Collaborative robot capable of automatically avoiding obstacles in working space

Abstract

The invention discloses a collaborative robot capable of automatically avoiding obstacles in a working space, and relates to the technical field of collaborative robots, the collaborative robot comprises a collaborative robot body, and an environment acquisition module and an obstacle detection module are mounted on the outer wall of the collaborative robot body in an embedded manner. The environment data around the collaborative robot is acquired through the environment acquisition module by adopting a visual sensor, the obstacle detection module acquires the shape, the material, the orientation and the motion state of an obstacle through a laser radar sensor and a millimeter wave radar sensor, and according to the acquired environment data, the collision detection algorithm and the path optimization module are adopted to optimize the path of the collaborative robot. A path which does not intersect with the obstacle is obtained, an instruction is sent to the PLC through the processor module to control the execution mechanism to adjust so that the collaborative robot can move according to the obstacle avoidance path, the obstacle avoidance path is adjusted in real time according to the detected environment change, and it is guaranteed that the movement of the collaborative robot can avoid the obstacle in the working space.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robots, and in particular to a collaborative robot capable of automatically avoiding obstacles in a workspace. Background Art

[0002] Collaborative robots are robots that are designed to interact with humans in shared spaces or work safely nearby. The original intention of designing collaborative robots is to improve the safety of workers collaborating with robots, reduce the risk of harm to people by robots during the production process, and combine human cognitive ability with the efficiency of robots to achieve the safety of human-machine collaboration.

[0003] The defects of existing collaborative robots are:

[0004] 1. Patent document JP2009018409A discloses a method for manufacturing a cooperative robot partner. However, the above document lacks a method for obtaining the shape, material, orientation and motion state of obstacles in the surrounding environment, and cannot adjust the set path in real time according to the real-time changing environment, which easily leads to the technical problem of collision with obstacles.

[0005] 2. Patent document US06678582B2 discloses a method and control device for avoiding collisions between collaborative robots. However, the collaborative robot in the above document has only a single environment recognition structure, and there are recognition errors during use, which easily lead to technical problems such as damage to the collaborative robot.

[0006] 3. Patent document US09592606B2 discloses a method and a control device for controlling a robot, but the above document lacks an emergency handling structure, especially when the battery catches fire, the robot cannot effectively avoid harming the staff;

[0007] 4. Patent document CN110682286B discloses a collaborative robot real-time obstacle avoidance method. However, the above document lacks equipment for real-time monitoring of the battery that supplies energy, and there are technical problems such as safety risks when using it. Summary of the invention

[0008] The purpose of the present invention is to provide a collaborative robot that can automatically avoid obstacles in the workspace, so as to solve the technical problems raised in the above-mentioned background technology.

[0009] To achieve the above-mentioned object, the present invention provides the following technical solutions: a collaborative robot capable of automatically avoiding obstacles in a workspace, comprising a collaborative robot body, an environment acquisition module and an obstacle detection module being embedded and installed on the outer wall of the collaborative robot body, the environment acquisition module being used to obtain environmental data around the collaborative robot in real time, and the obstacle detection module being used to detect the shape, material, orientation and motion state of obstacles;

[0010] The environment acquisition module includes a plurality of visual sensors, which are respectively mounted in the middle of the front side, the middle of the back side and the front ends of both sides of the collaborative robot body; the obstacle detection module includes a laser radar sensor and a plurality of millimeter wave radar sensors, the laser radar sensor is mounted in the top wall of the front side of the collaborative robot body, and the millimeter wave radar sensors are respectively mounted at the four corners of the collaborative robot body;

[0011] The environment acquisition module and the obstacle detection module are both electrically connected to a processor module, and the processor module includes a collision detection algorithm, a path optimization module and a speed control module. The collision detection algorithm is used to predict whether the motion trajectory of the collaborative robot will intersect with an obstacle. The path optimization module is used to optimize and adjust the original path to obtain a path that does not intersect with the obstacle when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle. The speed control module is used to issue an instruction to slow down the movement speed of the collaborative robot when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle and the distance between the collaborative robot and the obstacle is lower than a set threshold. The processor module is electrically connected to a PLC controller, and the PLC controller is electrically connected to an actuator.

[0012] Preferably, the actuator comprises a chassis frame, infrared sensors are installed at four corners of the bottom of the chassis frame, the infrared sensors are used to monitor the distance between the chassis frame and the ground in real time, and a plurality of driving wheels are installed at the bottom of the chassis frame.

[0013] Preferably, a first power supply chamber is opened at the bottom of the back side of the collaborative robot body, and a detachable battery pack is movably connected to the inner wall of the first power supply chamber. A first temperature sensor and a first smoke sensor are embedded in the inner wall of the first power supply chamber, and both the first temperature sensor and the first smoke sensor are electrically connected to the processor module.

[0014] Preferably, a cooling pipe is tightly fitted to the outer wall of the first power supply chamber, one end of the cooling pipe is connected to an output pump, and a coolant tank is installed at the other end of the cooling pipe, and the coolant tank is installed inside the collaborative robot body.

[0015] Preferably, a second power supply chamber is installed inside the collaborative robot body, and a fixed backup battery is installed on the inner wall of the second power supply chamber. The output and input ends of the fixed backup battery are electrically connected to a distribution box, and the distribution box is electrically connected to the first power supply chamber. The distribution box is used to distribute power to each electrical equipment, and a second temperature sensor and a second smoke sensor are embedded on the inner wall of the second power supply chamber.

[0016] Preferably, the processor module is electrically connected to an emergency processing module and a data transmission module respectively. The emergency processing module is only used to receive temperature data and smoke data in the first power supply room and the second power supply room transmitted from the processor module. The emergency processing module includes a high temperature alarm mode and an emergency protection mode. The high temperature alarm mode is used to detect that the temperature data in the first power supply room or the second power supply room exceeds a threshold, and the smoke data does not detect smoke. The emergency processing module activates an audible and visual alarm to remind surrounding personnel to avoid approaching. At the same time, the processor module performs self-test and transmits the high temperature and self-test data through the data transmission module.

[0017] Preferably, the emergency protection mode is used to detect that the temperature data and smoke data in the first power room or the second power room exceed the threshold. The emergency processing module activates the sound and light alarm and feeds the data back to the processor module. The processor module starts the data transmission module to transmit the data, and controls the distribution box to cut off the power supply to the first power room or the second power room according to the feedback data, and verifies the surrounding environment data of the collaborative robot body, selects an open location, and controls the PLC controller and the actuator to start the collaborative robot body to move.

[0018] Preferably, a storage box is provided on one side of the collaborative robot body, a group of box doors are installed on one side of the storage box through a hinge, an electronic lock is installed on one side of the box door, a control console is installed on the top of the collaborative robot body, and the tail end of the top of the console is installed on the bottom of the sound and light alarm, and a touch display screen is installed on the front end of the top of the console, and the touch display screen is used to display various data of the collaborative robot body and control the electronic lock.

[0019] Preferably, the working steps of the collaborative robot that can automatically avoid obstacles in the workspace are as follows:

[0020] S1. The environment acquisition module uses a visual sensor to obtain environmental data around the collaborative robot. The visual sensor uses a depth camera. The obstacle detection module uses a laser radar sensor and a millimeter wave radar sensor to obtain the shape, material, position and motion state of the obstacle.

[0021] S2. Based on the acquired environmental data, a collision detection algorithm and a path optimization module are used to obtain a path that does not intersect with obstacles. The processor module sends instructions to the PLC controller to control the actuator to adjust the collaborative robot to move along the obstacle avoidance path, and the obstacle avoidance path is adjusted in real time according to the detected environmental changes to ensure that the movement of the collaborative robot can avoid obstacles in the workspace.

[0022] S3. During the driving process of the collaborative robot, the distance between the four corners of the chassis frame and the ground can be monitored in real time through the setting of infrared sensors. When it is detected that the distance between the four corners of the chassis frame and the ground exceeds the threshold value, the processor module sends an instruction to the PLC controller to control the driving wheel to stop rotating, thereby stopping the movement of the collaborative robot;

[0023] S4. Through the provision of a detachable battery pack, a fixed backup battery and a power distribution box, the detachable battery pack is used for power consumption of the collaborative robot under normal conditions, and the fixed backup battery is used when the detachable battery pack is damaged or out of power;

[0024] S5. Through the setting of the distribution box, under normal circumstances, the detachable battery pack is used to power the collaborative robot and replenish the fixed backup battery. When the temperature data and smoke data in the first power room or the second power room exceed the threshold, the distribution box is used to cut off the first power room or the second power room, and use the normal power room to power the collaborative robot. The processor module is used to control the collaborative robot to move to an open location away from the crowd.

[0025] Preferably, the step S3 further includes the following steps:

[0026] S31, avoiding the situation where the collaborative robot is damaged due to errors detected by the environment acquisition module and the obstacle detection module, and further improving the obstacle avoidance effect and use safety of the collaborative robot;

[0027] The step S5 also includes the following steps:

[0028] S51. The state of the removable battery pack in the first power supply chamber can be detected in real time through the first temperature sensor and the first smoke sensor. When it is detected that the temperature in the first power supply chamber is high, the coolant in the coolant tank is transported to the cooling pipe through the output pump, and the first power supply chamber is cooled through the cooling pipe, thereby ensuring that the removable battery pack is maintained at a stable temperature state during use, thereby improving the safety of the collaborative robot.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention uses a visual sensor to obtain environmental data around the collaborative robot through an environment acquisition module, and an obstacle detection module uses a laser radar sensor and a millimeter wave radar sensor to obtain the shape, material, orientation and motion state of the obstacle. According to the environmental data obtained, a collision detection algorithm and a path optimization module are used to obtain a path that does not intersect with obstacles. The processor module sends instructions to the PLC controller to control the actuator to adjust the collaborative robot to move along the obstacle avoidance path, and the obstacle avoidance path is adjusted in real time according to the detected environmental changes to ensure that the movement of the collaborative robot can avoid obstacles in the workspace.

[0031] 2. The present invention can monitor the distance between the four corners of the chassis frame and the ground in real time by setting an infrared sensor. When it is detected that the distance between the four corners of the chassis frame and the ground exceeds a threshold value, the processor module sends an instruction to the PLC controller to control the driving wheel to stop rotating, thereby stopping the movement of the collaborative robot, thereby avoiding the situation where the collaborative robot is damaged due to errors detected by the environment acquisition module and the obstacle detection module, and further improving the obstacle avoidance effect and use safety of the collaborative robot;

[0032] 3. The present invention adopts the arrangement of a detachable battery pack, a fixed backup battery and a power distribution box. The detachable battery pack is used for powering the collaborative robot under normal conditions, and the fixed backup battery is used when the detachable battery pack is damaged or out of power. Through the arrangement of the power distribution box, the detachable battery pack is used for powering the collaborative robot under normal conditions and simultaneously replenishes power for the fixed backup battery. When the temperature data and smoke data in the first power supply room or the second power supply room exceed the threshold, the power distribution box is used to cut off the first power supply room or the second power supply room, and use the normal power supply room to power the collaborative robot. The collaborative robot is controlled by the processor module to move to an open position away from people, thereby improving the safety of the collaborative robot.

[0033] 4. The present invention can detect the state of the detachable battery pack in the first power supply chamber in real time through the first temperature sensor and the first smoke sensor. When it is detected that the temperature in the first power supply chamber is high, the coolant in the coolant tank is transported to the cooling pipe through the output pump, and the first power supply chamber is cooled through the cooling pipe, thereby ensuring that the detachable battery pack is maintained in a stable temperature state for use, thereby improving the safety of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the system of the present invention under normal conditions;

[0035] Figure 2 It is a schematic diagram of the structure of the system of the present invention in an emergency state;

[0036] Figure 3It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 4 It is a front structural schematic diagram of the present invention;

[0038] Figure 5 It is a side cross-sectional structural schematic diagram of the present invention;

[0039] Figure 6 This is a schematic diagram of the working steps of the collaborative robot of the present invention under normal conditions;

[0040] Figure 7 This is a schematic diagram of the working steps of the collaborative robot of the present invention when an emergency situation occurs.

[0041] In the figure: 1. Collaborative robot body; 2. Environment acquisition module; 3. Obstacle detection module; 4. Visual sensor; 5. LiDAR sensor; 6. Millimeter wave radar sensor; 7. Processor module; 8. Collision detection algorithm; 9. Path optimization module; 10. Speed ​​control module; 11. PLC controller; 12. Actuator; 13. Chassis frame; 14. Infrared sensor; 15. Driving wheel; 20. First power supply room; 21. Removable battery pack; 22. First temperature sensor device; 23. first smoke sensor; 24. cooling pipe; 25. output pump; 26. coolant tank; 27. second power supply room; 28. fixed backup battery; 29. ​​distribution box; 30. second temperature sensor; 31. second smoke sensor; 32. emergency processing module; 33. data transmission module; 34. high temperature alarm mode; 35. emergency protection mode; 36. sound and light alarm; 37. storage box; 38. box door; 39. electronic lock; 40. control console; 41. touch screen. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example 1: Please refer to Figure 1 and Figure 3 , an embodiment of the present invention: a collaborative robot capable of automatically avoiding obstacles in a workspace, comprising a collaborative robot body 1, an outer wall of the collaborative robot body 1 being embedded with an environment acquisition module 2 and an obstacle detection module 3, the environment acquisition module 2 being used to obtain environmental data around the collaborative robot in real time, and the obstacle detection module 3 being used to detect the shape, material, orientation and motion state of the obstacle;

[0046] The environment acquisition module 2 includes a plurality of visual sensors 4, which are respectively mounted in the middle of the front side, the middle of the back side and the front ends of both sides of the collaborative robot body 1. The obstacle detection module 3 includes a laser radar sensor 5 and a plurality of millimeter wave radar sensors 6. The laser radar sensor 5 is mounted in the top wall of the front side of the collaborative robot body 1, and the millimeter wave radar sensors 6 are respectively mounted at the four corners of the collaborative robot body 1.

[0047] The environment acquisition module 2 and the obstacle detection module 3 are both electrically connected to a processor module 7, and the processor module 7 includes a collision detection algorithm 8, a path optimization module 9 and a speed control module 10. The collision detection algorithm 8 is used to predict whether the motion trajectory of the collaborative robot will intersect with an obstacle. The path optimization module 9 is used to optimize and adjust the original path when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle, so as to obtain a path that does not intersect with the obstacle. The speed control module 10 is used to issue an instruction to slow down the movement speed of the collaborative robot when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle and the distance between the collaborative robot and the obstacle is lower than a set threshold. The processor module 7 is electrically connected to a PLC controller 11, and the PLC controller 11 is electrically connected to an actuator 12;

[0048] Furthermore, the environment data around the collaborative robot is acquired through the environment acquisition module 2 using the visual sensor 4, which uses a depth camera. The obstacle detection module 3 acquires the shape, material, orientation and motion state of the obstacle through the laser radar sensor 5 and the millimeter wave radar sensor 6. Based on the acquired environmental data, a collision detection algorithm 8 and a path optimization module 9 are used to acquire a path that does not intersect with obstacles. The processor module 7 sends instructions to the PLC controller 11 to control the actuator 12 to adjust the collaborative robot to move along the obstacle avoidance path, and the obstacle avoidance path is adjusted in real time according to the detected environmental changes to ensure that the movement of the collaborative robot can avoid obstacles in the workspace.

[0049] Example 2: Please refer to Figure 4 , an embodiment provided by the present invention: the actuator 12 includes a chassis frame 13, and infrared sensors 14 are installed at the four corners of the bottom of the chassis frame 13. The infrared sensors 14 are used to monitor the distance between the chassis frame 13 and the ground in real time. A plurality of driving wheels 15 are installed at the bottom of the chassis frame 13;

[0050] Furthermore, through the setting of the infrared sensor 14, the distance between the four corners of the chassis frame 13 and the ground can be monitored in real time. When it is detected that the distance between the four corners of the chassis frame 13 and the ground exceeds the threshold, the processor module 7 sends an instruction to the PLC controller 11 to control the drive wheel 15 to stop rotating, thereby stopping the movement of the collaborative robot, thereby avoiding the damage of the collaborative robot due to errors detected by the environment acquisition module 2 and the obstacle detection module 3, and further improving the obstacle avoidance effect and use safety of the collaborative robot.

[0051] Example 3: Please refer to Figure 2 and Figure 5, an embodiment provided by the present invention: a first power supply chamber 20 is opened at the bottom of the back side of the collaborative robot body 1, a detachable battery pack 21 is movably connected to the inner wall of the first power supply chamber 20, a first temperature sensor 22 and a first smoke sensor 23 are embedded and installed on the inner wall of the first power supply chamber 20, and the first temperature sensor 22 and the first smoke sensor 23 are both electrically connected to the processor module 7;

[0052] A cooling pipe 24 is tightly attached to the outer wall of the first power supply chamber 20, one end of the cooling pipe 24 is connected to an output pump 25, and a coolant tank 26 is installed at the other end of the cooling pipe 24, and the coolant tank 26 is installed inside the collaborative robot body 1;

[0053] A second power supply chamber 27 is installed inside the collaborative robot body 1, and a fixed backup battery 28 is installed on the inner wall of the second power supply chamber 27. The output end and the input end of the fixed backup battery 28 are electrically connected to a distribution box 29, and the distribution box 29 is electrically connected to the first power supply chamber 20. The distribution box 29 is used to distribute power to various electrical equipment. A second temperature sensor 30 and a second smoke sensor 31 are embedded and installed on the inner wall of the second power supply chamber 27;

[0054] The processor module 7 is electrically connected to an emergency processing module 32 and a data transmission module 33 respectively. The emergency processing module 32 is only used to receive the temperature data and smoke data in the first power supply room 20 and the second power supply room 27 transmitted from the processor module 7. The emergency processing module 32 includes a high temperature alarm mode 34 and an emergency protection mode 35. The high temperature alarm mode 34 is used to detect that the temperature data in the first power supply room 20 or the second power supply room 27 exceeds the threshold value, and the smoke data does not detect smoke. The emergency processing module 32 activates the sound and light alarm 36 to remind the surrounding personnel to avoid approaching. At the same time, the processor module 7 performs self-test and transmits the high temperature and self-test data through the data transmission module 33;

[0055] The emergency protection mode 35 is used to detect that the temperature data and smoke data in the first power supply room 20 or the second power supply room 27 exceed the threshold value, and the emergency processing module 32 starts the sound and light alarm 36, and feeds back the data to the processor module 7. The processor module 7 starts the data transmission module 33 to transmit the data, and controls the distribution box 29 to cut off the power supply of the first power supply room 20 or the second power supply room 27 according to the feedback data, and verifies the surrounding environment data of the collaborative robot body 1, selects an open position, and controls the PLC controller 11 and the actuator 12 to start the collaborative robot body 1 to move;

[0056] Furthermore, through the provision of the removable battery pack 21, the fixed backup battery 28 and the distribution box 29, the removable battery pack 21 is used for powering the collaborative robot under normal circumstances, and the fixed backup battery 28 is used when the removable battery pack 21 is damaged or out of power. Through the provision of the distribution box 29, under normal circumstances, the removable battery pack 21 is used for powering the collaborative robot and at the same time replenishes power for the fixed backup battery 28. When the temperature data and smoke data in the first power supply room 20 or the second power supply room 27 exceed the threshold, the distribution box 29 is used to cut off the first power supply room 20 or the second power supply room 27, and use the normal power supply room to power the collaborative robot. The processor module 7 is used to control the collaborative robot to move to an open location away from crowds, thereby improving the safety of the collaborative robot.

[0057] Example 4: Please refer to Figure 5 , an embodiment provided by the present invention: a first power supply chamber 20 is opened at the bottom of the back side of the collaborative robot body 1, a detachable battery pack 21 is movably connected to the inner wall of the first power supply chamber 20, a first temperature sensor 22 and a first smoke sensor 23 are embedded and installed on the inner wall of the first power supply chamber 20, and the first temperature sensor 22 and the first smoke sensor 23 are both electrically connected to the processor module 7, a cooling pipe 24 is tightly fitted on the outer wall of the first power supply chamber 20, one end of the cooling pipe 24 is connected to an output pump 25, and a coolant tank 26 is installed at the other end of the cooling pipe 24, and the coolant tank 26 is installed inside the collaborative robot body 1;

[0058] Furthermore, the state of the removable battery pack 21 in the first power supply chamber 20 can be detected in real time through the first temperature sensor 22 and the first smoke sensor 23. When it is detected that the temperature in the first power supply chamber 20 is high, the coolant in the coolant tank 26 is transported to the cooling pipe 24 through the output pump 25, and the first power supply chamber 20 is cooled through the cooling pipe 24, thereby ensuring that the removable battery pack 21 is maintained in a stable temperature state for use, thereby improving the safety of the collaborative robot.

[0059] Example 5: Please refer to Figure 3 , an embodiment provided by the present invention: a storage box 37 is provided on one side of the collaborative robot body 1, a set of box doors 38 are installed on one side of the storage box 37 through a hinge, an electronic lock 39 is installed on one side of the box door 38, a console 40 is installed on the top of the collaborative robot body 1, and the tail end of the top of the console 40 is installed on the bottom of the sound and light alarm 36, and a touch display screen 41 is installed on the front end of the top of the console 40, and the touch display screen 41 is used to display various data of the collaborative robot body 1 and control the electronic lock 39;

[0060] Furthermore, various data of the collaborative robot are displayed in real time through the touch screen 41, and after reaching the set address of the path, the staff can open the electronic lock 39 by using the touch screen 41, so that the staff can take the required items in the storage box 37. A lighting lamp is also provided on the front of the collaborative robot body 1 for driving in a dark environment, so as to achieve the effect of collaborative staff transferring items.

[0061] Example 6: Please refer to Figure 6 and Figure 7 , an embodiment provided by the present invention: the working steps of the collaborative robot capable of automatically avoiding obstacles in the workspace are as follows:

[0062] S1. The environment acquisition module 2 uses the visual sensor 4 to obtain the environmental data around the collaborative robot. The visual sensor 4 uses a depth camera. The obstacle detection module 3 uses the laser radar sensor 5 and the millimeter wave radar sensor 6 to obtain the shape, material, position and motion state of the obstacle;

[0063] S2. According to the acquired environmental data, a path that does not intersect with obstacles is acquired by using a collision detection algorithm 8 and a path optimization module 9. The processor module 7 sends instructions to the PLC controller 11 to control the actuator 12 to adjust the collaborative robot to move along the obstacle avoidance path, and adjusts the obstacle avoidance path in real time according to the detected environmental changes to ensure that the movement of the collaborative robot can avoid obstacles in the workspace.

[0064] S3. During the driving process of the collaborative robot, the distance between the four corners of the chassis frame 13 and the ground can be monitored in real time through the setting of the infrared sensor 14. When it is detected that the distance between the four corners of the chassis frame 13 and the ground exceeds the threshold value, the processor module 7 sends an instruction to the PLC controller 11 to control the driving wheel 15 to stop rotating, thereby stopping the movement of the collaborative robot;

[0065] S4. Through the arrangement of the removable battery pack 21, the fixed backup battery 28 and the power distribution box 29, the removable battery pack 21 is used for power consumption of the collaborative robot under normal conditions, and the fixed backup battery 28 is used when the removable battery pack 21 is damaged or out of power;

[0066] S5. Through the setting of the power distribution box 29, under normal conditions, the detachable battery pack 21 is used to power the collaborative robot and supplement the fixed backup battery 28. When the temperature data and smoke data in the first power supply room 20 or the second power supply room 27 exceed the threshold, the power distribution box 29 is used to cut off the first power supply room 20 or the second power supply room 27, and use the normal power supply room to power the collaborative robot. The collaborative robot is controlled by the processor module 7 to move to an open position away from the crowd.

[0067] S3 also includes the following steps:

[0068] S31, avoiding the situation where the collaborative robot is damaged due to errors detected by the environment acquisition module 2 and the obstacle detection module 3, and further improving the obstacle avoidance effect and use safety of the collaborative robot;

[0069] S5 also includes the following steps:

[0070] S51. The state of the removable battery pack 21 in the first power supply chamber 20 can be detected in real time through the first temperature sensor 22 and the first smoke sensor 23. When it is detected that the temperature in the first power supply chamber 20 is high, the coolant in the coolant tank 26 is transported to the cooling pipe 24 through the output pump 25. The first power supply chamber 20 is cooled through the cooling pipe 24, thereby ensuring that the removable battery pack 21 is maintained in a stable temperature state for use, thereby improving the safety of the collaborative robot.

[0071] Working principle: The environment data around the collaborative robot is obtained by using the visual sensor 4 through the environment acquisition module 2. The visual sensor 4 uses a depth camera. The obstacle detection module 3 obtains the shape, material, orientation and motion state of the obstacle through the laser radar sensor 5 and the millimeter wave radar sensor 6. According to the obtained environmental data, the collision detection algorithm 8 and the path optimization module 9 are used to obtain the path that does not intersect with the obstacles. The processor module 7 sends instructions to the PLC controller 11 to control the actuator 12 to adjust the collaborative robot to move according to the obstacle avoidance path, and adjusts the obstacle avoidance path in real time according to the detected environmental changes to ensure that the movement of the collaborative robot can avoid obstacles in the workspace. The setting of the infrared sensor 14 can monitor the distance between the four corners of the chassis frame 13 and the ground in real time. When it is detected that the distance between the four corners of the chassis frame 13 and the ground exceeds the threshold value, the processor module 7 sends an instruction to the PLC controller 11 to control the driving wheel 15 to stop rotating, thereby stopping the movement of the collaborative robot, thereby avoiding the situation where the collaborative robot is damaged due to errors detected by the environment acquisition module 2 and the obstacle detection module 3, and further improving the obstacle avoidance effect and safety of the collaborative robot. Through the setting of the detachable battery pack 21, the fixed backup battery 28 and the distribution box 29, the detachable battery pack 21 is used for the power consumption of the collaborative robot under normal conditions, and the fixed backup battery 28 is used for The detachable battery pack 21 is used when it is damaged or out of power. Through the setting of the distribution box 29, under normal circumstances, the detachable battery pack 21 is used to power the collaborative robot and replenish power for the fixed backup battery 28. When the temperature data and smoke data in the first power supply room 20 or the second power supply room 27 exceed the threshold, the distribution box 29 is used to cut off the first power supply room 20 or the second power supply room 27, and use the normal power supply room to power the collaborative robot. The collaborative robot is controlled by the processor module 7 to move to an open position away from the crowd, thereby improving the safety of the collaborative robot. The state of the detachable battery pack 21 in the first power supply room 20 can be detected in real time through the first temperature sensor 22 and the first smoke sensor 23. When it is detected that the temperature in the first power supply chamber 20 is high, the coolant in the coolant tank 26 is transported to the cooling pipe 24 through the output pump 25, and the first power supply chamber 20 is cooled by the cooling pipe 24, thereby ensuring that the detachable battery pack 21 is maintained at a stable temperature for use, thereby improving the safety of the collaborative robot. Various data of the collaborative robot are displayed in real time through the touch screen 41, and after reaching the set address of the path, the staff can open the electronic lock 39 by using the touch screen 41, so that the staff can take the required items in the storage box 37. A lighting lamp is also provided on the front of the collaborative robot body 1 for driving in a dark environment, so as to achieve the effect of collaborative staff transmitting items.

[0072] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A collaborative robot capable of automatically avoiding obstacles in a workspace, comprising a collaborative robot body (1), characterized in that: An environment acquisition module (2) and an obstacle detection module (3) are mounted on the outer wall of the collaborative robot body (1), wherein the environment acquisition module (2) is used to acquire environmental data around the collaborative robot in real time, and the obstacle detection module (3) is used to detect the shape, material, orientation and motion state of obstacles; The environment acquisition module (2) comprises a plurality of visual sensors (4), and the visual sensors (4) are respectively mounted in the middle of the front side, the middle of the back side and the front ends of both sides of the collaborative robot body (1); the obstacle detection module (3) comprises a laser radar sensor (5) and a plurality of millimeter wave radar sensors (6), and the laser radar sensor (5) is mounted in the top wall of the front side of the collaborative robot body (1), and the millimeter wave radar sensors (6) are respectively mounted at the four corners of the collaborative robot body (1); The environment acquisition module (2) and the obstacle detection module (3) are both electrically connected to a processor module (7), wherein the processor module (7) comprises a collision detection algorithm (8), a path optimization module (9) and a speed control module (10), wherein the collision detection algorithm (8) is used to predict whether the motion trajectory of the collaborative robot will intersect with an obstacle, wherein the path optimization module (9) is used to optimize and adjust the original path when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle, thereby obtaining a path that does not intersect with the obstacle, wherein the speed control module (10) is used to issue an instruction to slow down the movement speed of the collaborative robot when it is predicted that the motion trajectory of the collaborative robot intersects with an obstacle and the distance between the collaborative robot and the obstacle is lower than a set threshold value, wherein the processor module (7) is electrically connected to a PLC controller (11), wherein the PLC controller (11) is electrically connected to an actuator (12).

2. A collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: The actuator (12) comprises a chassis frame (13), and infrared sensors (14) are installed at the four corners of the bottom of the chassis frame (13). The infrared sensors (14) are used to monitor the distance between the chassis frame (13) and the ground in real time. A plurality of driving wheels (15) are installed at the bottom of the chassis frame (13).

3. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: A first power supply chamber (20) is provided at the bottom of the back side of the collaborative robot body (1), and a detachable battery pack (21) is movably connected to the inner wall of the first power supply chamber (20). A first temperature sensor (22) and a first smoke sensor (23) are embedded and installed on the inner wall of the first power supply chamber (20), and the first temperature sensor (22) and the first smoke sensor (23) are both electrically connected to the processor module (7).

4. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: A cooling pipe (24) is tightly fitted to the outer wall of the first power supply chamber (20), one end of the cooling pipe (24) is connected to an output pump (25), and a coolant tank (26) is installed at the other end of the cooling pipe (24), and the coolant tank (26) is installed inside the collaborative robot body (1).

5. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: A second power supply chamber (27) is installed inside the collaborative robot body (1), and a fixed backup battery (28) is installed on the inner wall of the second power supply chamber (27). The output end and the input end of the fixed backup battery (28) are electrically connected to a distribution box (29), and the distribution box (29) is electrically connected to the first power supply chamber (20). The distribution box (29) is used to distribute power to various electrical equipment. A second temperature sensor (30) and a second smoke sensor (31) are embedded and installed on the inner wall of the second power supply chamber (27).

6. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: The processor module (7) is electrically connected to an emergency processing module (32) and a data transmission module (33), respectively. The emergency processing module (32) is only used to receive temperature data and smoke data in the first power supply room (20) and the second power supply room (27) transmitted from the processor module (7). The emergency processing module (32) includes a high temperature alarm mode (34) and an emergency protection mode (35). The high temperature alarm mode (34) is used to detect that the temperature data in the first power supply room (20) or the second power supply room (27) exceeds a threshold value, and the smoke data does not detect smoke. The emergency processing module (32) activates an audible and visual alarm (36) to remind surrounding personnel to avoid approaching. At the same time, the processor module (7) performs self-test and transmits the high temperature and self-test data through the data transmission module (33).

7. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: The emergency protection mode (35) is used to detect that the temperature data and smoke data in the first power supply room (20) or the second power supply room (27) exceed the threshold value, and the emergency processing module (32) starts the sound and light alarm (36) and feeds back the data to the processor module (7). The processor module (7) starts the data transmission module (33) to transmit the data, and controls the distribution box (29) to cut off the power supply to the first power supply room (20) or the second power supply room (27) according to the feedback data, and verifies the surrounding environment data of the collaborative robot body (1), selects an open position, and controls the PLC controller (11) and the actuator (12) to start the collaborative robot body (1) to move.

8. The collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 1, characterized in that: A storage box (37) is provided on one side of the collaborative robot body (1), a set of box doors (38) are installed on one side of the storage box (37) through a hinge, an electronic lock (39) is installed on one side of the box door (38), a control console (40) is installed on the top of the collaborative robot body (1), and the tail end of the top of the control console (40) is installed on the bottom of the sound and light alarm (36), and a touch screen (41) is installed on the front end of the top of the control console (40), and the touch screen (41) is used to display various data of the collaborative robot body (1) and control the electronic lock (39).

9. A method for using a collaborative robot capable of automatically avoiding obstacles in a workspace according to any one of claims 1 to 8, characterized in that: The working steps of the collaborative robot that can automatically avoid obstacles in the workspace are as follows: S1, using the visual sensor (4) to obtain environmental data around the collaborative robot through the environment acquisition module (2), the visual sensor (4) is a depth camera, and the obstacle detection module (3) obtains the shape, material, position and motion state of the obstacle through the laser radar sensor (5) and the millimeter wave radar sensor (6); S2. Based on the acquired environmental data, a collision detection algorithm (8) and a path optimization module (9) are used to acquire a path that does not intersect with obstacles, and a processor module (7) sends instructions to a PLC controller (11) to control an actuator (12) to adjust the collaborative robot to move along the obstacle avoidance path, and adjust the obstacle avoidance path in real time according to the detected environmental changes, so as to ensure that the movement of the collaborative robot can avoid obstacles in the workspace; S3. During the movement of the collaborative robot, the distance between the four corners of the chassis frame (13) and the ground can be monitored in real time by setting the infrared sensor (14). When it is detected that the distance between the four corners of the chassis frame (13) and the ground exceeds a threshold value, the processor module (7) sends an instruction to the PLC controller (11) to control the driving wheel (15) to stop rotating, thereby stopping the movement of the collaborative robot; S4. By configuring the detachable battery pack (21), the fixed backup battery (28) and the power distribution box (29), the detachable battery pack (21) is used to supply electricity to the collaborative robot under normal conditions, and the fixed backup battery (28) is used when the detachable battery pack (21) is damaged or out of power; S5. Through the setting of the distribution box (29), under normal circumstances, the detachable battery pack (21) is used to power the collaborative robot and replenish the fixed backup battery (28). When the temperature data and smoke data in the first power room (20) or the second power room (27) exceed the threshold, the distribution box (29) is used to cut off the first power room (20) or the second power room (27), and use the normal power room to power the collaborative robot. The collaborative robot is controlled by the processor module (7) to move to an open location away from the crowd.

10. The method for using a collaborative robot capable of automatically avoiding obstacles in a workspace according to claim 9, characterized in that: The S3 also includes the following steps: S31, avoiding the situation where the collaborative robot is damaged due to errors detected by the environment acquisition module (2) and the obstacle detection module (3), and further improving the obstacle avoidance effect and use safety of the collaborative robot; The step S5 also includes the following steps: S51. The state of the removable battery pack (21) in the first power supply chamber (20) can be monitored in real time through the first temperature sensor (22) and the first smoke sensor (23). When it is detected that the temperature in the first power supply chamber (20) is high, the coolant in the coolant tank (26) is transported to the cooling pipe (24) through the output pump (25), and the first power supply chamber (20) is cooled through the cooling pipe (24), thereby ensuring that the removable battery pack (21) is maintained in a stable temperature state for use, thereby improving the safety of the collaborative robot.

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