Collision prevention device and service robot

Abstract

The present invention provides an anti-collision device and a service robot, relating to the technical field of robots, including: a panel cavity, an anti-collision structure, an elastic member, a sensing member, and a sensor; the anti-collision structure is sleeved on the panel cavity, an elastic member and a sensing member are arranged between the anti-collision structure and the panel cavity, a sensor and a hollow hole are arranged on the panel cavity; in the case of a collision of the anti-collision structure, the elastic member is in a compressed state, the sensor senses the sensing member through the hollow hole, generates a collision signal, and feeds back the collision signal, so as to ensure the safety of the robot by timely sensing the occurrence of the collision situation, and to alleviate the technical problem that the robot collides with obstacles during the transportation process, affecting the safety of the robot and the transported items.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more particularly to an anti-collision device and a service robot. Background Art

[0002] With the development of logistics transportation technology towards the direction of intelligence and automation, robots can gradually replace manual labor to perform tasks of delivering items. Especially in public places such as hotels or office buildings, using robots for express delivery, takeout, or item transportation can not only reduce labor intensity, save a large amount of labor costs, improve transportation efficiency, but also improve the safety of item transportation.

[0003] After research by the inventor, it is found that in the actual application scenario, due to the complex application environment, the robot may collide with obstacles, which is not conducive to the safety of the robot and the transported items. Summary of the Invention

[0004] The purpose of the present invention is to provide an anti-collision device and a service robot, which can timely sense the occurrence of a collision situation to ensure the safety of the robot, so as to alleviate the technical problem that the collision between the robot and obstacles during transportation affects the safety of the robot and the transported items.

[0005] In a first aspect, an embodiment of the present invention provides an anti-collision device, including: a panel cavity, an anti-collision structure, an elastic member, a sensing member, and a sensor; the anti-collision structure is sleeved on the panel cavity, and the elastic member and the sensing member are arranged between the anti-collision structure and the panel cavity, and the sensor and a hollow hole are arranged on the panel cavity;

[0006] When the anti-collision structure collides, the elastic member is in a compressed state, and the sensor senses the sensing member through the hollow hole, generates a collision signal, and feeds back the collision signal.

[0007] Combined with the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, further including a base for movement, and the panel cavity is connected to the base so that the anti-collision structure is arranged in the moving direction of the base.

[0008] Combined with the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, further including a control module arranged inside the base, and the control module is used to receive the collision signal and control the base to stop moving based on the collision signal.

[0009] In combination with the first aspect, an embodiment of the present invention provides a third possible implementation of the first aspect, wherein a clip is provided on one side of the anti-collision structure, and the hollow hole is provided at the connecting position of the inner wall and the side wall of the panel cavity; the clip is fixed to the side wall through the hollow hole so that the anti-collision structure is fitted on the panel cavity.

[0010] In combination with the first aspect, an embodiment of the present invention provides a fourth possible implementation of the first aspect, wherein the panel cavity and the anti-collision structure respectively further include a boss; the boss is arranged on the inner wall above the hollow hole, and the boss is provided with a groove along the vertical direction of the inner wall, and the groove is used to fix the elastic member.

[0011] In combination with the first aspect, an embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the device further includes a fixing member, the panel cavity further includes a first protrusion, and the anti-collision structure further includes a second protrusion;

[0012] The first protrusion is arranged on the inner wall above the boss, a first hole is arranged on the first protrusion, and a first fixing portion is arranged below the first protrusion; the second protrusion is arranged on the anti-collision structure above the boss, and a second hole is arranged on the second protrusion;

[0013] The fixing member passes through the first hole and the second hole, and the first fixing portion is used to fix the fixing member so that the anti-collision structure is sleeved on the panel cavity.

[0014] In combination with the first aspect, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the panel cavity also includes a second fixing portion, which is arranged between the boss and the hollow hole; the second fixing portion is used to fix the sensor so that the sensor can sense through the hollow hole.

[0015] In combination with the first aspect, an embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein the anti-collision structure also includes a limiting portion, the sensing component is arranged on the buckle, and the limiting portion is used to fix the sensing component so that when the elastic component is in a compressed state, the sensing component can be sensed by the sensor through the hollow hole.

[0016] In combination with the first aspect, the embodiment of the present invention provides an eighth possible implementation of the first aspect, wherein a side of the anti-collision structure facing away from the panel cavity is in a curved shape.

[0017] In a second aspect, an embodiment of the present invention further provides a service robot, including a robot main body and the anti-collision device as described above, and the robot main body is connected to the anti-collision device.

[0018] The embodiment of the present invention provides an anti-collision device and a service robot. By sleeving an anti-collision structure on a panel cavity, when a collision occurs, the anti-collision structure first contacts an obstacle, thereby triggering the compression of an elastic member. At this time, the distance between the panel cavity and the anti-collision structure becomes smaller, and a sensor can sense an induction member between the panel cavity and the anti-collision structure, generate a collision signal, and feedback the collision signal to achieve the purpose of timely learning about the collision situation and reducing the impact of the collision on the robot and the items it transports.

[0019] Other features and advantages of the present invention will be described in the following specification, and in part, will become apparent from the specification or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0020] To make the above objectives, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, details are described as follows. Description of the Drawings

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is an exploded view of the structure of an anti-collision device provided by an embodiment of the present invention;

[0023] Figure 2 It is a schematic structural diagram of an anti-collision device before collision provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic structural diagram of an anti-collision device after collision provided by an embodiment of the present invention;

[0025] Figure 4 It is a partial schematic diagram of an anti-collision device provided by an embodiment of the present invention;

[0026] Figure 5 It is a schematic structural diagram of a panel cavity provided by an embodiment of the present invention;

[0027] Figure 6 It is a schematic structural diagram of an anti-collision structure provided by an embodiment of the present invention.

[0028] Icons: 100 - Panel cavity; 200 - Anti - collision structure; 300 - Elastic member; 400 - Sensor; 500 - Base; 101 - Hollow hole; 102 - Inner wall; 103 - Side wall; 104 - First protrusion; 105 - First hole; 106 - First fixing part; 107 - Second fixing part; 108 - Reinforcement structure; 201 - Snap; 202 - Boss; 203 - Groove; 204 - Fixing member; 205 - Second protrusion; 206 - Second hole; 207 - Limiting part; 208 - Inductive member. Detailed implementation manners

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Currently, when a robot is applied in a relatively complex environment, it may encounter obstacles and collide, which will affect the safety of the robot and the items transported by the robot.

[0031] After research by the inventor, it is found that if the robot cannot stop in time after a collision, it may pose a greater safety threat to the robot and the items it transports.

[0032] Based on this, an anti - collision device and a service robot provided by the embodiments of the present invention can timely sense the collision situation, generate corresponding collision signals, and timely control the robot to stop, so as to ensure the safety of the robot, and alleviate the technical problem that the collision between the robot and obstacles during transportation affects the safety of the robot and the transported items.

[0033] The following will be described in detail through embodiments.

[0034] Figure 1 It is an exploded view of the structure of an anti - collision device provided by an embodiment of the present invention.

[0035] Refer to Figure 1 , the anti - collision device includes: a panel cavity 100, an anti - collision structure 200, an elastic member 300, an inductive member ( Figure 1 not shown in Figure 1 ) and a sensor 400; the anti - collision structure 200 is sleeved on the panel cavity 100, an elastic member 300 and an inductive member are arranged between the anti - collision structure 200 and the panel cavity 100, and a sensor 400 and a hollow hole (

[0036] In the case of a collision occurring in the anti-collision structure 200, the elastic member 300 is in a compressed state. The sensor 400 senses the sensing member through the hollow hole, generates a collision signal, and feeds back the collision signal.

[0037] In a preferred embodiment of practical application, by sleeving the anti-collision structure on the panel cavity, when a collision occurs, the anti-collision structure first contacts the obstacle, thereby triggering the compression of the elastic member. At this time, the distance between the panel cavity and the anti-collision structure becomes smaller. The sensor can sense the sensing member between the panel cavity and the anti-collision structure, generate a collision signal, and feed back the collision signal to achieve the purpose of timely knowing the collision situation and reducing the impact of the collision on the robot and the items it transports.

[0038] In some embodiments, the anti-collision device further includes a base 500 for movement. The panel cavity 100 can be connected to the base 500 so that the anti-collision structure 200 is arranged in the moving direction of the base 500, as Figure 2 shown.

[0039] Exemplarily, Figure 4 is a partial schematic diagram of the anti-collision device. One side of the panel cavity 100 can be installed on the base 500. The anti-collision structure 200 connected to the panel cavity 100 is arranged outward. The base 500 can move in the direction where the anti-collision structure 200 is installed. The anti-collision structure 200 reduces the impact on the safety of the robot when a collision occurs.

[0040] Among them, the anti-collision structure 200 before the collision can be referred to Figure 2 as shown in the lower left of the left side. At this time, no collision has occurred. Under the action of the elastic member 300 in a normal extended state, the anti-collision structure 200 slightly protrudes and is ready to protect the robot at any time when a collision occurs. In the case of being collided, at this time the elastic member 300 is in a compressed state, and the Figure 3 anti-collision structure 200 in Figure 2 shows a shrinking trend as a whole compared to

[0041] In some embodiments, in order to be able to timely control the safety of the robot when a collision occurs, it further includes a control module arranged inside the base 500. The control module is used to receive the collision signal and control the base 500 to stop moving based on the collision signal. By controlling the robot to stop moving and get away from the collision of the obstacle, more serious damage to the robot can be avoided.

[0042] Among them, the control module may include a lower computer, a controller, a control circuit board, a control chip, etc. The elastic member 300 may be selected as a component with elastic characteristics such as a spring. When the control module stops the movement of the base 500, after the base 500 leaves the collision position, under the reaction force of the elastic member 300, the elastic member 300 returns from the compressed state to the normal extended state.

[0043] In some embodiments, the side of the anti-collision structure 200 facing away from the panel cavity 100 is arc-shaped. As can be seen from Figure 1 or Figure 4 , the side of the anti-collision structure 200 facing away from the panel cavity 100, that is, the outer side surface is arc-shaped, while the side of the anti-collision structure 200 close to the panel cavity 100, that is, the inner side surface, can be rectangular, and the shape and size of the inner side surface match those of the panel cavity 100.

[0044] As an alternative embodiment, the anti-collision structure 200 and the panel cavity 100 can be set to a left-right symmetric structure, that is, both the anti-collision structure 200 and the components provided in the panel cavity 100 include two on the left and right to ensure the stability of the connection.

[0045] As Figure 5 and Figure 6 shown, a buckle 201 is provided on the inner side surface of the anti-collision structure 200, and the hollow hole 101 is provided at the connection position of the inner wall 102 and the side wall 103 of the panel cavity 100; the position of the buckle 201 corresponds to that of the hollow hole 101, and the buckle 201 is hook-shaped and can hook the side wall 103 of the panel cavity 100 through the hollow hole 101 to realize the fixation of the buckle 201 and the side wall 103, and further make the anti-collision structure 200 sleeved on the panel cavity 100.

[0046] Exemplarily, when the anti-collision device collides, the elastic member 300 is in a compressed state. At this time, the buckle 201 and the side wall 103 are in a separated state. When the elastic member 300 returns to the normal extended state under the reaction force, the buckle 201 and the side wall 103 are re-latched.

[0047] In some embodiments, the panel cavity 100 and the anti-collision structure 200 further include a boss 202 respectively; the boss 202 is provided on the inner wall 102 above the hollow hole 101, and the boss 202 is provided with a groove 203 along the vertical direction of the inner wall 102, and the groove 203 is used to fix the elastic member 300.

[0048] Among them, the elastic member 300 can be fixed through the groove 203 in the boss 202. One end of the elastic member 300 is fixed in the groove 203 of the boss 202 of the panel cavity 100, and the other end of the elastic member 300 is fixed in the groove 203 of the boss 202 of the anti-collision structure 200 to ensure that the elastic member 300 compresses and extends stably before and after a collision without affecting the connection relationship between the panel cavity 100 and the anti-collision structure 200.

[0049] In some embodiments, in order to further ensure a relatively stable connection relationship between the anti-collision structure 200 and the panel cavity 100 during the collision process, the anti-collision device further includes a fixing member 204. The panel cavity 100 further includes a first protruding portion 104, and the anti-collision structure 200 further includes a second protruding portion 205. Among them, the protruding portion extends in a direction away from its own structure (the anti-collision structure 200 or the panel cavity 100) along the direction perpendicular to the inner wall 102, and the fixing member 204 may include a pin.

[0050] The first protruding portion 104 is provided on the inner wall 102 above the boss 202. A first hole 105 is provided on the first protruding portion 104. The shape of the first hole 105 may include a threaded hole. A first fixing portion 106 is provided below the first protruding portion 104. The first fixing portion 106 is hollow so that the fixing member 204 can pass through. The second protruding portion 205 is provided on the anti-collision structure 200 above the boss 202. A second hole 206 is provided on the second protruding portion 205. The second hole 206 may be an elongated hole.

[0051] The fixing member 204 penetrates through the first hole 105 and the second hole 206 at the same time to realize a more tight connection between the panel cavity 100 and the anti-collision structure 200. The first fixing portion 106 is used to fix the fixing member 204 so that the anti-collision structure 200 is sleeved on the panel cavity 100. During the compression or extension process of the elastic member 300, under the action of the first fixing portion 106, the position of the fixing member 204 remains fixed, while the position of the anti-collision structure 200 changes with the state of the elastic member 300. At this time, the elongated second hole 206 can ensure the stability of the fixing member 204 when the position of the anti-collision structure 200 moves.

[0052] In some embodiments, in order to ensure the accuracy of the sensing effect of the sensor 400, the sensor 400 can be fixed. Among them, the panel cavity 100 further includes a second fixing portion 107, and the second fixing portion 107 is provided between the boss 202 and the hollow hole 101. The second fixing portion 107 is used to fix the sensor 400 so that the sensor 400 senses through the hollow hole 101.

[0053] Among them, the sensor 400 may include a groove-type optoelectronic sensor 400. The sensing part of the sensor 400 can be made to be at the hollow hole 101 through the second fixing part 107, so as to accurately sense the sensing member 208.

[0054] In some embodiments, the anti-collision structure 200 further includes a limiting part 207. The sensing member 208 is arranged on the buckle 201. The limiting part 207 is used to fix the sensing member 208, so that when the elastic member 300 is in a compressed state, the sensing member 208 is sensed by the sensor 400 through the hollow hole 101.

[0055] Among them, the limiting part 207 is arranged between the boss 202 and the buckle 201. The sensing member 208 may include a long and thin rib. The position of the sensing member 208 is fixed by the limiting part 207, and the possibility of deformation of the sensing member 208 during the collision is reduced.

[0056] As an alternative embodiment, the inner side surface of the anti-collision structure 200 and the inner wall 102 of the panel cavity 100 may be in a hollow state to save the cost of the anti-collision device; on this basis, in order to further ensure the structural strength of the anti-collision device, a reinforcing structure 108 may be added to the anti-collision structure 200 and the panel cavity 100 respectively. Among them, the reinforcing structure 108 arranged on the hollow inner side surface of the anti-collision structure 200 may be a grid structure, and the reinforcing structure 108 arranged on the hollow inner wall 102 of the anti-collision structure 200 may also be a grid structure. At the same time, a strip-shaped grid reinforcing structure 108 may also be arranged on the top of the upper side plate of the anti-collision structure 200.

[0057] The anti-collision device provided by the embodiment of the present invention can, under the action of the elastic member 300 between the anti-collision structure 200 and the panel cavity 100, when a collision occurs, the elastic member 300 is in a compressed state, so that the sensing member 208 is sensed by the sensor 400 from the hollow hole 101, and the collision situation can be known in time to ensure the safety of the robot; at the same time, through the cooperation of the fixing member 204 and the protruding part, and the cooperation of the buckle 201 and the hollow hole 101, it can be ensured that during the movement of the anti-collision structure 200 driven by the elastic member 300, the stable connection between the anti-collision structure 200 and the panel cavity 100 can still be ensured.

[0058] In some embodiments, the embodiment of the present invention further provides a service robot, including a robot main body and the anti-collision device as described above, and the robot main body is connected to the anti-collision device.

[0059] Among them, the robot body may include a cavity, a door opening / closing device, and an interaction device. The cavity is used to place and transport items. The door opening / closing device is used to control the opening and closing states of the door structure of the cavity. The interaction device is used for the user to interact with the robot, so as to control the opening or closing of the door structure of the cavity when receiving a user control instruction, so that the user can obtain the transported items inside the cavity, achieving the service purpose of the service robot. The robot can ensure its use safety under the action of the anti-collision device.

[0060] The service robot provided by the embodiment of the present invention has the same technical features as the anti-collision device provided by the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0061] In the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0062] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0063] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, and the indirect coupling or communication connection of the devices or units may be in an electrical, mechanical or other forms.

[0064] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0066] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or make equivalent replacements for some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention.

Claims

1. An anti-collision device, characterized in that include: A panel cavity, an anti-collision structure, an elastic member, a sensing member and a sensor; the anti-collision structure is sleeved on the panel cavity, the elastic member and the sensing member are arranged between the anti-collision structure and the panel cavity, and the panel cavity is provided with a sensor and a hollow hole; When the anti-collision structure collides, the elastic member is in a compressed state, the sensor senses the sensing member through the hollow hole, generates a collision signal, and feeds back the collision signal; A buckle is provided on one side of the anti-collision structure, and the hollow hole is provided at the connection position between the inner wall and the side wall of the panel cavity; the buckle is fixed to the side wall through the hollow hole, so that the anti-collision structure is sleeved on the panel cavity; When the elastic member drives the anti-collision structure to move, the anti-collision structure and the panel cavity are stably connected through the cooperation between the buckle and the hollow hole.

2. The anti-collision device according to claim 1, wherein, It also includes a base for movement, and the panel cavity is connected to the base so that the anti-collision structure is arranged in the moving direction of the base.

3. The anti-collision device according to claim 2, characterized in that, The invention also includes a control module disposed inside the base, wherein the control module is used to receive the collision signal and control the base to stop moving based on the collision signal.

4. The anti-collision device according to claim 1, characterized in that, The panel cavity and the anti-collision structure also include a boss respectively; the boss is arranged on the inner wall above the hollow hole, and the boss is provided with a groove along the vertical direction of the inner wall, and the groove is used to fix the elastic member.

5. The anti-collision device according to claim 4, wherein The device further includes a fixing member, the panel cavity further includes a first protruding portion, and the anti-collision structure further includes a second protruding portion; The first protrusion is arranged on the inner wall above the boss, a first hole is arranged on the first protrusion, and a first fixing portion is arranged below the first protrusion; the second protrusion is arranged on the anti-collision structure above the boss, and a second hole is arranged on the second protrusion; The fixing member passes through the first hole and the second hole, and the first fixing portion is used to fix the fixing member so that the anti-collision structure is sleeved on the panel cavity.

6. The anti-collision device according to claim 4, wherein The panel cavity further includes a second fixing portion, which is disposed between the boss and the hollow hole; the second fixing portion is used to fix the sensor so that the sensor performs sensing through the hollow hole.

7. The anti-collision device according to claim 1, characterized in that, The anti-collision structure further includes a limiting portion, the sensing element is arranged on the buckle, and the limiting portion is used to fix the sensing element so that when the elastic element is in a compressed state, the sensing element can be sensed by the sensor through the hollow hole.

8. The anti-collision device according to any one of claims 1-7, characterized in that, The side of the anti-collision structure away from the panel cavity is in a curved shape.

9. A service robot, characterized in that, It comprises a robot body and an anti-collision device as described in any one of claims 1 to 8, wherein the robot body and the anti-collision device are connected.

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