CN1564016A - Non-contact sensor of robot - Google Patents
Non-contact sensor of robot Download PDFInfo
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- CN1564016A CN1564016A CN 200410014702 CN200410014702A CN1564016A CN 1564016 A CN1564016 A CN 1564016A CN 200410014702 CN200410014702 CN 200410014702 CN 200410014702 A CN200410014702 A CN 200410014702A CN 1564016 A CN1564016 A CN 1564016A
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Abstract
Non-contact type device for transmitting sensor signal such as ultrasonic, microwave, infrared, light wave is installed on center of top part of robot. Pyramid shaped reflector including four reflection planes faced to front, back, left and right is setup above or below transmission device. Receivers are installed on outer casing. Advantages are: reducing detection blind zone, enlarging diffused range, reducing multiple sensors and transmitting devices to one set of sensor and transmitting device.
Description
Technical field:
The present invention relates to a kind of non-contact sensor of robot, be mainly used in electrical category object disturbance of perception thing or range finding location usefulness in moving process such as robot.
Background technology:
Need disturbance of perception thing in moving process for the robot that moves, perhaps survey border such as wall to determine the orientation of robot self, usually use non-contact sensors such as ultrasound wave or photoelectricity in actual use, needing to install around the robot appearance a plurality of, is described in 02110070.5 the application for a patent for invention book referring to " exploitation of an intellective dust collector and design " literary composition or application number among " application of electronic technology " 2000Vol.26 No.8.But, certain problem is arranged in the use because non-contact sensor costs such as ultrasound wave are higher, and exist the blind area.
Summary of the invention:
The objective of the invention is to overcome above-mentioned deficiency, design the non-contact sensor of the robot that a kind of quantity is the least possible, the blind area is as far as possible little.
The objective of the invention is to reach by following design: at the top of robot or the bottom center position non-contact sensor sender unit that a ultrasound wave or microwave, infrared ray, light wave etc. are used to find range is installed, above or below sender unit a reflecting body is set, non-contact sensor signal receiving devices such as several ultrasound waves or microwave, infrared ray, light wave are installed on the shell of robot.Reflecting body is the pentahedron of a taper---as pyramid, tap web is aimed at the center of non-contact sensor sender unit, the surface of the reflecting surface of reflecting body and non-contact sensor sender unit is the inclination angle about 45 degree, its four reflectings surface are respectively towards the four direction all around of robot, reflecting surface itself is smooth, is the plane and also can be recessed or convex surface.After being provided with like this, the signal wave directive reflecting body that the non-contact sensor sender unit sends, emission by reflecting surface, signal wave turns over the four direction all around of 90 degree back directive robots, reflect after running into objects such as barrier or wall, the sensor signal receiving trap that is set in the robot receives again.Because the present invention moves to the centre of robot with sensor signal emitter table position from robot outside, as ultrasonic sensor because the distance gone through of reflection wave is too short and offset a part of by the external diameter of robot or can all offset with the stack up scope of the blind area that produces random ripple formation of transmitted wave sometimes.And circumferential surface with respect to robot, the scope of the signal source diffusion that central authorities of robot send is big, many covers sensor that need be installed in the surface of a direction of robot originally can be kept to a cover, again because the existence of reflecting body, need originally can change a cover sender unit of orientating reflex body into towards the transmit quadruplet sender unit of ripple of four direction.
Description of drawings:
Fig. 1～Fig. 4 is several typical robots of the present invention vertical views.
Fig. 5 be Fig. 1 or Fig. 2 shown in the front view of robot.
Fig. 6～Figure 11 is several form synoptic diagram of the present invention.
Figure 12 is the robot range finding location synoptic diagram of invention.
Specific embodiments:
A ultrasound wave or microwave are installed in top or bottom center position in robot, infrared ray, non-contact sensor sender units 2 such as light wave, above or below sender unit, a reflecting body 1 is set, reflecting body 1 is the pentahedron of a taper, tap web is aimed at the center of non-contact sensor sender unit 2, the surface of the reflecting surface of reflecting body and non-contact sensor sender unit is the inclination angle about 45 degree, its four reflectings surface are respectively towards the four direction all around of robot, reflecting surface itself is smooth, be the plane and also can be recessed or convex surface, non-contact sensor signal receiving device 3 can have following several form:
1) with sender unit 2 integrators, all be positioned at reflecting body above or below.Such as ultrasonic sensor with sender unit---electroacoustics transducer and signal receiving device---the acoustic-electrical transducer integrator is a proven technique, and concrete product is arranged.
2) receiving trap 3 also can device be positioned at sender unit 2 above or below, it towards that face a reflecting body 5 is also arranged, as Fig. 6～8; This reflecting body 5 also can with sender unit 2 right that reflecting body 1 do and be a rhombogen together, as Fig. 6.
3) pointing to robot dead ahead (direction that moves ahead with robot is consistent) as if the middle position with robot is the place ahead (down together), receiving trap 3 can be arranged at position, robot outside surface front, rear, left and right, respectively towards the front, rear, left and right direction---the sensor that is the place ahead is towards the place ahead, the sensor at rear is towards the rear, the sensor of left is towards left, right-hand sensor is towards right-hand (down together), as Fig. 1～Fig. 2.
4) receiving trap 3 be positioned at the top of reflecting body 1 or be positioned at sender unit 2 around, respectively towards robot front, rear, left and right direction.
5) receiving trap 3 be positioned at sender unit 2 around, the reflecting surface of orientating reflex body 1, the reflecting surface of reflecting body 1 can be designed to the spill cambered surface, its focus point is just in the centre of signal receiving device, as Figure 11.
6) receiving trap 3 also can be positioned on the left front and right back outside surface of robot, and respectively towards left front and right back, as Fig. 3～Fig. 4; Maybe can be positioned on the right front and left back outside surface of robot, and respectively towards right front and left back.But this setup will be carried out complicated conversion when range finding.
If being used for the range finding location, non-contact sensor uses, available above-mentioned 1), 2), the mounting means of receiving trap 6), one or two receiving trap 2 is set, as Figure 12: robot at a time begin to transmit ripple and receive echo, can receive echo clearly in a plurality of time periods, according to velocity of wave propagation and transmit ripple to the time interval that receives echo, calculate the distance of robot far from wall: d3, d1, d4, d2 represents, if echoed signal is enough strong, also may have d4+d3, d1+d2 or the like, if signal is strong inadequately certainly, may not detect d4, d2, as for how judging that d2 still is that d4+d3 utilizes the distance and the range difference that measures of expecting, compare with a fuzzy numerical value, in a fuzzy scope, judge.The d1, the d2 that measure, the distance of two or more distances and expection among d3, the d4 are compared, just can the present orientation of relative determination robot.
If with above-mentioned 3), 4), 5) the mounting means of receiving trap, four receiving traps 2 are set, so in the robot ambulation process, calculate the time interval of sending of the echo and the signal wave of four receiving traps 2 respectively, just can measure robot one or several in four distances of four sides wall at present.The distance with expection that measures is compared, just can the present orientation of relative determination robot.Simultaneously this setup can also detect barrier on the four direction all around at any time from the distance of robot---and this is the purpose used of the non-contact sensor of robot just.
If using sensor is in order to locate, if robot and between the walls have barrier, if the distance of the expection of barrier has been known by robot---robot had surveyed this barrier and had done overwriting, and the location is effective so; If robot can not find the distance of expection and compares with the distance that detects---promptly the difference of distance and the distance that detects of expection is not in the scope of a permission, reference desired distance when detecting after this distance can be recorded and be used as so, robot need detect other orientation detection to distance compared, or survey again after moving past certain distance.
At above-mentioned 3), 4), 5) the mounting means of receiving trap, quantity and robot running gear that non-contact sensor signal receiving device 2 is provided with also have certain relation: if robot can only the front and back walking add turning---and be traditional left and right wheels type of drive, can on the four direction three cover receiving traps be installed all around so; If robot has the ability that the direction to the left and right of just not needing to turn moves, the quadruplet signal receiving device is installed so preferably.
In addition, for the accuracy of locating, can adopt the multiple sensors scheme: such as the sensor suite of one or more sets optical mouses being installed in the robot bottom, moving each time of robot all detected, and with testing result and ultrasonic listening to the result and mobile desired distance compare, relatively accurate to guarantee to locate; Also can utilize other sensor that the sensor that is subjected to influence of temperature change of ultrasound wave one class is carried out the temperature compensation correction simultaneously.If the external diameter of robot is not enough to offset fully the blind area of non-contact sensor,, also need contact type sensor 4 to be installed in the robot appearance in order to detect barrier exactly.It is contact type sensor described in 200410014461.0 the inventive applicant specification that the present invention can install application number.
Reflecting body is generally made with the bigger material of density: the degree that is reflected at the interface such as ultrasound wave is decided by that the acoustic resistance of two media is poor---the product of the density of medium and the velocity of sound, and the acoustic resistance difference is big more, and degree of reflection is also big more.In general, the signal wave that sender unit sends is reflexed to four direction by four reflectings surface, emitter of the signal wave strength ratio of each direction directly sends want a little less than, but because as long as send one the tunnel, compared with sending four road signals, it is power saving more.Certainly in order to improve the signal wave intensity, can suitably select power bigger emitter or strengthen the emission driving force.
If when sensor receiving trap 3 also was placed in reflecting body 1 top or following and orientating reflex face, reflecting surface can be designed to concave surface, its focus point is just at the central part of receiving trap; And have only emitter 2 to be arranged in above the reflecting body 1 or following situation, reflecting surface can be designed to be plane or concave surface or convex surface as required, detect such as need under the situation of barrier, reflecting surface can be convex surface, the scope that the signal wave of emission is dispersed becomes big, and only needing under the situation of location, reflecting surface can be concave surface, makes the signal wave strength-enhanced of reception.
Sensor of the present invention generally is installed in robot center of top position, also can be arranged on other position, top as required certainly---not at middle position, such as being arranged on rear, top or right back.If the robot body is liftoff enough height, sensor also can be installed in the robot bottom, even sensor is installed in robot interior, and offering window on the corresponding shell---such as sensor being installed near the shell edge of robot back, and towards the dead ahead, left and right direction respectively offers a signal wave passage.
The emission of sensor, receiving trap be directly on holding or the sticking shell that places robot or in the depression of shell, reflecting body holding or sticking placing on the support that is fixed on the robot shells.For simplicity, the pin on emission, the receiving trap does not indicate, and the emission of sensor signal, receiving circuit, signal processing all have proven technique, are not illustrated.
Claims (7)
1, a kind of non-contact sensor of robot, it is characterized in that it comprises that several are fixed on ultrasound wave or microwave in the robot, infrared ray, non-contact sensor signal receiving devices (3) such as light wave and ultrasound wave or microwave, infrared ray, non-contact sensor sender units (2) such as light wave, and tap web is aimed at a taper pentahedron type reflecting body (1) of non-contact sensor sender unit (2) center, four reflectings surface of reflecting body (1) are respectively before robot, after, a left side, right four direction, reflecting surface itself is smooth, is the plane or is recessed, convex surface.
2, the non-contact sensor of a kind of robot according to claim 1 is characterized in that described non-contact sensor signal receiving device (3) and sender unit (2) integrator, and the tap web of reflecting body is also aimed at receiving trap (2).
3, the non-contact sensor of a kind of robot according to claim 1, it is characterized in that described non-contact sensor signal receiving device (3) be positioned at sender unit (2) above or below, it towards that face a reflecting body (5) also is set.
4, the non-contact sensor of a kind of robot according to claim 3, it is characterized in that described reflecting body (5) and sender unit (2) right that reflecting body (1) do and be a rhombogen together.
5, the non-contact sensor of a kind of robot according to claim 1, it is characterized in that described non-contact sensor signal receiving device (3) is positioned at the position, front, rear, left and right of robot outside surface, respectively towards the front, rear, left and right direction.
6, the non-contact sensor of a kind of robot according to claim 1, it is characterized in that described non-contact sensor signal receiving device (3) be positioned at the top of reflecting body (1) or be positioned at sender unit (2) around, respectively towards the front, rear, left and right direction.
7, the non-contact sensor of a kind of robot according to claim 1, it is characterized in that described non-contact sensor signal receiving device (3) be positioned at sender unit (2) around, towards the reflecting surface of the reflecting body (1) of the same side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100147021A CN1321329C (en) | 2004-04-20 | 2004-04-20 | Non-contact sensor of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100147021A CN1321329C (en) | 2004-04-20 | 2004-04-20 | Non-contact sensor of robot |
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| Publication Number | Publication Date |
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| CN1564016A true CN1564016A (en) | 2005-01-12 |
| CN1321329C CN1321329C (en) | 2007-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100147021A Expired - Fee Related CN1321329C (en) | 2004-04-20 | 2004-04-20 | Non-contact sensor of robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100338565C (en) * | 2005-12-29 | 2007-09-19 | 广东威创日新电子有限公司 | Infrared touch device |
| CN102157058A (en) * | 2010-02-11 | 2011-08-17 | 上海科斗电子科技有限公司 | Ultrasonic telecontrol system |
| CN102914777A (en) * | 2012-11-05 | 2013-02-06 | 张周新 | Photoelectric ranging device of robot |
| CN102981158A (en) * | 2011-11-30 | 2013-03-20 | 深圳市恒润晖光电科技有限公司 | Virtual wall system and method thereof |
| CN101339248B (en) * | 2008-07-21 | 2013-03-20 | 常州迪锐特电子科技有限公司 | Method and system for enlarging ultrasound signal and infrared signal receiving angle and distance |
| CN105334847A (en) * | 2014-06-26 | 2016-02-17 | 科沃斯机器人有限公司 | Self-movement robot |
| CN106182044A (en) * | 2015-05-07 | 2016-12-07 | 张周新 | A kind of fence |
| CN106385248A (en) * | 2016-09-06 | 2017-02-08 | 深圳市汉莫智能科技股份有限公司 | Non-contact intelligent panel switch and control method thereof |
| WO2018192578A1 (en) * | 2017-04-21 | 2018-10-25 | 苏州宝时得电动工具有限公司 | Automatic moving device and ultrasonic obstacle avoiding method thereof |
| TWI678547B (en) * | 2018-11-19 | 2019-12-01 | 廣達電腦股份有限公司 | Environmental detection device and environmental detection method using the same |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4239042B2 (en) * | 1998-06-19 | 2009-03-18 | 株式会社安川電機 | Two-dimensional absolute position sensor and robot |
| CN1436511A (en) * | 2002-02-05 | 2003-08-20 | 海尔集团公司 | Intelligent dust collector |
| CN1415976A (en) * | 2002-12-05 | 2003-05-07 | 上海交通大学 | Laser range finding method of robot system for cutting and ruling profile steel |
| CN2688463Y (en) * | 2004-04-20 | 2005-03-30 | 张周新 | Non-contacting sensor of robot |
-
2004
- 2004-04-20 CN CNB2004100147021A patent/CN1321329C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100338565C (en) * | 2005-12-29 | 2007-09-19 | 广东威创日新电子有限公司 | Infrared touch device |
| CN101339248B (en) * | 2008-07-21 | 2013-03-20 | 常州迪锐特电子科技有限公司 | Method and system for enlarging ultrasound signal and infrared signal receiving angle and distance |
| CN102157058A (en) * | 2010-02-11 | 2011-08-17 | 上海科斗电子科技有限公司 | Ultrasonic telecontrol system |
| CN102981158A (en) * | 2011-11-30 | 2013-03-20 | 深圳市恒润晖光电科技有限公司 | Virtual wall system and method thereof |
| CN102914777A (en) * | 2012-11-05 | 2013-02-06 | 张周新 | Photoelectric ranging device of robot |
| CN102914777B (en) * | 2012-11-05 | 2014-11-05 | 张周新 | Photoelectric ranging device of robot |
| CN104297757B (en) * | 2012-11-05 | 2017-02-15 | 张周新 | Electro-optical distance measurement device for robot |
| CN105334847B (en) * | 2014-06-26 | 2021-07-27 | 科沃斯机器人股份有限公司 | Self-moving robot |
| CN105334847A (en) * | 2014-06-26 | 2016-02-17 | 科沃斯机器人有限公司 | Self-movement robot |
| CN106182044A (en) * | 2015-05-07 | 2016-12-07 | 张周新 | A kind of fence |
| CN106385248A (en) * | 2016-09-06 | 2017-02-08 | 深圳市汉莫智能科技股份有限公司 | Non-contact intelligent panel switch and control method thereof |
| CN106385248B (en) * | 2016-09-06 | 2019-04-16 | 深圳市汉莫智能科技股份有限公司 | The control method of contactless smart panel-switch |
| CN108733041A (en) * | 2017-04-21 | 2018-11-02 | 苏州宝时得电动工具有限公司 | Automatic mobile device and its ultrasonic barrier-avoiding method |
| WO2018192578A1 (en) * | 2017-04-21 | 2018-10-25 | 苏州宝时得电动工具有限公司 | Automatic moving device and ultrasonic obstacle avoiding method thereof |
| TWI678547B (en) * | 2018-11-19 | 2019-12-01 | 廣達電腦股份有限公司 | Environmental detection device and environmental detection method using the same |
| US11143757B2 (en) | 2018-11-19 | 2021-10-12 | Quanta Computer Inc. | Environmental detection device and environmental detection method using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1321329C (en) | 2007-06-13 |
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