Collision detection device for evaluating obstacle recognition capability of intelligent mobile robot

Abstract

The utility model discloses a collision detection device used for evaluating the obstacle identification capability of an intelligent mobile robot, which comprises a bottom plate, guardrails, a base frame, a simulation obstacle, a rigid structure cylinder, a force sensor and a camera, the bottom plate is provided with two guardrails to form a test area, the front part of the test area is provided with an initial test point of a detected robot, and the front part of the test area is provided with an initial test point of the detected robot. A base frame and a simulation obstacle are arranged on the rear portion of the testing area, the base frame is constructed to be of a frame type structure to form an avoiding outlet, a guide rail groove is formed in the simulation obstacle, a rigid structure cylinder is fixedly connected to the front portion of the force sensor, and a graduated scale parallel to a guardrail is installed on the bottom plate with the position where the rigid structure cylinder is located as a starting point. And a camera is arranged right above the rigid structure cylinder and is mounted on the base frame. According to the utility model, the minimum stopping distance when the mobile robot encounters an obstacle, the retreating distance when the mobile robot encounters the obstacle, and the collision force when the mobile robot encounters the obstacle can be detected.

Description

Technical Field

[0001] The utility model relates to a collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot. Background Art

[0002] In recent years, market demand for mobile robots has continued to grow, driven by an aging population, rising labor costs, and increasing consumer demand for intelligent services. This is particularly true in industries with a high reliance on human labor, where demand for mobile robots is even more pressing. At the same time, diverging needs across different fields and application scenarios are becoming increasingly apparent, leading to a greater market interest in innovative robotic products with broad application scenarios. Currently, mobile robots hold broad application prospects in a variety of sectors, including healthcare, education, catering, hospitality, and retail services. With continued technological advancement and the expansion of application scenarios, market demand for mobile robots will continue to grow.

[0003] Mobile robots are often used in scenarios where multiple obstacles of varying types coexist. Achieving a high degree of automation and intelligence depends on their ability to effectively perceive their surroundings, quickly identify obstacles, and effectively avoid them. Currently, the main obstacle avoidance strategies employed by mobile robots include stopping in place after identifying an obstacle, rerouting after identifying an obstacle, and stopping, moving in reverse, and then retreating after identifying an obstacle. During all obstacle avoidance procedures, it is crucial to ensure that no action results in the mobile robot colliding with its surroundings. To perform collision testing on the obstacle avoidance function, a simulated collision environment system can be constructed to test the mobile robot.

[0004] Currently, most of the research and development on robot obstacle avoidance or anti-collision function testing in the industry only provides fixed obstacles and single variable testing. For example:

[0005] 1. Publication No. CN117885137A discloses a robot collision testing method and system. When a robot is traveling toward an unoccupied obstacle placement area and receives first information from a sensing device indicating that the robot has reached a preset position, the robot activates an obstacle drive device to place an obstacle in the obstacle placement area. After the robot stops, the robot obtains the distance between the robot's stopping position and the obstacle. Based on the distance, the robot's collision avoidance capability is determined at the current detection distance, where the current detection distance is the distance between the sensing device and the obstacle placement area. This method utilizes the obstacle drive device to temporarily or suddenly place an obstacle in the obstacle placement area, replacing the sudden appearance of a person or the presence of an object, thereby ensuring the safety of the robot's collision avoidance capability test.

[0006] 2. Publication No. CN116352756A discloses a system and method for detecting the obstacle avoidance function of an intelligent service robot in indoor scenes. The detection system includes a power supply module, an image capture module, a force sensing module, a high-speed data acquisition module, a computer module, a fixed base, an obstacle substrate and a fence. The fence encloses a collision scene test activity tooling area with an exit. A simulated obstacle is installed at the exit of the fence on the fixed base. The obstacle substrate connected to the force sensing module is provided on the simulated obstacle. The force sensing module is connected to the high-speed data acquisition module. The high-speed data acquisition module and the image capture module are both connected to the computer module. The power supply module is used to power the image capture module, and the image capture module monitors in real time whether the robot collides with the simulated obstacle.

[0007] 3. Publication No. CN115824548A discloses a mobile robot collision safety testing and evaluation method and detection system, which adopts a combination of simulated collision and actual collision. By building a robot simulation model library, the simulated collision model is improved using actual collision results, and multi-mode simulated collision tests are performed based on the optimization model; the robot collision force detection device used in the actual collision includes a robot acceleration and angular velocity acquisition module, a collision force and torque acquisition module, a power supply module and a measurement and control module, which are used to carry out actual collision tests and collect robot motion process parameters and collision parameters; a mobile robot collision safety detection system is also disclosed, including a cloud platform, an industrial control computer and a robot collision force detection device, to realize full-process collision safety testing and evaluation of the robot; it enriches the types of robot collision tests and reduces the cost of robot collision tests by combining actual collisions with simulated collisions.

[0008] Current research and development of methods and devices for detecting mobile robots' obstacle avoidance or collision avoidance capabilities struggles to quickly and accurately measure the robot's specific response to encountering obstacles. Furthermore, most devices are limited to single or fixed obstacle designs and fail to account for multiple obstacles of varying sizes and shapes, making it difficult to test a robot's ability to recognize and avoid multiple obstacles. Utility Model Content

[0009] The purpose of this utility model is to provide a collision detection device for evaluating the obstacle recognition ability of an intelligent mobile robot. The device can detect the minimum distance at which the mobile robot stops when encountering an obstacle, the distance it retreats when encountering an obstacle, and the magnitude of the collision force when colliding with an obstacle, thereby realizing a comprehensive test of the robot's obstacle avoidance ability.

[0010] The technical solution of the utility model is as follows:

[0011] A collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot comprises: a base plate, a guardrail, a base frame, a simulated obstacle, a rigid structural cylinder, a force sensor, and a camera. Two parallel guardrails are provided on the base plate to form a rectangular test area for the robot under test. A starting test point for the robot under test is provided at the front of the test area enclosed by the two guardrails. The base frame and the simulated obstacle are provided at the rear of the test area. The base frame is constructed as a frame structure capable of forming avoidance exits for the robot under test from the test area on both sides of the simulated obstacle. A guide groove for mounting the force sensor is provided on the simulated obstacle. The rigid structural cylinder is fixedly connected in front of the force sensor as a collision contact object with the robot under test. A scale parallel to the guardrails is installed on the base plate with the position of the rigid structural cylinder as the starting point. The camera for obtaining the running trajectory of the robot under test is provided directly above the rigid structural cylinder. The camera is mounted on the base frame.

[0012] The utility model is provided with a guardrail, which is used to ensure that the robot walks in the specified operating area during the test. Through real-time monitoring by a camera, it can be obtained that when the robot under test encounters an obstacle, the next step is to stop, retreat, detour or collide. At the same time, the camera and the scale can quickly and accurately detect the minimum distance for the robot under test to stop when encountering an obstacle and the distance to retreat when encountering an obstacle. The force sensor can detect the size of the collision force when a collision occurs. When the robot under test detours an obstacle, an avoidance exit at the rear of the test area is used to test its detour ability.

[0013] The force sensor of the present invention is preferably a force sensor with an S-shaped cantilever shear structure.

[0014] The simulated obstacles of the present invention include plate-shaped obstacles, cylindrical obstacles and prismatic obstacles, which can simulate obstacles of different shapes, sizes and types, such as walls, doors, tables, furniture and pedestrians, etc., for the robot under test to identify and detect different obstacles.

[0015] The force sensor of the present invention is installed in the guide rail groove in an adjustable height. The specific installation height is determined according to the height of the robot to be tested, and thus can be applied to the detection of robots of different heights.

[0016] The height of the rigid structural cylinder of the present invention is ≤150mm and the diameter is ≤50mm. Specifically, a stainless steel metal part can be used. The size of the rigid structural cylinder should be much smaller than the robot being tested to avoid the robot from misidentifying obstacles. When the rigid structural cylinder is subjected to external force, it can maintain good force transmission, reduce the attenuation of force in the object, and improve the accuracy of the collision force value test.

[0017] The base frame of the present invention includes two vertical poles, and a height-adjustable cross bar is installed on the vertical poles. The camera is installed on the cross bar. The height-adjustable camera is adapted to different types of robot tests.

[0018] The simulated obstacle of the present invention is fixedly connected to the base frame, and an adjustable or replaceable obstacle mounting bracket can be provided to adapt to different simulated obstacles.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention comprehensively considers the various motion modes of mobile robots. Through the same detection device, various situations in which the robot under test encounters an obstacle, such as stopping, retreating, detouring, or colliding, can be obtained. At the same time, the camera and scale can quickly and accurately detect the minimum distance at which the robot under test stops when encountering an obstacle and the distance it retreats when encountering an obstacle. The force sensor can detect the magnitude of the collision force when a collision occurs. When the robot under test detours an obstacle, an avoidance exit at the rear of the test area is used to test its detour ability.

[0021] 2. The present invention can be used to simulate a variety of obstacle avoidance scenarios by replacing simulated obstacles. Obstacles of different sizes, such as plates, cylinders, and prisms, can be used to simulate obstacles such as table legs and pedestrians, thereby more comprehensively testing the obstacle avoidance capability of the mobile robot.

[0022] 3. The height positions of the force sensor and camera of the present invention can be adjusted to adapt to the testing of mobile robots of different sizes and types.

[0023] 4. The utility model adopts a rigid structural cylinder as the collision contact object, which can maintain good force transmission, reduce the attenuation of force in the object, and improve the accuracy of the collision force value test. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional structural diagram of a collision detection device provided by the utility model for evaluating the obstacle recognition capability of an intelligent mobile robot.

[0025] Figure 2 for Figure 1 A three-dimensional structure diagram from another angle;

[0026] Figure 3 This is the state diagram of the robot under test detouring from the avoidance exit;

[0027] Figure 4 This is the schematic diagram of the connection structure between the force sensor and the rigid structure cylinder;

[0028] Figure 5 This is a structural schematic diagram of a scale provided in a collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot provided by the utility model.

[0029] Description of reference numerals:

[0030] 1-base plate; 2-guardrail; 3-base frame; 4-simulated obstacle; 4a-guide rail groove; 5-avoidance exit; 6-rigid structural cylinder; 7-force sensor; 7a-fixed clamping device; 8-camera; 9-tested robot; 10-scale. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more apparent, the following exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in this utility model, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present utility model.

[0032] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present invention.

[0033] It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and will fully convey the scope of the present invention to those skilled in the art.

[0034] The purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present invention. When used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0035] In order to fully understand the present invention, a detailed structure will be provided in the following description to illustrate the technical solution proposed by the present invention. The optional embodiments of the present invention are described in detail below. However, in addition to these detailed descriptions, the present invention may also have other implementation methods.

[0036] like Figures 1 to 5 As shown, a collision detection device for evaluating the obstacle recognition ability of an intelligent mobile robot includes: a base plate 1, a guardrail 2, a base frame 3, a simulated obstacle 4, a rigid structure cylinder 6, a force sensor 7 and a camera 8. Two guardrails 2 parallel to each other are provided on the base plate 1 to form a rectangular test area for a robot under test 9. A starting test point of the robot under test 9 is provided at the front of the test area surrounded by the two guardrails 2. A base frame 3 and a simulated obstacle 4 are provided at the rear of the test area. The base frame 3 is constructed into a frame structure capable of forming a test area on both sides of the simulated obstacle 4 so that the robot under test 9 can move from the test area. An avoidance exit 5 out of the area, a guide groove 4a for installing a force sensor 7 is opened on the simulated obstacle 4, a rigid structural cylinder 6 is fixedly connected in front of the force sensor 7 as a collision contact object with the robot under test 9, and a detachable fixing clamping device 7a can be used to connect the rigid structural cylinder 6 and the force sensor 7 into a force-bearing whole. A scale 10 parallel to the guardrail is installed on the base plate 1 with the position of the rigid structural cylinder 6 as the starting point. A camera 8 for obtaining the running trajectory of the robot under test 9 is set directly above the rigid structural cylinder 6, and the camera 8 is installed on the base frame 3;

[0037] In one embodiment, the force sensor 7 is preferably a force sensor with an S-shaped cantilever shear structure.

[0038] In some embodiments, the simulated obstacles 4 include plate-shaped obstacles, cylindrical obstacles, and prismatic obstacles, which can simulate obstacles of different shapes, sizes, and types, such as walls, doors, tables, furniture, and pedestrians, etc., for the robot under test to identify and detect different obstacles.

[0039] In one embodiment, the force sensor 7 is installed in the guide rail groove 4a with adjustable height, and its specific installation height is determined according to the height of the robot 9 to be measured, so that it can be suitable for the detection of robots of different heights. The connection method of the force sensor 7 in the guide rail groove 4a can be implemented using existing technology and will not be elaborated here.

[0040] In some embodiments, the height of the rigid structural cylinder 6 is ≤150 mm and the diameter is ≤50 mm. Specifically, stainless steel metal parts can be used. The size of the rigid structural cylinder 6 should be much smaller than the robot 9 under test to avoid the machine from misidentifying obstacles. When the rigid structural cylinder 6 is subjected to external force, it can maintain good force transmission, reduce the attenuation of force in the object, and improve the accuracy of the collision force value test.

[0041] In one embodiment, the base frame 3 includes two vertical poles, on which height-adjustable cross bars are mounted, and the camera 8 is mounted on the cross bars. The height-adjustable camera 8 is adapted to different types of robot tests.

[0042] In one embodiment, the simulated obstacle 4 is fixedly connected to the base frame 3 . Specifically, an adjustable or replaceable obstacle mounting bracket may be provided to adapt to different simulated obstacles 4 .

[0043] The fixing method of the bottom plate and guardrail of the present invention, as well as the left-right distance and the upper-lower height of the guardrail can be set according to the size of the robot 9 to be tested.

[0044] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot, characterized in that: include: A base plate, guardrails, a base frame, a simulated obstacle, a rigid structure cylinder, a force sensor and a camera. Two guardrails parallel to each other are provided on the base plate to form a rectangular test area for the robot under test. The front of the test area surrounded by the two guardrails is provided with a starting test point of the robot under test. The rear of the test area is provided with the base frame and the simulated obstacle. The base frame is constructed as a frame structure capable of forming an avoidance exit for the robot under test to exit the test area on both sides of the simulated obstacle. A guide groove for installing the force sensor is provided on the simulated obstacle. The rigid structure cylinder is fixedly connected to the front of the force sensor as a collision contact object with the robot under test. A ruler parallel to the guardrails is installed on the base plate with the position of the rigid structure cylinder as the starting point. The camera for obtaining the running trajectory of the robot under test is provided directly above the rigid structure cylinder, and the camera is installed on the base frame.

2. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 1, characterized in that: The force sensor is an S-shaped cantilever shear structure force sensor.

3. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 1 or 2, characterized in that: The simulated obstacles include plate-shaped obstacles, cylindrical obstacles and prismatic obstacles.

4. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 3, characterized in that: The force sensor is installed in the guide rail groove in an adjustable manner.

5. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 1, characterized in that: The height of the rigid structural cylinder is ≤150 mm and the diameter is ≤50 mm.

6. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 1, characterized in that: The base frame comprises two vertical poles, a height-adjustable horizontal pole is mounted on the vertical poles, and the camera is mounted on the horizontal pole.

7. The collision detection device for evaluating the obstacle recognition capability of an intelligent mobile robot according to claim 3, characterized in that: The simulated obstacle is fixedly connected to the base frame.

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