Robot collision detection device, method and robot

Abstract

A robot collision detection device, method and robot, comprising a mobile base, a radar device, a protective cover, a detection device and a controller, the radar device is installed at the mobile base; the protective cover covers the radar device, the protective cover comprises a cover body and a plurality of mounting parts surrounding the cover body and extending downward from the cover body to the mobile base, the mounting parts are arranged at intervals; the detection device is arranged at the mounting part and is used for sending a sensing signal when the protective cover collides; the controller is connected with the detection device and is used for acquiring the sensing signal value sent by the detection device, so as to stop the robot from advancing when the sensing signal value is greater than a preset threshold. The robot collision detection device solves the problems of complex structure and high failure rate of the existing robot collision detection device.

Description

[Technical Field]

[0001] This application relates to the field of robotics, specifically to a robot collision detection device, method, and robot. [Background Technology]

[0002] LiDAR is primarily used in automobiles, robots, and robotic vacuum cleaners—applications requiring autonomous obstacle avoidance. Currently, it's most prevalent in home robotic vacuum cleaners. Most current robotic vacuum cleaners have their LiDAR mounted as a protruding structure on the top of the robot's body. Because the LiDAR is higher than the robot's body, it cannot effectively avoid collisions during movement. There is currently no good collision detection solution, leading to frequent collisions with furniture or getting stuck under sofas, and the LiDAR is also easily damaged in impacts.

[0003] Currently, over 95% of LiDAR protective covers are designed to absorb collisions. This requires the covers to have high rigidity and high cost, but this does not mean they can effectively protect the expensive LiDAR components 100%. Current LiDAR protection detection methods typically involve designing complex mechanical movement structures for the protective covers, combined with mechanical switches. When an external force touches the cover, the cover moves mechanically to trigger the mechanical switch, sending feedback to the MCU. However, this solution is structurally complex, has a high mechanical failure rate, and the push-button switch is not dustproof or waterproof, resulting in a high failure rate and difficult maintenance. Furthermore, due to the design limitations of this mechanical mechanism, it can only detect collisions from the front; side and rear collisions cannot trigger the switch.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. [Summary of the Invention]

[0005] The purpose of this application is to provide a robot collision detection device, method and robot, which aims to solve the problems of complex structure and high failure rate of existing robot collision detection devices.

[0006] The purpose of this application is to achieve the following technical solution:

[0007] A robot collision detection device includes a movable base;

[0008] The radar device is installed on the mobile base;

[0009] A protective cover is provided over the radar device. The protective cover includes a cover body and a plurality of mounting portions surrounding the cover body and extending downward from the cover body to be connected to the movable base. The plurality of mounting portions are arranged at intervals.

[0010] A detection device is provided at the mounting portion to emit a sensing signal when the protective cover is impacted.

[0011] A controller, connected to the detection device, is used to acquire the value of the sensing signal emitted by the detection device and to stop the robot from moving forward when the value of the sensing signal is greater than a preset threshold.

[0012] Optionally, the detection device is provided on the mounting part located in the robot's travel direction among the plurality of mounting parts.

[0013] Optionally, there may be multiple detection devices, with one detection device corresponding to one of the mounting parts.

[0014] Optionally, the detection device includes a piezoelectric sensor.

[0015] Optionally, the mobile base is circumferentially provided with multiple obstacle avoidance sensors;

[0016] The controller is connected to multiple obstacle avoidance sensors and is used to read the values ​​of the sensing signals emitted by the multiple obstacle avoidance sensors. When the value of the sensing signal is higher than a preset threshold, the robot stops moving forward.

[0017] This application also proposes a robot collision detection method, which specifically includes the following steps:

[0018] Acquire the first sensing value of the sensing signal detected by the detection device when the robot collides;

[0019] Compare the first sensed value with a preset threshold;

[0020] When the first sensing value is higher than the preset threshold, it is determined that the robot has collided and its forward movement is interrupted.

[0021] Optionally, the mobile base is circumferentially provided with multiple obstacle avoidance sensors, and the controller is connected to the multiple obstacle avoidance sensors to read the sensing signal values ​​emitted by the multiple obstacle avoidance sensors so as to stop the robot from moving forward when the sensing signal value is higher than a preset threshold.

[0022] The robot collision detection method also includes:

[0023] The first sensing value and the second sensing value of the obstacle avoidance sensor are obtained when the robot collides with the obstacle;

[0024] The first sensed value is compared with a preset threshold, and the second sensed value is compared with a preset threshold.

[0025] When either the first sensing value or the second sensing value is higher than a preset threshold, the robot is determined to have collided and its forward movement is interrupted.

[0026] Optionally, the controller is further configured to read the position and waveform of the sensing signals emitted by the plurality of obstacle avoidance sensors;

[0027] After comparing the first sensed value with a preset threshold and comparing the second sensed value with a preset threshold, the method further includes:

[0028] When both the first sensing value and the second sensing value are not higher than a preset threshold, the sensing signal positions of the multiple obstacle avoidance sensors are obtained, the sensing signals of the obstacle avoidance sensors in the diagonal positions are filtered out, and the remaining signal waveforms are read.

[0029] Calculate the linearity of the remaining signal waveform. When the linearity of the waveform is less than the preset linearity, acquire the waveforms of the sensing signals of multiple obstacle avoidance sensors, read the peak information of the waveforms, and sort them from largest to smallest.

[0030] When the maximum peak value is higher than a preset multiple of the sum of other peak values, it is determined that the robot has collided and stops moving forward.

[0031] This application also proposes a robot including the robot collision detection device described above.

[0032] This application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the collision detection method described above.

[0033] Compared with existing technologies, this application has the following advantages: In the technical solution of this application, the protective cover directly covers the radar device, and the detection device is attached to the protective cover. The detection device senses external pressure and converts the pressure into a sensing signal. The collision detection device is connected to the controller and can send the sensing signal to the controller, enabling the controller to respond promptly to avoid secondary collisions, thereby better protecting the radar device. Attaching the detection device directly to the protective cover simplifies installation and makes it easy to replace without altering the structure of the protective cover. This results in better waterproof and dustproof performance for the protective cover, and the triggering method of the sensing signal makes detection faster. [Attached Image Description]

[0034] Figure 1 This is a perspective view of an embodiment of the detection device provided in this application;

[0035] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the detection device from another perspective;

[0036] Figure 3 This is a schematic flowchart of an embodiment of the collision detection method of this application;

[0037] Figure 4 This is a flowchart illustrating the second embodiment of the collision detection method of this application;

[0038] Figure 5 This is a flowchart illustrating the third embodiment of the collision detection method of this application.

[0039] Explanation of icon numbers:

[0040] label name label name 1 radar device 21 Installation Department 2 Protective shield 3 Detection device

[0041] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed Implementation Methods

[0042] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0043] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0044] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0045] Currently, over 95% of LiDAR protective covers are designed to absorb collisions, requiring high rigidity and cost. However, this does not guarantee 100% effective protection of expensive LiDAR components. Current LiDAR protection detection methods typically involve designing complex mechanical motion structures for the protective cover, using mechanical switches. When an external force touches the cover, the cover moves mechanically to trigger the switch, sending feedback to the MCU. However, this approach is structurally complex, has a high failure rate, and the push-button switch is not dustproof or waterproof, resulting in a high failure rate and difficult maintenance. Furthermore, due to design limitations, this mechanical mechanism can only detect frontal collisions; side and rear collisions cannot trigger the switch. Therefore, this application provides a robot collision detection device, method, and robot. (See reference...) Figures 1 to 2 This application provides a robot collision detection device, including a mobile base (not shown), a radar device 1, a protective cover 2, a detection device 3, and a controller (not shown). The radar device 1 is mounted on the mobile base. The protective cover 2 covers the radar device 1 and includes a cover and a plurality of mounting portions 21 surrounding the cover and extending downward from the cover to connect with the mobile base. The plurality of mounting portions 21 are spaced apart. The detection device 3 is disposed at the mounting portion 21 and is used to emit a sensing signal when the protective cover 2 collides with the robot. The controller is connected to the detection device 3 and is used to acquire the value of the sensing signal emitted by the detection device 3 so as to stop the robot from moving forward when the value of the sensing signal is greater than a preset threshold.

[0046] In this application's technical solution, the protective cover 2 directly covers the radar device 1. A detection device 3 is attached to the protective cover 2. This collision detection device senses external pressure and converts it into a sensing signal. The detection device 3 is connected to a controller, enabling it to send the sensing signal to the controller. This allows the controller to respond promptly and prevent secondary collisions, thus better protecting the radar device 1. Directly attaching the detection device 3 to the protective cover 2 simplifies installation and facilitates replacement without altering the structure of the protective cover 2. This provides the protective cover 2 with better waterproof and dustproof performance, and the triggering method of the sensing signal makes detection faster.

[0047] Specifically, the detection device 3 is provided on the mounting part 21 located in the robot's traveling direction among the plurality of mounting parts 21. This application does not limit the specific position of the detection device 3 on the mounting part 21, as long as it is capable of detecting collisions and sending a sensing signal. Please refer to [link to relevant documentation]. Figure 1In this embodiment, the detection device 3 is mounted on the mounting part 21 in the robot's forward direction. It can detect the pressure on the edge and top of the protective cover 2 and convert it into a sensing signal. When a collision occurs during the robot's movement, the pressure on the edge and top will be transmitted to the mounting part 21 in the forward direction. Therefore, when the detection device 3 is mounted on this mounting part 21, it is easier for the detection device 3 to detect collisions and the reaction speed is faster. At the same time, attaching a single sensor also reduces costs and allows for fuzzy recognition algorithms based on a single sensor and the robot's own orientation, which is convenient and quick.

[0048] Specifically, there are multiple detection devices 3, with one detection device 3 corresponding to one of the mounting portions 21. For example... Figure 2 As shown, multiple detection devices 3 can be configured. These multiple devices can not only detect collisions but also their specific locations, assisting the robot in better obstacle avoidance maneuvers. In this embodiment, three detection devices 3 are configured, positioned on the mounting portions 21 located at the left front, right front, and rear, with the robot's direction of travel as the front. More specifically, the detection devices 3 are positioned closer to the cover portion of the protective shield 2 on the mounting portions 21, enabling simultaneous detection of the top and sides. After a collision, the controller can identify the specific location of the collision, facilitating subsequent obstacle avoidance processing using specific positioning algorithms.

[0049] Specifically, the detection device 3 includes a piezoelectric sensor. The piezoelectric sensor is a sensor based on the piezoelectric effect, used to measure force and non-electrical physical quantities that can be converted into electricity. Its advantages include wide bandwidth, high sensitivity, high signal-to-noise ratio, simple structure, reliable operation, and light weight. Using a piezoelectric sensor not only makes collision detection more sensitive but also reduces the cost of the detection device and makes it easier to maintain. At the same time, the position of the piezoelectric sensor can be easily adjusted, allowing for debugging according to actual conditions to achieve the best collision test results. In a preferred embodiment, the piezoelectric sensor can also be a piezoelectric plate sensor, such as a capacitive, pressure strain gauge, or thin-film piezoelectric sensor.

[0050] Furthermore, the mobile base is circumferentially equipped with multiple obstacle avoidance sensors; the controller is connected to the multiple obstacle avoidance sensors and is used to read the sensing signal values ​​emitted by the multiple obstacle avoidance sensors. When the sensing signal value is higher than a preset threshold, the robot's forward movement is stopped. The detection device 3, together with the multiple obstacle avoidance sensors on the mobile base, can achieve more accurate collision detection through algorithms, extending the machine's service life.

[0051] Please refer to the following: Figure 3This embodiment also provides a robot collision detection method, including the following steps:

[0052] S10. Obtain the first sensing value of the sensing signal detected by the detection device 3 when the robot collides;

[0053] S20. Compare the first sensed value with a preset threshold.

[0054] S30. When the first sensing value is higher than the preset threshold, it is determined that the robot has collided and its forward movement is interrupted.

[0055] In this embodiment, because the protective cover is designed as a single integrated structure, the structure is simpler. Simultaneously, to better protect the radar, it needs to make faster judgments on collision situations, thus ensuring response speed while simplifying the structure. It should be noted that before acquiring the signal detected by the collision detection device at the time of collision, the following steps are included: ADC data acquisition, filtering, and noise judgment; after confirming it is not noise, scene judgment is performed, parameters are loaded, and it is determined whether the device is in an obstacle-crossing state. Then, the first sensing value of the detection device 3 is read, and an interruption is performed when the sensing signal value is higher than a preset threshold, resulting in faster response speed. The steps before reading the first sensing value of the detection device 3 are common methods for mobile robots and will not be elaborated here. It is worth noting that the controller includes a charge amplifier electrically connected to the detection device 3, a high-pass filter electrically connected to the charge amplifier, a voltage amplifier electrically connected to the high-pass filter, an analog-to-digital converter (A / D converter) electrically connected to the voltage amplifier, and a processor electrically connected to the A / D converter. The sensing signal transmitted by the detection device 3 is an analog quantity. After being amplified by the charge amplifier and filtered by the high-pass filter, the signal is amplified by the voltage amplifier and then converted into a digital signal by the A / D converter before being transmitted to the processor for calculation. The processor can then process the received digital signal. The above are standard settings in this field and will not be elaborated upon here.

[0056] Please see Figure 4 In another embodiment, the robot collision detection method further includes:

[0057] S100: Obtain the first sensing value and the second sensing value of the obstacle avoidance sensor when the robot collides;

[0058] S200: Compare the first sensed value with a preset threshold, and compare the second sensed value with a preset threshold;

[0059] S300: When either the first sensing value or the second sensing value is higher than a preset threshold, it is determined that the robot has collided and its forward movement is interrupted.

[0060] Further, please refer to Figure 5 After step S200, the method further includes:

[0061] S310. When both the first sensing value and the second sensing value are not higher than a preset threshold, obtain the sensing signal positions of the multiple obstacle avoidance sensors, filter out the sensing signals of the obstacle avoidance sensors in the diagonal positions, and read the remaining signal waveforms.

[0062] S320. Calculate the linearity of the remaining signal waveform. When the linearity of the waveform is less than the preset linearity, acquire the waveforms of the sensing signals of multiple obstacle avoidance sensors, read the peak information of the waveforms and sort them from largest to smallest.

[0063] S330. When the maximum peak value is higher than a preset multiple of the sum of other peak values, it is determined that the robot has collided and stops moving forward.

[0064] In this embodiment, during robot operation, it needs to determine whether a collision has occurred. If either or both of the detected first and second sensor values ​​are greater than a preset threshold, a collision is directly determined and the operation is interrupted. If both are less than the preset threshold, a subsequent algorithm is needed to determine whether a collision has occurred. This setting helps to improve recognition accuracy. Adding a comparison step with the preset threshold in step S200 reduces the number of judgment steps, eliminating the need for further screening and resulting in a faster response time. Specifically, in step S320, the preset limit weight is 5. In step S330, the preset multiple is 0.6.

[0065] This application also proposes a robot including the robot collision detection device as described above. This robot includes, but is not limited to, self-moving robots, such as robotic vacuum cleaners and automobiles.

[0066] This application also proposes a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the collision detection method described above. Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, this application can take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, MCU, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a mechanism for implementing the collision detection method described above. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0067] The above is only one specific implementation of this application, and any other improvements made based on the concept of this application shall be considered within the scope of protection of this application.

Claims

1. A robot collision detection method, applicable to robot collision detection devices, characterized in that, Includes the following steps: Acquire the first sensing value of the sensing signal detected by the detection device when the robot collides; Compare the first sensed value with a preset threshold; When the first sensing value is higher than the preset threshold, it is determined that the robot has collided and its forward movement is interrupted; The mobile base of the robot collision detection device is circumferentially equipped with multiple obstacle avoidance sensors. The controller of the robot collision detection device is connected to the multiple obstacle avoidance sensors and is used to read the sensing signal values ​​emitted by the multiple obstacle avoidance sensors so as to stop the robot from moving forward when the sensing signal value is higher than a preset threshold. The robot collision detection method also includes: The first sensing value and the second sensing value of the obstacle avoidance sensor are obtained when the robot collides with the obstacle; The first sensed value is compared with a preset threshold, and the second sensed value is compared with a preset threshold. If either the first sensing value or the second sensing value is higher than a preset threshold, it is determined that the robot has collided and its forward movement is interrupted. The controller is also used to read the position and waveform of the sensing signals emitted by the plurality of obstacle avoidance sensors; After comparing the first sensed value with a preset threshold and comparing the second sensed value with a preset threshold, the method further includes: When both the first sensing value and the second sensing value are not higher than a preset threshold, the sensing signal positions of the multiple obstacle avoidance sensors are obtained, the sensing signals of the obstacle avoidance sensors in the diagonal positions are filtered out, and the remaining signal waveforms are read. Calculate the linearity of the remaining signal waveform. When the linearity of the waveform is less than the preset linearity, acquire the waveforms of the sensing signals of multiple obstacle avoidance sensors, read the peak information of the waveforms, and sort them from largest to smallest. When the maximum peak value is higher than a preset multiple of the sum of other peak values, it is determined that the robot has collided and stops moving forward.

2. A robot collision detection device, characterized in that, The robot collision detection device, which performs the robot collision detection method as described in claim 1, comprises: Mobile base; The radar device is installed on the mobile base; A protective cover is provided over the radar device. The protective cover includes a cover body and a plurality of mounting portions surrounding the cover body and extending downward from the cover body to be connected to the movable base. The plurality of mounting portions are arranged at intervals. A detection device, disposed at the mounting portion, is used to emit a sensing signal when the protective cover is impacted; and, The controller, connected to the collision detection device, is used to acquire the value of the sensing signal emitted by the collision detection device so as to stop the robot from moving forward when the value of the sensing signal is greater than a preset threshold.

3. The robot collision detection device as described in claim 2, characterized in that, The detection device is installed in the mounting section located in the robot's travel direction among the plurality of mounting sections.

4. The robot collision detection device as described in claim 3, characterized in that, The number of detection devices is multiple, and each detection device is installed at one of the mounting parts.

5. The robot collision detection device as described in claim 2, characterized in that, The detection device includes a piezoelectric sensor.

6. The robot collision detection device as described in claim 2, characterized in that, The mobile base is circumferentially equipped with multiple obstacle avoidance sensors; The controller is connected to multiple obstacle avoidance sensors and is used to read the values ​​of the sensing signals emitted by the multiple obstacle avoidance sensors. When the value of the sensing signal is higher than a preset threshold, the robot stops moving forward.

7. A robot, characterized in that, Includes the robot collision detection device as described in any one of claims 2-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the collision detection method as described in claim 1.

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