Intelligent mobile robot obstacle recognition capability evaluation device for household complex application scene

Abstract

The utility model discloses an intelligent mobile robot obstacle recognition capability evaluation device for a household complex application scene, which comprises a plurality of collision force sensors annularly arranged on the side surface of a detected robot, a data transceiver arranged at the top of the detected robot, and an upper computer, the collision force sensor communicates with the data transceiver through CAN communication, and the data transceiver is connected with the upper computer through a wireless network. According to the utility model, the specific collision part and the collision force when the robot collides can be detected.

Description

Technical Field

[0001] The utility model relates to an obstacle recognition capability evaluation device for an intelligent mobile robot oriented to complex household application scenarios. Background Art

[0002] With the rapid development of science and technology, service robots, as an emerging product, are increasingly being applied to human life due to their ability to perform specific tasks in replacement of humans. This is particularly true for intelligent mobile service robots used in both domestic and commercial scenarios, such as sweeping, mopping, air purification, mowing, food delivery, and material distribution. Because their use cases are closely intertwined with people's living environments, they require greater autonomy and intelligence. A prerequisite for mobile robots to achieve a high degree of autonomy and intelligence is the ability to perceive information about their surroundings and make quick and accurate decisions about their actions. Obstacle recognition, a key intelligent technology for mobile robots to effectively avoid obstacles in complex scenarios, relies primarily on its sensors to detect obstacles in the surrounding environment. Software algorithms identify and determine the presence of obstacles and implement appropriate avoidance strategies to prevent collisions that could cause harm or damage to nearby people and the surrounding environment. With a wide variety of mobile service robots on the market, a robot's obstacle recognition capability directly determines its obstacle avoidance safety. It is a crucial foundation for safely avoiding obstacles in complex scenarios and a key technical indicator for evaluating mobile service robots' ability to perform various tasks. Therefore, it is extremely important for intelligent mobile robots to avoid obstacles and recognize obstacles in low-speed unmanned driving applications for household, commercial and similar purposes.

[0003] Currently, the industry's research on robot obstacle recognition capabilities focuses on the research of collision detection or obstacle avoidance technology, as well as the optimization of the product's structure, key components, software and hardware control systems, etc. For example:

[0004] 1. Publication No. CN115056263A relates to a robot collision avoidance test detection device that detects the avoidance of obstacles of different shapes at different positions and controls the position of each obstacle block, which is conducive to testing the robot's collision avoidance ability against moving obstacles.

[0005] 2. The robot collision detection method, robot system and computer-readable medium involved in publication number CN116476043A, the method obtains the current value of each joint at every preset time period within a preset monitoring period, and pre-analyzes the current value of each joint. If the analysis shows that the current value fluctuation within the preset monitoring period is abnormal, the theoretical joint torque and the theoretical current value are further calculated, and the theoretical current value is compared with the current value for verification. If the analysis shows that the current value fluctuation within the preset monitoring period is not abnormal, there is no need to calculate the theoretical current value. By pre-analyzing the current value within the preset monitoring period, unnecessary calculation amount and calculation time are reduced during collision detection, thereby meeting the real-time requirements of the robotic arm.

[0006] 3. The collision detection method, device, detection equipment and / or readable storage medium involved in publication number CN114474076A can accurately detect whether the robot has collided without setting up a force sensor, obtain the current moment and the actual torque feedback at the current moment, and obtain the target torque feedback based on the relationship between the current moment, torque feedback related information and the feedback moment, wherein the relationship is obtained based on historical torque feedback waveform data of at least one historical cycle, the torque feedback related information is used for index torque feedback, and based on the actual torque feedback and the target torque feedback, it is determined whether the robot is currently in a collision.

[0007] 4. Publication No. CN117710454A relates to an obstacle recognition method, device, storage medium, and robot. After determining the robot's current captured image and current posture information, a three-dimensional model of a target scene that matches the current captured image can be determined based on the current captured image. The current posture information can then be used to determine a target depth image from the target three-dimensional scene, and the target depth image can be used to determine obstacle information in the robot's capture direction.

[0008] 5. Announcement No. CN219594469U relates to an obstacle recognition device for a cleaning robot to avoid obstacles. Compared with existing obstacle recognition devices, the obstacle recognition device for a cleaning robot to avoid obstacles is provided with a rotation and pitch angle adjustment module, which can identify and detect obstacles in all directions and objects at high places, which is conducive to improving the detection range of the device. At the same time, the device is provided with a radar detection structure that can detect garbage and terrain, which is conducive to preventing the cleaning robot from falling and being damaged. The device is also provided with a positioning and navigation module. When the cleaning robot is low on power, it can be controlled to automatically return to the charging base for charging, and can prevent the cleaning robot from being lost, which is conducive to improving the convenience of the device.

[0009] Currently, there is research and development in the industry in the professional fields of robot collision force detection and collision avoidance methods. Most of them focus on the optimization and improvement of the product's own obstacle avoidance technology and collision force detection in specific single situations, such as specifying the obstacle type and location or the robot's operating conditions. It is impossible to accurately know the specific collision location of the robot. Utility Model Content

[0010] The purpose of the utility model is to provide an obstacle recognition ability evaluation device for an intelligent mobile robot for complex home application scenarios, which can detect the specific collision location and collision force when the robot collides, and provide a basis for evaluating the robot's obstacle avoidance ability.

[0011] The technical solution of the utility model is as follows:

[0012] A device for evaluating the obstacle recognition capability of an intelligent mobile robot for complex home application scenarios includes multiple collision force sensors installed along a circumferential direction on the side of the robot under test, a data transceiver and a host computer arranged on the top of the robot under test, wherein the collision force sensors communicate with the data transceiver via CAN communication, and the data transceiver and the host computer are connected via a wireless network.

[0013] The utility model arranges an appropriate number of collision force sensors at certain intervals along the 360° side of the robot. When the robot collides with an obstacle, the collision location and the magnitude of the collision force can be known based on the specific positions of the collision force sensors.

[0014] The utility model also has the following preferred designs:

[0015] The collision force sensor of the present invention is a capacitive force sensor.

[0016] The collision force sensor of the present invention includes a data acquisition module for collecting the real-time capacitance value of the capacitor in the collision force sensor and a data processing module for reading the output data of the data acquisition module and converting the capacitance value into a force value. The magnitude of the collision force is obtained through the data processing module.

[0017] The data transceiver of the present utility model includes a communication module, a switch control module, a display module and a power module. The communication module includes a WIFI module and two CAN transceivers. It communicates with the host computer through the WIFI module and receives the output data of the collision force sensor through the CAN transceiver. The switch control module is the main power switch of the data transceiver, which is connected to the power module for power-on and reset operations. The display module is used to display system status and data information.

[0018] The data acquisition module of the present invention adopts AD7147 series chips.

[0019] As a preferred embodiment, a plurality of block-shaped collision force sensors are installed on the side of the robot being tested in the present invention.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The utility model arranges an appropriate number of collision force sensors at certain intervals along the 360° side of the robot. When the robot collides with an obstacle, the specific position of the collision force sensors can be used to determine the collision location and the magnitude of the collision force, providing a more comprehensive evaluation basis for the robot's obstacle avoidance ability detection.

[0022] 2. The collision force sensor of the present invention can be flexibly arranged according to the test position. The collision force sensor and data transceiver can be fixed and installed by means of magnetism, adhesive stickers, etc., which is easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a working principle diagram of a device for evaluating the obstacle recognition ability of an intelligent mobile robot for complex home application scenarios provided by the utility model.

[0024] Figure 2 for Figure 1 Schematic diagram of the structure of the robot equipped with a collision force sensor.

[0025] Description of reference numerals:

[0026] 1-Robot under test; 2-Collision force sensor; 3-Data transceiver; 4-Host computer. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] like Figure 1 and Figure 2 As shown, an obstacle recognition ability evaluation device for an intelligent mobile robot for complex home application scenarios includes multiple collision force sensors 2 installed along the circumferential direction on the side of the robot under test 1, a data transceiver 3 and a host computer 4 arranged on the top of the robot under test 1. The collision force sensor 2 communicates with the data transceiver 3 via CAN communication, and the data transceiver 3 is connected to the host computer 4 via a wireless network.

[0033] In one embodiment, the collision force sensor 2 is a capacitive force sensor.

[0034] Specifically, the collision force sensor 2 includes a data acquisition module for acquiring the real-time capacitance value of the capacitor in the collision force sensor 2 and a data processing module for reading the output data of the data acquisition module and converting the capacitance value into a force value.

[0035] In one embodiment, the data transceiver 3 includes a communication module, a switch control module, a display module and a power module. The communication module includes a WIFI module and two CAN transceivers. It communicates with the host computer through the WIFI module and receives the output data of the collision force sensor 2 through the CAN transceiver. The switch control module is the main power switch of the data transceiver, which is connected to the power module for power-on and reset operations. The display module is used to display system status and data information.

[0036] In one embodiment, the data acquisition module uses AD7147 series chips.

[0037] In a preferred embodiment, multiple, for example, 36, block-shaped collision force sensors 2 are mounted on the side of the robot 1 under test. An appropriate number of these collision force sensors are arranged at regular intervals along the robot's 360° lateral surface. When the robot collides with an obstacle, the specific location of the collision force sensors can be used to determine the collision location and force magnitude.

[0038] 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 device for evaluating the obstacle recognition capability of an intelligent mobile robot for complex home application scenarios, characterized by: The system comprises a plurality of collision force sensors installed along a circumferential direction on the side of the robot being tested, a data transceiver and a host computer arranged on the top of the robot being tested. The collision force sensors communicate with the data transceiver via CAN communication, and the data transceiver is connected to the host computer via a wireless network.

2. The obstacle recognition capability evaluation device for intelligent mobile robots in complex home application scenarios according to claim 1 is characterized by: The collision force sensor is a capacitive force sensor.

3. The obstacle recognition capability evaluation device for an intelligent mobile robot for complex home application scenarios according to claim 2 is characterized by: The collision force sensor includes a data acquisition module for acquiring the real-time capacitance value of the capacitor in the collision force sensor and a data processing module for reading the output data of the data acquisition module and converting the capacitance value into a force value.

4. The obstacle recognition capability evaluation device for an intelligent mobile robot for complex home application scenarios according to claim 3 is characterized by: The data transceiver includes a communication module, a switch control module, a display module and a power module. The communication module includes a WIFI module and two CAN transceivers. It communicates with the host computer through the WIFI module and receives the output data of the collision force sensor through the CAN transceiver. The switch control module is the main power switch of the data transceiver and is connected to the power module for power-on and reset operations. The display module is used to display system status and data information.

5. The obstacle recognition capability evaluation device for intelligent mobile robots in complex home application scenarios according to claim 3 is characterized by: The data acquisition module adopts AD7147 series chips.

6. The obstacle recognition capability evaluation device for an intelligent mobile robot for complex home application scenarios according to any one of claims 1 to 5, characterized in that: A plurality of block-shaped collision force sensors are installed on the side of the robot being tested.

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