Robot collision detection method and device and robot

A collision detection and robot technology, applied in the field of robots, can solve problems such as high cost and complex design, and achieve the effect of solving high cost, reducing difficulty and cost, and solving complex design

Pending Publication Date: 2021-02-26
SHENZHEN TOPBAND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the embodiment of the present invention is to provide a robot collision detection met

Method used

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  • Robot collision detection method and device and robot
  • Robot collision detection method and device and robot
  • Robot collision detection method and device and robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0043]Example one

[0044]Seefigure 1 , Is a schematic flowchart of the robot collision detection method provided by the first embodiment of the present invention. For ease of description, only the parts related to the embodiment of the present invention are shown. The robot collision detection method includes:

[0045]Step S10, real-time detection of the motor speed of the robot walking motor in the current working state;

[0046]Among them, in an embodiment of the present invention, the robot collision detection method is applied to a robot. Specifically, in this embodiment, it is applied to a lawnmower robot, where the lawnmower robot realizes movement and mowing operations through a motor drive. Specifically, In this embodiment, the mowing robot realizes movement by driving a walking motor. At the same time, in order to prevent damage to the motor caused by overcurrent, the robot motor control design generally has a current limiting module to achieve current limiting protection when the...

Example Embodiment

[0056]Example two

[0057]Seefigure 2 , Is a schematic flow chart of a robot collision detection method provided by the second embodiment of the present invention. For ease of description, only the parts related to the embodiment of the present invention are shown. The robot collision detection method includes:

[0058]Step S11, real-time detection of the motor speed of the robot walking motor in the current working state.

[0059]Wherein, in an embodiment of the present invention, after the step of detecting the motor speed of the robot in the current working state in real time, the method further includes:

[0060]1. Real-time detection of the motor current of the robot walking motor in the working state;

[0061]2. Judge the current location area of ​​the robot according to the change state of the motor current;

[0062]3. Adjust the current limit threshold of the motor current of the robot walking motor according to the current location area.

[0063]Among them, the lawn mower robot detects in real...

Example Embodiment

[0081]Example three

[0082]Seeimage 3 , Is a schematic diagram of the module of the robot collision detection device provided by the third embodiment of the present invention. For ease of description, only the parts related to the embodiment of the present invention are shown. The robot collision detection device includes:

[0083]The motor speed detection module 11 is used for real-time detection of the motor speed of the robot walking motor in the current working state;

[0084]The motor speed judgment module 21 is used to judge whether the motor speed is less than the set ratio of the set speed, or whether the rate of change from the previous motor speed detected at the last moment is greater than the preset rate of change;

[0085]The collision determination module 31 is used for when the motor speed determination module 21 determines that the motor speed is less than the set ratio of the set speed, or the rate of change from the previous motor speed detected at the last moment is greater...

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Abstract

The invention is suitable for the technical field of robots, and provides a robot collision detection method and device and a robot. The method comprises the steps: detecting the motor rotating speedof a robot walking motor in a current working state in real time; judging whether the motor rotating speed is smaller than the set proportion of the set rotating speed or whether the change rate between the motor rotating speed and the previous motor rotating speed detected at the previous moment is greater than the preset change rate or not; and if yes, it is determined that the robot collides currently. According to the robot collision detection method provided by the invention, the problems of high cost and complex design caused by collision detection in the prior art are solved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot collision detection method, device and robot. Background technique [0002] Autonomous or robotic powered tools such as robotic lawn mowers are becoming more and more popular. In a typical application, a work area such as a garden, a lawn mowing robot may not know that it collides with many stationary or movable objects. Collision detection is therefore necessary to be able to keep the lawnmowing robot on the job alert to adapt its operation when a collision is detected, thus avoiding the robot simply stopping in front of an object by trying to push through it. Also, from a safety point of view it is important to detect if the robot is lifted so that operating members or implements such as the rotary knives of the lawnmower can be switched off to prevent the risk of injury to the operator. [0003] Lifting and collision detection are typically achieved by arr...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00B25J19/00
CPCB25J9/161B25J9/1664B25J9/1674B25J13/00B25J19/0095
Inventor 伍浩文
Owner SHENZHEN TOPBAND
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