Robot obstacle detection system and method

Abstract

The invention discloses a robot obstacle detection system and method. Bumping detection is realized by a capacitance induction principle; simplified design, simplified assembling, lowered die cost and long service lifetime of a robot structure are ensured; in addition, bumping in a plurality of refining directions can be identified, and combined with a motor current detection method, the obstacles in a robot moving space, which cannot be identified by capacitance induction, can be identified by means of analysis.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to an obstacle detection system and method applied to intelligent robots. Background technique [0002] With the improvement of living standards, more and more people desire more personal time in order to enjoy life. However, fast-paced work and heavy housework take up a lot of people's personal time. With the development of science and technology, mobile robots can gradually replace human beings to undertake simple and repetitive physical labor. Many of these robots must have the ability to walk autonomously, and the movement space of this type of robot often has various obstacles (walls, furniture, etc.), and the robot will inevitably collide with these obstacles, so the robot must be able to Identify the collision and the specific direction of the collision, so as to guide the robot to the next step of motion planning. [0003] There are currently two strategies for robots to...

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Problems solved by technology

[0003] There are currently two strategies for robots to deal with collisions: the first strategy is to make the front part of the robot movable. When collisions occur in different directions, the movable casing can trigger switch buttons in different directions (photoelectric switches or physical switch), the robot can recognize collisions in different directions; but because the front shell of the robot is made movable, the appearance of the whole robot is not beautiful enough, the structural design is complicated, the cost of developing molds is too high, and it can only recognize Collisions in the left and right directions, and the physical buttons used have a relatively short life span. After a long time of use, the collision detection module is prone to detection failures

The second strategy is that the shell and the base of the robot are fixed together and cannot be moved. The robot detects obstacles in advance through infrared photoelectricity and other methods, so as to avoid collisions with obstacles. However, the intensity of infrared light reflected by different objects is different. , will cause the robot to be unable to judge the obstacles ahead and collide with them, and because there are some small obstacles in the robot's movement space, the infrared detection device cannot detect them. If there is no collision detection mechanism, the robot will collide with the obstacles Since this strategy cannot judge the position of the obstacle, it may not be able to perform normal motion planning, and this strategy will cause the robot’s movement to be unable to cover the space close to the obstacle, and there is an obvious dead angle

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