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Robot anti-collision device and method and robot

An anti-collision device and robot technology, applied in the field of robots, can solve problems such as complex realization process, and achieve the effect of simple and feasible cost

Active Publication Date: 2020-07-10
SUZHOU BOZHON ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the anti-collision problem is solved by setting up a scheduling system or adding other photoelectric sensor devices for the robot. Both of the above two methods require additional hardware system costs, and the implementation process is relatively complicated.

Method used

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  • Robot anti-collision device and method and robot

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Experimental program
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Embodiment 1

[0036] figure 1 It is a top view schematic diagram of a robot anti-collision device provided in Embodiment 1 of the present invention, and the robot anti-collision device is suitable for the situation where multiple robots are moving and avoiding obstacles. The robot includes a robot body, and the device includes: a laser radar 10, an ultrasonic detector 20, a navigation control module (not shown in the figure), and radar auxiliary components (30, 40 and 50) arranged on the robot body .

[0037] Wherein, the laser radar 10 is used to detect point cloud data between the robot bodies of other robots and the radar auxiliary components (30, 40 and 50) in the anti-collision devices of other robots;

[0038] The ultrasonic detector 20 is used to detect ultrasonic data between robot bodies of other robots;

[0039] The navigation control module is used to determine the actual detection position information according to the point cloud data and the ultrasonic data, and perform colli...

Embodiment 2

[0068] Figure 7 It is a flow chart of a robot collision avoidance method provided by Embodiment 2 of the present invention. This method is suitable for the situation of obstacle avoidance during the movement of multiple robots, and this method is executed by the navigation control module in the robot anti-collision device, see Figure 7 , the method specifically includes:

[0069] S710. Obtain point cloud data detected by the lidar between the robot body of the other robot and the radar auxiliary components in the anti-collision device of the other robot.

[0070] Among them, the laser radar is used to collect the obstacle information encountered by the robot during its travel, and the distance and position information of the obstacle can be determined according to the collected three-dimensional point cloud data.

[0071] In this embodiment, the setting of the radar auxiliary component will cause a certain occlusion of the emission point angle of the laser radar, so the la...

Embodiment 3

[0087] Figure 8 A robot 800 provided in the third embodiment of the present invention includes a robot body 81, and the robot body also includes a robot anti-collision device 82 as described in the first embodiment above, which is arranged on the robot body.

[0088] The robot 800 realizes the accurate detection of the actual distance between the robots by setting the radar auxiliary components on the robot body, solves the inherent defects of laser SLAM, and avoids the use of a scheduling system to prevent two vehicles from colliding or other detection of the position of the accessory robot. The redundancy of the system and the added cost brought by the sensor equipment are simple and convenient to implement.

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Abstract

The invention discloses a robot anti-collision device and method and a robot. The robot comprises a robot body, wherein the device comprises a laser radar, an ultrasonic detector, a navigation controlmodule and a radar auxiliary assembly which are arranged on the robot body; the laser radar is used for detecting point cloud data between robot bodies of other robots and the radar auxiliary assembly in other robot anti-collision devices; the ultrasonic detector is used for detecting ultrasonic data between the robot bodies of other robots; and the navigation control module is used for determining actual detection position information according to the point cloud data and the ultrasonic data and conducting anti-collision avoidance on other robots. According to the robot anti-collision device, the radar auxiliary assembly is arranged on the robot body to solve the collision problem between the robots, and the robot anti-collision device is simple, feasible and low in cost.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, in particular to a robot anti-collision device, method and robot. Background technique [0002] With the development of robot technology, robots are more and more widely used in industrial production and daily life, providing great convenience. Robots are usually based on 2D lidar simultaneous localization and map construction (SimultaneousLocalization and Mapping, SLAM) to achieve navigation and positioning. Positioning and navigation based on SLAM requires that the position of the chassis on the lidar emission surface must be hollowed out at a suitable angle. Avoid blocking the radar range. Since the actual border area of ​​the hollowed-out robot is larger than the actual detected area, there is a blind spot in the detection method of this detection method, and the robot will mistakenly think that it has collided to detect an obstacle. [0003] In the prior art, the an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1676B25J9/1694B25J9/1697
Inventor 王帅苏衍宇章鹏曲义杰张俊杰
Owner SUZHOU BOZHON ROBOT CO LTD
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