pulley is arranged at an end of the bracket, wherein the tension rope is wound around the pulley and supported by the pulley so that the tension rope is in a tensioned state.
7. The distress signal triggering device according to claim 6, wherein the distress signal triggering device further comprises at least one buffer, the buffer is telescopically arranged on the tension rope, when the tension rope is subjected to an increased tension, the buffer is stretched and deformed by the tension rope, so as to prevent the tension rope from being excessively deformed.
8. A distress signal triggering apparatus according to claim 7, wherein the bumper is implemented as a gas spring or extension spring.
9. The distress signal triggering device according to claim 1, 4 or 5, wherein the sensor is selected from a group of sensors consisting of a tension sensor, a tension sensor and a pull string sensor.
10. A farm work robot, comprising:
a robot local; and
at least one obstacle signal triggering device, wherein the obstacle signal triggering device is arranged on the robot, and the obstacle signal triggering device comprises:
a support;
at least one tension cord, wherein the tension cord is disposed on the stent, the tension cord being supported by the stent; and
the sensor is connected with the tension rope, the sensor detects the tension of the tension rope, a standard detection tension value is preset by the sensor, and when the tension rope is in contact with an obstacle, if the tension value detected by the sensor is larger than the standard detection tension value, the obstacle signal is triggered;
and the obstacle signal triggering device is connected with the robot in a communication mode, and the robot controls the operation state based on the obstacle signal.
11. The farm work robot of claim 10, wherein the tension cord is disposed around the stent and is under tension.
12. The farm work robot of claim 11, wherein the frame includes a frame proximal end support unit and a frame distal end support unit, wherein the tension cords are supported at the frame proximal end support unit and the frame distal end support unit of the frame, respectively.
13. The farm work robot of claim 12, wherein the tension string further comprises at least one tension cell, wherein each tension cell is disposed between the stent proximal end support cell and the stent distal end support cell of the stent, and at least one end of each tension cell is connected to the sensor, the tension of each tension cell being detected by the sensor.
14. The farm work robot according to claim 12, wherein the number of the tension ropes is two or more, wherein the two tension ropes are provided at upper and lower ends and/or front and rear ends of the support, so that the obstacle signal triggering device detects obstacles encountered in forward and reverse movements, or detects obstacles above or below the obstacle signal triggering device.
15. The farm work robot of claim 10, wherein the distress signal triggering device further comprises at least one pulley, wherein the pulley is disposed at an end of the support, wherein the tension line is wound around the pulley and supported by the pulley such that the tension line is in a tensioned state.
16. The farm work robot of claim 15, wherein the distress signal triggering device further comprises at least one buffer, the buffer is telescopically arranged on the tension rope, when the tension rope is subjected to an increased tension, the buffer is stretched and deformed by the tension rope, and the tension rope is prevented from being excessively deformed under stress.
17. The farm work robot of claim 16, wherein the bumper is implemented as a gas spring or an extension spring.
18. The farm work robot of claim 10 or 13, wherein the sensor is selected from the group of sensors consisting of a tension sensor, and a pull string sensor.
19. The farm work robot of claim 10, wherein the robot includes a body and at least one robot arm mounted to the body, wherein the distress signal triggering device is mounted to the robot arm.
20. The farm work robot of claim 19, wherein the robot further comprises an obstacle avoidance adjustment mechanism, wherein the obstacle avoidance adjustment mechanism is adjustably disposed between the vehicle body and the robot arm, and wherein the obstacle avoidance adjustment mechanism adjusts the position of the robot arm based on an obstacle avoidance adjustment signal to avoid an obstacle encountered.
21. The farm work robot of claim 19, further comprising a control system, wherein the control system is communicatively connected with the obstacle signal triggering device and the robot, and the control system obtains a corresponding obstacle avoidance control command based on a detection result of the obstacle signal triggering device and adjusts a working state of the robot.
22. An obstacle avoidance method of a farm work robot, which is characterized by comprising the following steps:
(1) detecting a tension value F of a tension rope of a fault signal triggering device;
(2) judging whether the obstacle encountering signal trigger device touches the obstacle or not based on the detected tension value, and generating an obstacle avoidance control instruction when judging that the obstacle encountering signal trigger device touches the obstacle; and
(3) a mechanical arm of a robot main machine is driven to rotate in the direction opposite to the obstacle encountering direction so as to be separated from the obstacle.
23. An obstacle avoidance method according to claim 22, wherein the obstacle avoidance method further comprises the steps of:
presetting a detection standard tension value F0, wherein when the tension value F of the tension rope is detected to be more than or equal to F0, the situation that the tension rope meets an obstacle is judged; and when the tension value F < F0 of the tension rope is detected, judging that no obstacle is encountered.
24. An obstacle avoidance method according to claim 22, wherein the preset tension value F is greater than a minimum tension value in a tensioned state of the tension rope.
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Cited By (1)
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