CN113601513A - Intelligent robot anticollision fence - Google Patents
Intelligent robot anticollision fence Download PDFInfo
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- CN113601513A CN113601513A CN202111040137.6A CN202111040137A CN113601513A CN 113601513 A CN113601513 A CN 113601513A CN 202111040137 A CN202111040137 A CN 202111040137A CN 113601513 A CN113601513 A CN 113601513A
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- module
- intelligent robot
- lantern ring
- light
- air bag
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- 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
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- 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
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses an intelligent robot anti-collision fence which comprises a robot, an air bag lantern ring and a tray, wherein the bottom end of the robot is sleeved with the air bag lantern ring, the outer surface layer of the air bag lantern ring is provided with a stain resistant layer, the outer layer of the air bag lantern ring is provided with an anti-collision rod through a fixing buckle, one end of the air bag lantern ring is provided with a pressure relief pipe, one side of the top end of the robot is provided with an installation support through a bolt, one side of the installation support is provided with a positioning plate through a screw, a protective cover is welded on the positioning plate, an electric inflator pump is installed inside the protective cover through a rubber installation plate, the top of the electric inflator pump is provided with an electricity storage box through a bolt, and the inner side of the air bag lantern ring is bonded with a sponge block through polyurethane glue. This novel intelligent robot anticollision fence function is various, easy operation, and the production of being convenient for has satisfied the multiple demand in the use, is fit for extensively using widely.
Description
Technical Field
The invention relates to the technical field of intelligent machines, in particular to an intelligent robot anti-collision fence.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility. As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. In combination with the application characteristics in these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities. Although there is no strict and accurate robot definition, we want some confidence in the nature of the robot: a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry, building industry and even military affairs.
Along with the development of society and the progress of science and technology, intelligent robot has been used in many enterprises, can replace the manpower to carry out some work, wherein use intelligent robot to carry the express delivery and put in when the express delivery is sorted to put in.
Patent number CN201920978608.X discloses an intelligent robot anticollision barrier, and the inner inserted block of anticollision barrier is reverse symmetric distribution, and the socket also is reverse symmetric distribution outside the robot, improves the support performance after the anticollision barrier installation.
The intelligent robot anti-collision fence has the following defects: 1. the existing intelligent robot anti-collision fence can not be fixed outside robots with different sizes; 2. the existing intelligent robot anti-collision fence has the advantages of poor stain resistant effect and poor toughness, and therefore the intelligent robot anti-collision fence is provided.
Disclosure of Invention
The invention mainly aims to provide an intelligent robot anti-collision fence, wherein an air bag sleeve ring is sleeved on the outer side of a robot, an electric inflator pump is connected to work to inflate the air bag sleeve ring and is quickly fixed on the robot, the fixing mode is convenient for the use of robots with different sizes, the application range is effectively enlarged, the stain resistant layer is a silicon fluoride modified coating, so that the outer surface layer of the air bag lantern ring is resistant to dirt, is not easy to stick dust and clean, has high coating strength and is not easy to peel off, is durable in use, has high elasticity and good buffer performance by utilizing the sponge block, is tightly attached to the robot, has good stability, the crash bar is arranged outside the robot through the fixing buckle, and performs shock absorption and buffering through the air bag lantern ring, the robot protection system has the advantages that the robot protection system can protect the robot for a week, is comprehensive in protection, simple in structure, low in cost, convenient to install and disassemble and convenient to use, and can effectively solve the problems in the background art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an intelligent robot anticollision fence, includes robot, the gasbag lantern ring and tray, the bottom cover of robot is equipped with the gasbag lantern ring, the extexine of the gasbag lantern ring is provided with resistant dirty layer, the skin of the gasbag lantern ring is provided with the crash bar through fixed the knot, the one end of the gasbag lantern ring is provided with the pressure release pipe, the installing support is installed through the bolt in top one side of robot, there is the locating plate one side of installing support through the screw mounting, the welding has the protective cover on the locating plate, electronic pump is installed through the rubber mounting panel in the inside of protective cover, the electricity storage box is installed through the bolt in the top of electronic pump, the inboard of the gasbag lantern ring bonds through polyurethane glue has the sponge piece.
Further, the stain-resistant layer is a silicon fluoride modified coating, and the output end of the electricity storage box is connected with the input end of the electric inflator pump through a lead.
Further, the air bag lantern ring is made of PP materials, and the anti-collision rod is a PVC rod piece.
Further, a pressure valve is arranged on the pressure relief pipe.
Furthermore, the bottom of the robot is provided with a brakeable universal wheel through a bracket and a bolt.
Further, foraminiferous rubber block is installed through the line hole in the bottom of protective cover, the output of electronic pump is connected the gas tube and the gas tube runs through foraminiferous rubber block and links to each other with the air inlet of the gasbag lantern ring.
Further, the tray is installed through support and bolt in the top of robot.
Further, an intelligent robot anticollision fence, still include: the device comprises a monitoring module, an image analysis module, a judgment module, a steering module and a generation module;
the monitoring module, the image analysis module, the judgment module, the steering module and the generation module are sequentially connected;
the image analysis module is connected with the steering module;
the monitoring module is used for monitoring whether an obstacle exists in a preset range in real time, if so, judging that the obstacle exists in front of the intelligent robot, outputting a first image at a corresponding moment, and simultaneously outputting a reminding signal;
the image analysis module is used for generating a top view positioning diagram containing the real-time position of the robot and the position of an obstacle based on the first image when the reminding signal is received, and analyzing the first image to obtain the first height of the obstacle and the first distance between the obstacle and the front end of the intelligent robot anti-collision fence;
the judging module is used for acquiring the current speed of the intelligent robot, judging whether the intelligent robot can stop within a safe distance or not based on the first distance, the current speed and the preset maximum deceleration acceleration of the intelligent robot, if so, obtaining a first target acceleration during deceleration of the intelligent robot based on the current speed, the difference between the first distance and the safe distance, and generating a corresponding first control signal based on the first target acceleration to control the intelligent robot to decelerate according to the first target acceleration;
otherwise, calculating first inertia energy when the intelligent robot reaches the obstacle based on the difference between the first distance and the safety distance and the maximum deceleration acceleration, judging whether the intelligent robot overturns based on the first inertia energy and the first height, if so, outputting a steering signal, and otherwise, generating a corresponding second control signal based on the maximum deceleration acceleration to control the intelligent robot to decelerate according to the maximum deceleration acceleration;
the steering module is used for calculating the current minimum braking distance of the intelligent robot based on the maximum deceleration accelerometer when the steering signal is received, acquiring a first arrival point of the first image based on the minimum braking distance, determining a first steering angle of the intelligent robot based on the first arrival point and the current orientation angle of the intelligent robot, simulating and generating a first steering route of the intelligent robot based on the first steering angle, the maximum steering speed and the maximum deceleration acceleration of the robot, judging whether the first steering route is overlapped with the position of the obstacle based on the overlooking positioning diagram, and if so, determining a second steering angle according to the preset gradient change, simulating a second steering route, and judging whether the second steering route is overlapped with the position of the obstacle or not until a final steering angle is determined;
otherwise, determining the first steering angle as a final steering angle;
the generating module is used for determining a corresponding third control signal based on the final steering angle to control the intelligent robot to steer according to the final steering angle.
Further, an intelligent robot anticollision fence, still include: the device comprises an emission module, a light distribution module, a spectrum analysis module, an air pressure measurement module and a control module;
the launching module is arranged on the inner wall of the air bag lantern ring;
the transmitting module, the light distribution module and the spectrum analysis module are connected in sequence;
the light distribution module and the spectrum analysis module are arranged on the inner wall of the air bag lantern ring at the opposite side of the emission module and are connected with the air pressure measurement module;
the air pressure measuring module and the control module are sequentially connected;
the emission module is used for emitting original composite light containing various monochromatic light with preset proportion to the light distribution module by taking the light emitting axis as the center;
the light distribution module is used for receiving the original composite light based on a light collection surface of the light distribution module by taking a light emitting axis as a center, reflecting the original composite light to the light distribution surface of the light distribution module through a reflector plate of the light distribution module, dividing the original composite light into two beams of preprocessed composite light based on textures of a preset included angle between the light distribution surface and the light emitting axis and emitting the two beams of preprocessed composite light, and obtaining a first light parameter of the two beams of preprocessed composite light based on the preset included angle between the light distribution surface and the light emitting axis and the distance between the reflector plate and the light distribution surface;
wherein the light-emitting axis is perpendicular to the emitting module and the light-collecting surface;
the spectrum analysis module is used for receiving the two beams of preprocessed original composite light distributed by the light distribution module, extracting a preset number of monochromatic light in one beam of preprocessed composite light through a spectrum analyzer, acquiring a second optical parameter of the preset number of monochromatic light based on related parameters of the two beams of preprocessed composite light, converting the preset number of monochromatic light and the preprocessed composite light into corresponding electric signals through a photoelectric detector, and outputting electric signal intensity curves corresponding to the monochromatic light and the preprocessed composite light through the spectrum analyzer;
the air pressure measuring module is used for performing overlapping comparison on an electric signal intensity curve corresponding to each monochromatic light and an electric signal intensity curve of the preprocessed composite light to generate a corresponding photoelectric signal loss intensity curve caused by the refraction of the gas of each monochromatic light in the air bag sleeve ring, weighting according to a preset proportion to obtain the refractive index of the gas in the air bag sleeve ring based on the related parameters of the preset number of monochromatic lights, and determining and outputting the pressure of the gas in the air bag sleeve ring according to the relationship between the refractive index of the gas and the pressure of the gas;
the control module is used for controlling the electric inflator pump to stop working when the gas pressure in the air bag lantern ring reaches a preset gas pressure value, and otherwise, controlling the electric inflator pump to continue inflating the air bag lantern ring.
Further, an intelligent robot anticollision fence, still include: the device comprises a wavelength measuring instrument, a calculation module and a comparison module;
the wavelength measuring instrument, the calculating module and the comparing module are connected in sequence;
the wavelength measuring instrument is connected with the transmitting module;
the wavelength measuring instrument is used for detecting the initial wavelength of the original composite light and the wavelength of the original composite light at the current temperature;
the calculation module is used for calculating the error of the gas pressure in the airbag collar measured by the gas pressure measurement module at the current temperature:
firstly, calculating a relation value between the strain quantity of a reflector plate contained in the light distribution module and the gas pressure in the air bag sleeve ring based on the initial wavelength of the original composite light measured by the wavelength measuring instrument;
then, calculating the error of the gas pressure in the air bag sleeve at the current temperature based on the initial wavelength of the original composite light, the wavelength of the original composite light at the current temperature and the relation value detected by the wavelength measuring instrument;
the comparison module is used for comparing the error of the gas pressure in the air bag sleeve at the current temperature with a preset error, if the calculated error is larger than the preset error, the alarm is controlled to give an alarm, and if not, the alarm is controlled to keep a standby state.
Compared with the prior art, the invention has the following beneficial effects:
1. establish the robot outside with gasbag lantern ring cover, switch-on electric inflator pump makes its work, inflate in the gasbag lantern ring, and fix on the robot fast, this fixed mode is convenient for use not unidimensional robot, effectual expansion application range, it is high to utilize sponge piece elasticity, buffer property is good, make closely laminating between gasbag lantern ring and the robot, stability is good, crash bar passes through fixed knot and installs outside the robot, carry out the shock attenuation buffering through the gasbag lantern ring, can carry out the protection of robot a week, the protection is comprehensive, simple structure is with low costs, be convenient for install and split, high durability and convenient use.
2. Open the pressure valve on the pressure release pipe and be convenient for with the gaseous discharge of gasbag lantern ring intra-annular, be convenient for take off the storage with the gasbag lantern ring, it is good to utilize the gasbag lantern ring to make the leakproofness for the PP material, and have higher impact resistance, mechanical properties is tough, multiple organic solvent and acid-base corrosion resistance, good stability, durable, resistant dirty layer is the modified coating of silicon fluoride, make the resistant dirt of gasbag lantern ring extexine, the difficult glutinous dust that glues, easy clearance, the coating intensity is high and is difficult for peeling off, durable.
3. Through setting up monitoring module, image analysis module, judgment module, turn to module, generation module, can realize the function of control discernment barrier to confirm based on the height of barrier and the distance apart from intelligent robot and intelligent robot's current speed the deceleration acceleration and the angle that turns to of intelligent robot, and then control intelligent robot avoids the condition that the collision leads to the robot to damage or take place to overturn.
4. The light distribution module divides the original composite light emitted by the emission module into two beams, a preset number of monochromatic lights in one beam of preprocessed composite light are extracted by the spectrum analysis module, the preset number of monochromatic lights and the preprocessed composite light are converted into corresponding electric signals, and a spectrum analyzer is used for outputting electric signal intensity curves corresponding to the monochromatic lights and the preprocessed composite light; the air pressure measuring module is used for determining and outputting the air pressure in the air bag sleeve ring, and the control module controls the related operation of the electric inflator pump based on the relation between the air pressure in the air bag sleeve ring and the preset pressure, so that the function of automatically starting and closing the electric inflator pump is realized.
4. The wavelength measuring instrument is used for detecting the initial wavelength of the original composite light and the wavelength of the original composite light at the current temperature, the calculating module is used for calculating the error of the gas pressure in the air bag sleeve ring measured by the gas pressure measuring module at the current temperature, and the comparing module is used for comparing the error of the gas pressure in the air bag sleeve ring at the current temperature with the preset error to control the working state of the alarm, so that the accuracy and the reliability of the alarm are guaranteed.
Drawings
Fig. 1 is a schematic view of the overall structure of an intelligent robot collision avoidance column of the present invention.
Fig. 2 is a cross-sectional view of a protective cover of an intelligent robot crash barrier according to the present invention.
Fig. 3 is a schematic view of a stain-resistant layer structure of the intelligent robot anti-collision fence according to the invention.
Fig. 4 is a schematic structural diagram of a pressure valve of an intelligent robot anti-collision fence according to the invention.
Fig. 5 is a schematic structural diagram of a sponge block of the intelligent robot anti-collision fence.
FIG. 6 is a flow chart of the operation of the present invention;
fig. 7 is a flow chart of the operation of the present invention.
In the figure: 1. an inflation tube; 2. a rubber block with holes; 3. a protective cover; 4. mounting a bracket; 5. a tray; 6. a robot; 7. an anti-collision bar; 8. an air bag collar; 801. a transmitting module; 802. a light distribution module; 803. a spectrum analysis module; 804. an air pressure measuring module; 805. a control module; 9. positioning a plate; 10. a pressure relief pipe; 11. a pressure valve; 12. the universal wheel can be braked; 13. an electric inflator; 14. a rubber mounting plate; 15. a stain resistant layer; 16. an electricity storage box; 17. a sponge block; 18. a monitoring module; 19. an image analysis module; 20. a judgment module; 21. a steering module; 22. and generating a module.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed; the type of the electrical appliance provided by the invention is only used for reference. For those skilled in the art, different types of electrical appliances with the same function can be replaced according to actual use conditions, and for those skilled in the art, the specific meaning of the above terms in the present invention can be understood in specific situations.
As shown in fig. 1-5, an intelligent robot anticollision barrier, includes robot 6, the gasbag lantern ring 8 and tray 5, the bottom cover of robot 6 is equipped with the gasbag lantern ring 8, the extexine of the gasbag lantern ring 8 is provided with resistant dirty layer 15, the skin of the gasbag lantern ring 8 is provided with crash bar 7 through fixed the knot, the one end of the gasbag lantern ring 8 is provided with pressure release pipe 10, installing support 4 is installed through the bolt in top one side of robot 6, there is locating plate 9 one side of installing support 4 through the screw installation, the welding has protective cover 3 on locating plate 9, electronic pump 13 is installed through rubber mounting panel 14 in the inside of protective cover 3, electricity storage box 16 is installed through the bolt in the top of electronic pump 13, there is sponge piece 17 in the inboard of the gasbag lantern ring 8 through the bonding of polyurethane glue.
The stain-resistant layer 15 is a silicon fluoride modified coating, and the output end of the electricity storage box 16 is connected with the input end of the electric inflator pump 13 through a lead.
In this embodiment, as shown in fig. 3, the stain-resistant layer 15 is a silicon fluoride modified coating, so that the outer surface layer of the air bag lantern ring 8 is resistant to stains, is not easy to stick dust, is easy to clean, has high strength, is not easy to peel off, and is durable.
The air bag lantern ring 8 is made of PP materials, and the anti-collision rod 7 is a PVC rod piece.
In this embodiment, as shown in fig. 1, the crash bar 7 is a PVC bar, which has a certain toughness, is not easily broken, has high durability, and is not easily damaged.
Wherein, a pressure valve 11 is arranged on the pressure relief pipe 10.
In this embodiment, as shown in fig. 1, opening the pressure valve 11 facilitates pressure relief.
Wherein, the bottom of the robot 6 is provided with a brakeable universal wheel 12 through a bracket and a bolt.
In this embodiment, the entire device is made portable by means of the brakable universal wheel 12, as shown in fig. 1.
Wherein, foraminiferous block rubber 2 is installed through the line hole in the bottom of protective cover 3, the output of electronic pump 13 is connected gas tube 1 and gas tube 1 runs through foraminiferous block rubber 2 and links to each other with the air inlet of gasbag lantern ring 8.
In this embodiment, as shown in fig. 1, the perforated rubber block 2 is used to improve the sealing property at the penetration portion.
Wherein, the tray 5 is installed through support and bolt in the top of robot 6.
In this embodiment, as shown in fig. 1, the top of the tray 5 is convenient for storing and transporting the logistics articles.
The invention is to be noted that, the invention is an intelligent robot crash barrier, when working, the air bag lantern ring 8 is sleeved outside the robot 6, the electric inflator pump 13 is connected to make the robot work, the air bag lantern ring 8 is inflated and is rapidly fixed on the robot 6, the fixing mode is convenient for using robots with different sizes, the application range is effectively enlarged, the sponge block 17 has high elasticity and good buffer performance, the air bag lantern ring 8 is tightly attached to the robot 6, the stability is good, the crash bar 7 is installed outside the robot 6 through the fixing buckle, the air bag lantern ring 8 is used for shock absorption and buffer, the robot 6 can be protected for one circle, the protection is comprehensive, the structure is simple, the cost is low, the installation and the disassembly are convenient, the use is convenient, the pressure valve 11 on the pressure relief pipe 10 is opened to facilitate discharging the air in the air bag lantern ring 8, the air bag lantern ring 8 is convenient to be taken down and stored, utilize gasbag lantern ring 8 to make the leakproofness good for the PP material to have higher impact resistance, mechanical properties is tough, resistance multiple organic solvent and acid-base corrosion, and stability is good, durable, resistant dirty layer 15 is the modified coating of silicon fluoride, makes 8 extexine dirt of gasbag lantern ring, and difficult sticky dust are easy to be cleared up, and coating intensity is high is difficult for peeling off, durable.
Referring to fig. 6, the intelligent robot collision avoidance column further includes: the device comprises a monitoring module 18, an image analysis module 19, a judgment module 20, a steering module 21 and a generation module 22;
the monitoring module 18, the image analysis module 19, the judgment module 20, the steering module 21 and the generation module 22 are connected in sequence;
the image analysis module 19 is connected with the steering module 21;
the monitoring module 18 is used for monitoring whether an obstacle exists in a preset range in real time, if so, judging that the obstacle exists in front of the intelligent robot, outputting a first image at a corresponding moment, and outputting a reminding signal;
the image analysis module 19 is configured to generate a top view positioning diagram including a real-time robot position and an obstacle position based on the first image when the reminding signal is received, and analyze the first image to obtain a first height of the obstacle and a first distance between the obstacle and the front end of the intelligent robot collision fence;
the judging module 20 is configured to obtain a current speed of the intelligent robot, judge whether the intelligent robot can stop within a safe distance based on the first distance, the current speed and a preset maximum deceleration acceleration of the intelligent robot, if so, obtain a first target acceleration during deceleration of the intelligent robot based on a difference between the current speed, the first distance and the safe distance, and generate a corresponding first control signal based on the first target acceleration to control the intelligent robot to decelerate according to the first target acceleration;
otherwise, calculating first inertia energy when the intelligent robot reaches the obstacle based on the difference between the first distance and the safety distance and the maximum deceleration acceleration, judging whether the intelligent robot overturns based on the first inertia energy and the first height, if so, outputting a steering signal, and otherwise, generating a corresponding second control signal based on the maximum deceleration acceleration to control the intelligent robot to decelerate according to the maximum deceleration acceleration;
the steering module 21 is configured to, when receiving the steering signal, calculate a current minimum braking distance of the intelligent robot based on the maximum deceleration accelerometer, obtain a first arrival point of the first image based on the minimum braking distance, determine a first steering angle of the intelligent robot based on the first arrival point and a current heading angle of the intelligent robot, simulate and generate a first steering route of the intelligent robot based on the first steering angle, a maximum steering speed of the robot, and a maximum deceleration acceleration, determine whether the first steering route overlaps with a position of the obstacle based on the overhead positioning diagram, and if so, determining a second steering angle according to the preset gradient change, simulating a second steering route, and judging whether the second steering route is overlapped with the position of the obstacle or not until a final steering angle is determined;
otherwise, determining the first steering angle as a final steering angle;
the generating module 22 is configured to determine a corresponding third control signal based on the final steering angle to control the intelligent robot to steer according to the final steering angle.
In this embodiment, the monitoring module realizes the monitoring function by acquiring the video within the preset range in real time and analyzing the video.
In this embodiment, the first image is an image within a preset range extracted from the surveillance video at a time point when it is determined that an obstacle exists in front of the intelligent robot.
In this embodiment, the first height is a maximum height corresponding to an intersection point of a straight line of the current orientation angle and the position of the obstacle of the intelligent robot;
in this embodiment, the first distance is a distance between an intersection point of a straight line of the intelligent robot at the current orientation angle and the position of the obstacle and the current position of the intelligent robot.
In this embodiment, the safe distance is the minimum safe distance between the intelligent robot and the obstacle.
In this embodiment, the maximum deceleration acceleration is a preset maximum attainable acceleration of the intelligent robot during deceleration, and is a negative value.
In this embodiment, the first target acceleration is also a negative value.
The working principle and the beneficial effects of the technology are as follows: the monitoring module 18 is used for monitoring whether an obstacle exists in a preset range in real time; the image analysis module 19 is used for generating a top view positioning diagram based on the monitoring result, and obtaining a first height and a first distance; the judging module 20 is configured to judge whether the intelligent robot can stop within a safe distance, and if so, control the intelligent robot to decelerate according to the first target acceleration based on a first control signal; otherwise, judging whether the intelligent robot overturns or not, if so, outputting a steering signal, and otherwise, controlling the intelligent robot to decelerate according to the maximum deceleration acceleration based on a second control signal; the steering module 21 is used for determining a final steering angle; the generating module 22 is configured to determine that a corresponding third control signal controls the intelligent robot to steer according to the final steering angle; the intelligent robot system comprises a monitoring module 18, an image analysis module 19, a judgment module 20, a steering module 21 and a generation module 22, and is characterized in that the function of monitoring and recognizing obstacles can be realized, the deceleration acceleration and the steering angle of the intelligent robot are determined based on the height of the obstacles, the distance from the intelligent robot and the current speed of the intelligent robot, and the intelligent robot is controlled to avoid the situation that the robot is damaged or overturned due to collision.
Referring to fig. 7, the intelligent robot collision avoidance column further includes: the system comprises a transmitting module 801, a light distribution module 802, a spectrum analysis module 803, an air pressure measurement module 804 and a control module 805;
the emitting module 801 is arranged on the inner wall of the air bag collar 8;
the transmitting module 801, the light distribution module 802 and the spectrum analysis module 803 are connected in sequence;
the light distribution module 802 and the spectrum analysis module 803 are arranged on the inner wall of the air bag lantern ring 8 at the opposite side of the emission module 801, and are connected with the air pressure measurement module 804;
the air pressure measuring module 804 and the control module 805 are connected in sequence;
the emitting module 801 is configured to emit original composite light (light obtained by combining monochromatic light of multiple preset ratios) including monochromatic light of multiple preset ratios to the light distribution module 802 with an emission axis (central symmetry axis of an emission beam) as a center;
the light distribution module 802 is configured to receive the original composite light based on a light collection surface of the light distribution module 802 with a light emitting axis as a center, reflect the original composite light to a light distribution surface of the light distribution module 802 through a reflector plate of the light distribution module 802, divide the original composite light into two pre-processed composite light beams and emit the two pre-processed composite light beams based on a texture of a preset included angle between the light distribution surface and the light emitting axis, and obtain first light parameters (including a light emission angle, an incident angle, a wavelength, and the like) of the two pre-processed composite light beams based on the preset included angle between the light distribution surface and the light emitting axis and a distance between the reflector plate and the light distribution surface;
wherein the light-emitting axis is perpendicular to the emitting module 801 and the light-collecting surface;
the spectrum analysis module 803 is configured to receive the two beams of preprocessed original composite light distributed by the light distribution module 802, extract a preset number of monochromatic lights in one of the beams of preprocessed composite light through a spectrum analyzer, obtain a second optical parameter (including a wavelength, a light emission angle, a light incident angle, and a light reflection angle of each monochromatic light) of the preset number of monochromatic lights based on a relevant parameter of the two beams of preprocessed composite light, convert the preset number of monochromatic lights and the preprocessed composite light into corresponding electrical signals through a photoelectric detector, and output an electrical signal intensity curve corresponding to each monochromatic light and the preprocessed composite light through the spectrum analyzer;
the air pressure measuring module 804 is configured to perform overlapping comparison on an electrical signal intensity curve corresponding to each monochromatic light and an electrical signal intensity curve of the preprocessed composite light to generate a corresponding photoelectric signal loss intensity curve caused by refraction of the gas of each monochromatic light in the airbag collar 8, perform weighting according to a preset proportion based on the related parameters of the preset number of monochromatic lights to obtain a refractive index of the gas in the airbag collar 8, and determine and output the pressure of the gas in the airbag collar 8 according to the relationship between the refractive index of the gas and the pressure of the gas;
the control module 805 is configured to control the electric inflator 13 to stop working when the gas pressure in the airbag collar 8 reaches a preset gas pressure value, and otherwise, control the electric inflator 13 to continue inflating the airbag collar 8.
The working principle and the beneficial effects of the technology are as follows: the emitting module 801 is used for emitting original composite light containing various monochromatic lights with preset proportions by taking an emitting optical axis as a center; the light distribution module 802 is configured to receive the original composite light based on a light collection surface with a light transmission axis as a center, reflect the original composite light to a light distribution surface through a reflector plate, divide the original composite light into two pre-processed composite light beams, and transmit the two pre-processed composite light beams to obtain relevant parameters of the two original composite light beams; the spectrum analysis module 803 extracts a preset number of monochromatic lights from one of the pre-processed composite lights through a spectrum analyzer, obtains relevant parameters of the preset number of monochromatic lights, converts the preset number of monochromatic lights and the pre-processed composite lights into corresponding electrical signals through a photoelectric detector, and outputs electrical signal intensity curves corresponding to the monochromatic lights and the pre-processed composite lights through the spectrum analyzer; the air pressure measuring module 804 is used for determining and outputting the air pressure in the air bag collar 8; the control module 805 controls the relevant operations of the electric inflator pump 13 based on the relationship between the gas pressure in the airbag lantern ring 8 and the preset pressure, so that the function of automatic starting and closing of the electric inflator pump 13 is realized, the electric inflator pump is automatically started or closed, the airbag lantern ring is conveniently and effectively inflated, the subsequent damping and buffering are carried out through the airbag lantern ring, and then the reliability foundation is provided for the effective protection of the robot.
The intelligent robot anticollision fence, still include: the device comprises a wavelength measuring instrument, a calculation module and a comparison module;
the wavelength measuring instrument, the calculating module and the comparing module are connected in sequence;
the wavelength measuring instrument is connected with the transmitting module 801;
the wavelength measuring instrument is used for detecting the initial wavelength of the original composite light and the wavelength of the original composite light at the current temperature;
the calculation module is used for calculating the error of the gas pressure in the air bag collar 8 measured by the gas pressure measurement module 804 at the current temperature:
first, based on the initial wavelength of the original composite light measured by the wavelength measuring instrument, a relation value between the strain amount of the reflector included in the light distribution module 802 and the gas pressure inside the airbag collar 8 is calculated:
wherein a is a value of a relationship between a strain amount of a reflector included in the light distribution module 802 and a gas pressure in the airbag collar 8 and a unit of a is Pa/μm, E is an elastic modulus of the reflector included in the light distribution module 802 and a unit of E is Pa, h is a thickness of the reflector included in the light distribution module 802 and a unit of h is μm, L is a distance from the reflector included in the light distribution module 802 to the emission module 801 and a unit of L is μm, λ0Is the initial wavelength and lambda of the original composite light0Is μm, μ is the poisson' S ratio of the reflective sheet material contained in the optical distribution module 802, μ is dimensionless, α is the effective elastic-optical coefficient of the original composite light, and α is dimensionless, S is the area of the reflective sheet contained in the optical distribution module 802, and S is expressed in cm2；
Then, based on the initial wavelength of the original composite light detected by the wavelength measuring instrument, the wavelength of the original composite light at the current temperature, and the relationship value, an error of the gas pressure in the airbag collar 8 at the current temperature is calculated:
wherein Δ P is an error of the gas pressure in the airbag collar 8 at the current temperature, a is a value of a relationship between a strain amount of a reflector included in the light distribution module 802 and the gas pressure in the airbag collar 8, λ is a wavelength of the original composite light at the current temperature, and λ has a unit of μm, K1For temperature sensing the temperature grating coefficient, K2Is the temperature coefficient of the strain sensing grating;
the comparison module is used for comparing the error of the gas pressure in the air bag lantern ring 8 at the current temperature with a preset error, if the calculated error is larger than the preset error, the alarm is controlled to give an alarm, and if not, the alarm is controlled to keep a standby state.
The working principle and the beneficial effects of the technology are as follows: the wavelength measuring instrument is used for detecting the initial wavelength of the original composite light and the wavelength of the original composite light at the current temperature; the calculation module is used for calculating the error of the gas pressure in the air bag lantern ring 8 measured by the gas pressure measurement module 804 at the current temperature; the comparison module is used for comparing the error of the gas pressure in the air bag lantern ring 8 at the current temperature with a preset error, if the calculated error is larger than the preset error, the alarm is controlled to give an alarm, otherwise, the alarm is controlled to be kept in a standby state, so that the effective monitoring of the air bag lantern ring is realized, and the effective feasibility of shock absorption and buffering is ensured.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an intelligent robot anticollision fence, includes robot (6), the gasbag lantern ring (8) and tray (5), its characterized in that: the bottom cover of robot (6) is equipped with the gasbag lantern ring (8), the extexine of the gasbag lantern ring (8) is provided with resistant dirty layer (15), the skin of the gasbag lantern ring (8) is provided with crash bar (7) through fixed the knot, the one end of the gasbag lantern ring (8) is provided with pressure release pipe (10), installing support (4) are installed through the bolt in top one side of robot (6), there is locating plate (9) one side of installing support (4) through the screw mounting, the welding has protective cover (3) on locating plate (9), electronic pump (13) are installed through rubber mounting panel (14) in the inside of protective cover (3), electricity storage box (16) are installed through the bolt in the top of electronic pump (13), there is sponge piece (17) inboard of the gasbag lantern ring (8) through the polyurethane glue bonding.
2. The intelligent robot anti-collision fence according to claim 1, characterized in that: the anti-pollution layer (15) is a silicon fluoride modified coating, and the output end of the electricity storage box (16) is connected with the input end of the electric inflator pump (13) through a wire.
3. The intelligent robot anti-collision fence according to claim 1, characterized in that: the air bag lantern ring (8) is made of PP materials, and the anti-collision rod (7) is a PVC rod piece.
4. The intelligent robot anti-collision fence according to claim 1, characterized in that: the pressure relief pipe (10) is provided with a pressure valve (11).
5. The intelligent robot anti-collision fence according to claim 1, characterized in that: the bottom of the robot (6) is provided with a brakeable universal wheel (12) through a bracket and a bolt.
6. The intelligent robot anti-collision fence according to claim 1, characterized in that: foraminiferous rubber block (2) are installed through the line hole in the bottom of protective cover (3), the output of electronic pump (13) is connected gas tube (1) and is run through the air inlet that foraminiferous rubber block (2) and gasbag lantern ring (8) and link to each other.
7. The intelligent robot anti-collision fence according to claim 1, characterized in that: and a tray (5) is arranged at the top of the robot (6) through a bracket and a bolt.
8. The intelligent robot anti-collision fence according to claim 1, characterized in that: further comprising: the device comprises a monitoring module (18), an image analysis module (19), a judgment module (20), a steering module (21) and a generation module (22);
the monitoring module (18), the image analysis module (19), the judgment module (20), the steering module (21) and the generation module (22) are connected in sequence;
the image analysis module (19) is connected with the steering module (21);
the monitoring module (18) is used for monitoring whether an obstacle exists in a preset range in real time, if so, judging that the obstacle exists in front of the intelligent robot, outputting a first image at a corresponding moment, and simultaneously outputting a reminding signal;
the image analysis module (19) is used for generating a top view positioning diagram containing a real-time robot position and an obstacle position based on the first image when the reminding signal is received, and analyzing the first image to obtain a first height of the obstacle and a first distance between the obstacle and the front end of the intelligent robot anti-collision fence;
the judging module (20) is configured to obtain a current speed of the intelligent robot, judge whether the intelligent robot can stop within a safe distance based on the first distance, the current speed and a preset maximum deceleration acceleration of the intelligent robot, if so, obtain a first target acceleration during deceleration of the intelligent robot based on a difference between the current speed, the first distance and the safe distance, and generate a corresponding first control signal based on the first target acceleration to control the intelligent robot to decelerate according to the first target acceleration;
otherwise, calculating first inertia energy when the intelligent robot reaches the obstacle based on the difference between the first distance and the safety distance and the maximum deceleration acceleration, judging whether the intelligent robot overturns based on the first inertia energy and the first height, if so, outputting a steering signal, and otherwise, generating a corresponding second control signal based on the maximum deceleration acceleration to control the intelligent robot to decelerate according to the maximum deceleration acceleration;
the steering module (21) is configured to calculate a current minimum braking distance of the intelligent robot based on the maximum deceleration accelerometer when receiving the steering signal, acquire a first arrival point of the first image based on the minimum braking distance, determine a first steering angle of the intelligent robot based on the first arrival point and a current orientation angle of the intelligent robot, simulate and generate a first steering route of the intelligent robot based on the first steering angle, a maximum steering speed and a maximum deceleration acceleration of the robot, judge whether the first steering route overlaps with the position of the obstacle based on the overhead positioning diagram, and if the first steering route overlaps with the position of the obstacle, determining a second steering angle according to the preset gradient change, simulating a second steering route, and judging whether the second steering route is overlapped with the position of the obstacle or not until a final steering angle is determined;
otherwise, determining the first steering angle as a final steering angle;
the generating module (22) is used for determining a corresponding third control signal based on the final steering angle to control the intelligent robot to steer according to the final steering angle.
9. The intelligent robot anti-collision fence according to claim 1, characterized in that: further comprising: the device comprises a transmitting module (801), a light distribution module (802), a spectrum analysis module (803), an air pressure measuring module (804) and a control module (805);
the emission module (801) is arranged on the inner wall of the air bag lantern ring (8);
the transmitting module (801), the light distribution module (802) and the spectrum analysis module (803) are connected in sequence;
the light distribution module (802) and the spectrum analysis module (803) are arranged on the inner wall of the air bag lantern ring (8) at the opposite side of the emission module (801) and are connected with the air pressure measurement module (804);
the air pressure measuring module (804) and the control module (805) are connected in sequence;
the emission module (801) is used for emitting original composite light containing various monochromatic lights with preset proportions to the light distribution module (802) by taking a light emitting axis as a center;
the light distribution module (802) is used for receiving the original composite light based on a light collection surface of the light distribution module (802) by taking a light emitting axis as a center, reflecting the original composite light to the light distribution surface of the light distribution module (802) through a reflector plate of the light distribution module (802), dividing the original composite light into two beams of preprocessed composite light based on textures of a preset included angle between the light distribution surface and the light emitting axis, and emitting the two beams of preprocessed composite light, and obtaining a first optical parameter of the two beams of preprocessed composite light based on the preset included angle between the light distribution surface and the light emitting axis and the distance between the reflector plate and the light distribution surface;
wherein the light-emitting axis is perpendicular to the emitting module (801) and the light-collecting face;
the spectrum analysis module (803) is used for receiving the two beams of preprocessed original composite light distributed by the light distribution module (802), extracting a preset number of monochromatic lights in one beam of preprocessed composite light through a spectrum analyzer, acquiring a second optical parameter of the preset number of monochromatic lights based on a related parameter of the two beams of preprocessed composite light, converting the preset number of monochromatic lights and the preprocessed composite light into corresponding electric signals through a photoelectric detector, and outputting electric signal intensity curves corresponding to the monochromatic lights and the preprocessed composite light through the spectrum analyzer;
the air pressure measuring module (804) is used for performing overlapping comparison on an electric signal intensity curve corresponding to each monochromatic light and an electric signal intensity curve of the preprocessed composite light to generate a corresponding photoelectric signal loss intensity curve caused by the refraction of the gas of each monochromatic light in the air bag lantern ring (8), then weighting according to a preset proportion to obtain the refractive index of the gas in the air bag lantern ring (8) based on the related parameters of the preset number of monochromatic lights, and then determining and outputting the pressure of the gas in the air bag lantern ring (8) according to the relation between the refractive index of the gas and the pressure of the gas;
the control module (805) is used for controlling the electric inflator pump (13) to stop working when the gas pressure in the air bag lantern ring (8) reaches a preset gas pressure value, and otherwise, controlling the electric inflator pump (13) to continuously inflate the air bag lantern ring (8).
10. The intelligent robot anti-collision fence according to claim 9, characterized in that: further comprising: the device comprises a wavelength measuring instrument, a calculation module and a comparison module;
the wavelength measuring instrument, the calculating module and the comparing module are connected in sequence;
the wavelength measuring instrument is connected with the emission module (801);
the wavelength measuring instrument is used for detecting the initial wavelength of the original composite light and the wavelength of the original composite light at the current temperature;
the calculation module is used for calculating the error of the gas pressure in the air bag collar (8) measured by the air pressure measurement module (804) at the current temperature:
firstly, calculating a relation value between the strain quantity of a reflector plate contained in the light distribution module (802) and the gas pressure in the air bag lantern ring (8) based on the initial wavelength of the original composite light measured by the wavelength measuring instrument;
then, calculating the error of the gas pressure in the air bag lantern ring (8) at the current temperature based on the initial wavelength of the original composite light, the wavelength of the original composite light at the current temperature and the relation value detected by the wavelength measuring instrument;
the comparison module is used for comparing the error of the gas pressure in the air bag lantern ring (8) at the current temperature with a preset error, if the calculated error is larger than the preset error, the alarm is controlled to give an alarm, and if not, the alarm is controlled to keep a standby state.
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| CN202111040137.6A CN113601513A (en) | 2021-09-06 | 2021-09-06 | Intelligent robot anticollision fence |
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