CN206703039U - A kind of vapour-pressure type crash sensor - Google Patents
A kind of vapour-pressure type crash sensor Download PDFInfo
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- CN206703039U CN206703039U CN201720381935.8U CN201720381935U CN206703039U CN 206703039 U CN206703039 U CN 206703039U CN 201720381935 U CN201720381935 U CN 201720381935U CN 206703039 U CN206703039 U CN 206703039U
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- air bag
- vapour
- crash sensor
- pressure type
- baroceptor
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Abstract
The utility model discloses a kind of simple in construction, dependable performance, easy for installation, production cost is low and can apply the vapour-pressure type crash sensor of various minor radius corner occasions, the sensor application is in robot, including air bag and baroceptor, air bag is arranged at the position for needing to detect collision；Baroceptor one end is connected with inside air bag, and the other end is connected with master controller；Baroceptor detects the air pressure change of inside air bag, and air pressure change is converted into voltage signal passes to master controller, and master controller can generate corresponding control signal according to the voltage signal of reception.Vapour-pressure type crash sensor provided by the utility model can effectively relax collision strength and reduce collision damage using air bag as collision receiver, and the air pressure change by monitoring inside air bag judges the degree to collide.
Description
Technical field
Sensor technical field is the utility model is related to, particularly relates to a kind of vapour-pressure type crash sensor.
Background technology
At present, with the continuous development of robot technology, robot initially enters the service such as hospital, community, enterprise, family
Field.Robot security is increasingly taken seriously, and especially belongs to mobile robot.In order to ensure robot in mobile process
In the safety to people, object or robot in itself, typically can be equipped with a set of active safety feature and one in the surrounding of robot
Cover passive safety feature；Active safety feature mainly allows movement using ultrasound or the sensor such as optics by algorithmic rule path
Robot actively avoids obstacle in advance, and belonging to prevents accident from measure occurs；And it is then in active safety for passive safety feature
Device run into can not prevent or failure of apparatus in the case of, mobile robot produce collision, trigger crash sensor and activate shifting
Mobile robot emergency shutdown mechanism, loss caused by collision is reduced or avoided.In order at utmost ensure robot mobile security,
Typically can be in the front of robot, rear or even surrounding installation shock sensor, so that it is guaranteed that the security of robot operation.
In conventional art, according to the difference of structure, the crash sensor of mobile robot is divided into two major classes；One kind is machine
Electric-type crash sensor, acted using the motion of machinery come control apparatus contact, then judge to touch by the off and on of contact
Generation, such as the impact switch similar to iRobot sweeping robots are hit, relies primarily on collision shell mechanism, triggers shell mechanism position
Switching on and off for triggering electronic switch is moved, reaches detection collision；One kind is electronic type crash sensor, such as automatic guided vehicle
Conventional rubber edges switch, pastes conductive rubber, by detecting both sides conductive rubber break-make by both sides inside hollow rubber bar
Judge collision status, rubber strip deforms when dolly collides object, causes inner conductive rubber to be connected, and realizes detection collision.
But electromechanical crash sensor poor universality, generally require and do structure design for product, complicated, manufacture
Cost is high, and the noise of collision is larger, and takes up space very much；Electronic type crash sensor, the crash sensor of such as electric rubber type add
Work cost is high, strict to installation requirement, and pair radius, which is less than 150mm turning angles, to be used, and can cause inside rubber strip during installation
Conductive rubber contacts certainly.
The content of the invention
Problem to be solved in the utility model is to propose that one kind is simple in construction, easy for installation, cost is low and applicable minor radius
The vapour-pressure type crash sensor of corner.
Based on above-mentioned purpose vapour-pressure type crash sensor provided by the utility model, applied to robot, including air bag and
Baroceptor, the air bag are arranged at the position for needing to detect collision；
Described baroceptor one end is connected with inside air bag, and the other end is connected with master controller；
The baroceptor detects the air pressure change of inside air bag, and air pressure change is converted into voltage signal passes to
The master controller, the master controller can generate corresponding control signal according to the voltage signal of reception.
Further, the vapour-pressure type crash sensor, in addition to switching tracheae, the baroceptor pass through described turn
Trachea is connected with inside air bag.
Further, the air bag, in addition to charging connector, the charging connector are arranged on the air bag, are available for outside to fill
Device of air is to the airbag aeration.
Further, the vapour-pressure type crash sensor, in addition to two firm bankings, the firm banking are arranged at institute
Balloon ends are stated, the position for needing to detect collision is fixed on by screw.
Further, the material of the air bag is rubber.
From the above it can be seen that vapour-pressure type crash sensor provided by the utility model, applied to robot, is utilized
Air bag is collided, and Uniaxial Compression deformation changes internal original pressure principle, and the gas of inside air bag is detected by baroceptor
Buckling is simultaneously sent to master controller, reaches the purpose that impact severity is differentiated by air pressure change；By with baroceptor phase
Master controller even sends control signal according to air pressure change, reaches the purpose that different control instructions are sent according to impact severity；
Vapour-pressure type crash sensor provided by the utility model flexible contact, can effectively relax collision using air bag as collision receiver
Strength reduces collision damage, and simple in construction, dependable performance, easy for installation, production cost is low and various minor radius can be applied to turn
Angle occasion.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not be drawn according to the ratio of reality.
Fig. 1 are the embodiment schematic diagram of vapour-pressure type crash sensor provided by the utility model；
Fig. 2 are that the embodiment of vapour-pressure type crash sensor provided by the utility model collides schematic diagram；
Fig. 3 are that vapour-pressure type crash sensor provided by the utility model is installed on the implementation that sweeping robot collides
Illustrate and be intended to.
Reference：
1- air bags
101- charging connectors
2- baroceptors
3- switching tracheaes
4- firm bankings
5- barriers
6- sweeping robots
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be only used as example, and the protection model of the present invention can not be limited with this
Enclose.
It is as shown in Figure 1 vapour-pressure type crash sensor provided by the utility model, applied to robot, is swept the floor with being applied to
Exemplified by robot, including air bag 1 and baroceptor 2, air bag 1 are arranged at the position for needing to detect collision；The shell of air bag 1 is tool
There is certain thickness flexible material, such as can be silica gel material, it is contemplated that the factor such as cost, it is preferred that the enclosure material of air bag 1
For rubber, the shape of air bag 1 can be customized to round, oval or common tracheae etc. according to device shaped, such as such as Fig. 1
Shown air bag 1 is the periphery that ring-shaped rubber air bag is arranged on sweeping robot.
Preferably, air bag 1 also includes charging connector 101, and charging connector is arranged on air bag 1, is available for external inflation device to institute
State airbag aeration.
The one end of baroceptor 2 is connected with the inside of air bag 1, and the other end is connected with master controller (not indicated in figure)；Institute
State master controller and be used for the various orders of control machine execution, such as advance, retreat and stop etc..
Vapour-pressure type crash sensor provided by the utility model, can also include switching tracheae 3, and baroceptor 2 passes through
Switching tracheae 3 is connected with the inside of air bag 1.
Vapour-pressure type crash sensor provided by the utility model can also include two firm bankings 4, and firm banking 4 is set
In the both ends of air bag 1, the position for needing to detect collision is fixed on by screw.
Baroceptor 2 detects the initial gas pressure inside air bag 1, and initial gas pressure is converted into voltage signal is sent to institute
Master controller is stated, magnitude of voltage is as reference voltage corresponding to the master controller voltage signal.
As shown in Fig. 2 when air bag 1 collides with barrier 5, the air pressure inside of air bag 1 changes, baroceptor 2
The air pressure inside of air bag 1 is detected again, and air pressure signal is converted into voltage signal passes to the master controller, the main control
Magnitude of voltage corresponding to the voltage signal of reception and reference voltage can be carried out difference comparsion by device, when voltage difference is set more than one
Definite value, it is judged to colliding, and then generates corresponding control signal.
For example, working as sweeping robot 6 in the process of moving as shown in Figure 3, barrier 5 is touched, air bag is by inside external force
Air pressure changes, and baroceptor 2 detects the air pressure change inside air bag 1, and corresponding voltage signal is passed into master
Controller, firmly controller magnitude of voltage corresponding to the voltage signal and reference voltage are subjected to difference comparsion, when voltage difference is more than
One setting value, judge that machine human hair has given birth to collision, and the degree of collision is judged according to the size of difference, further determine generation
The control signal of " counter motion ", " vertical movement " or " stop and send warning " control signal, control sweeping robot edge
With backward going or along the direction running vertical with script travel direction, or stop, and then avoiding obstacles.
This setting value is manually set a suitable value after being tested according to the stress intensity of robot, when setting
Detection collision sensitivity is higher when definite value is smaller, and shortcoming is that robot can frequently change the direction of motion or be stopped, such as is touched
To lighter barrier, it can be pushed open originally using the power of robot in itself, and but be detected as colliding, Jin Erting
Only work or change direction, necessarily increase energy expenditure, cause the waste of unnecessary resource；Detected when setting value is larger
It is relatively low to collide sensitivity, it is possible that due to not being defined as colliding in time, the risk of increase robot damage.
From the above it can be seen that vapour-pressure type crash sensor provided by the utility model, applied to robot, is utilized
Air bag is collided, and Uniaxial Compression deformation changes internal original pressure principle, and the gas of inside air bag is detected by baroceptor
Buckling is simultaneously sent to master controller, reaches the purpose that impact severity is differentiated by air pressure change；By with baroceptor phase
Master controller even sends control signal according to air pressure change, reaches the purpose that different control instructions are sent according to impact severity；
Vapour-pressure type crash sensor provided by the utility model flexible contact, can effectively relax collision using air bag as collision receiver
Strength reduces collision damage, and simple in construction, dependable performance, easy for installation, production cost is low and various minor radius can be applied to turn
Angle occasion.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
In the description of the present application, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property or the implicit quantity for indicating indicated technical characteristic.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In this application, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.The present invention
Specification in, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can not have these specific
Put into practice in the case of details.In some instances, known method, structure and technology is not been shown in detail, so as not to fuzzy pair
The understanding of this specification.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (5)
1. a kind of vapour-pressure type crash sensor, it is characterised in that described applied to robot, including air bag and baroceptor
Air bag is arranged at the position for needing to detect collision；
Described baroceptor one end is connected with inside air bag, and the other end is connected with master controller；
The baroceptor detects the air pressure change of inside air bag, by air pressure change be converted into voltage signal pass to it is described
Master controller, the master controller can generate corresponding control signal according to the voltage signal of reception.
2. vapour-pressure type crash sensor according to claim 1, it is characterised in that also include switching tracheae, the air pressure
Sensor is connected by the switching tracheae with the inside air bag.
3. vapour-pressure type crash sensor according to claim 2, it is characterised in that the air bag also includes charging connector, institute
State charging connector to be arranged on the air bag, be available for external inflation device to the airbag aeration.
4. vapour-pressure type crash sensor according to claim 3, it is characterised in that described also including two firm bankings
Firm banking is arranged at the balloon ends, is fixed on the position for needing to detect collision by screw.
5. vapour-pressure type crash sensor according to claim 4, it is characterised in that the material of the air bag is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720381935.8U CN206703039U (en) | 2017-04-12 | 2017-04-12 | A kind of vapour-pressure type crash sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720381935.8U CN206703039U (en) | 2017-04-12 | 2017-04-12 | A kind of vapour-pressure type crash sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206703039U true CN206703039U (en) | 2017-12-05 |
Family
ID=60454693
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720381935.8U Active CN206703039U (en) | 2017-04-12 | 2017-04-12 | A kind of vapour-pressure type crash sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032303A (en) * | 2018-01-03 | 2018-05-15 | 杭州艾米机器人有限公司 | The collision detection mechanism and robot of robot |
| CN109254295A (en) * | 2018-08-28 | 2019-01-22 | 中科新松有限公司 | Anti-collision detection device, method and apparatus |
| CN111347415A (en) * | 2018-12-21 | 2020-06-30 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111941445A (en) * | 2020-08-13 | 2020-11-17 | 燕山大学 | Multi-branch deformable robot protection device |
-
2017
- 2017-04-12 CN CN201720381935.8U patent/CN206703039U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032303A (en) * | 2018-01-03 | 2018-05-15 | 杭州艾米机器人有限公司 | The collision detection mechanism and robot of robot |
| CN109254295A (en) * | 2018-08-28 | 2019-01-22 | 中科新松有限公司 | Anti-collision detection device, method and apparatus |
| CN109254295B (en) * | 2018-08-28 | 2023-06-16 | 中科新松有限公司 | Anti-collision detection device, method and equipment |
| CN111347415A (en) * | 2018-12-21 | 2020-06-30 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111347415B (en) * | 2018-12-21 | 2021-08-13 | 广东宝乐机器人股份有限公司 | Window cleaning robot movement control method, window cleaning robot movement control system and window cleaning robot |
| CN111941445A (en) * | 2020-08-13 | 2020-11-17 | 燕山大学 | Multi-branch deformable robot protection device |
| CN111941445B (en) * | 2020-08-13 | 2022-09-16 | 燕山大学 | Multi-branch deformable robot protection device |
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Address after: 201210 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902 room Patentee after: Shanghai TIMI robot Co.,Ltd. Address before: 201210 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902 room Patentee before: SHANGHAI TMI ROBOT TECHNOLOGY Co.,Ltd. |