Anti-collision device and robot

Abstract

The utility model discloses an anti-collision device and a robot, and the anti-collision device comprises a mounting frame which comprises a mounting plate; the anti-collision sensing equipment comprises an anti-collision strip and an anti-collision sensor, the anti-collision strip extends in the length direction of the anti-collision strip, the anti-collision sensor is arranged at the position, making contact with an external obstacle, of the anti-collision strip, and the anti-collision strip is fixedly connected with the mounting frame; and the anti-collision identification equipment is arranged on the mounting plate, and the anti-collision identification equipment and the anti-collision induction equipment are arranged in the same direction. According to the scheme, the anti-collision induction equipment and the anti-collision recognition equipment are matched for use in the collision process, the recognition precision of the robot on the external obstacles can be improved, then the obstacles can be effectively avoided based on the recognition precision, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an anti-collision device and a robot. Background Art

[0002] The robot includes a walking device for walking and a working device for working. For example, if the robot is used in a lawn mowing scenario, its working device may be a lawn mowing blade; if the robot is used in a snow removal scenario, its working device may be a snow rolling blade; if the robot is used in a leaf blowing scenario, its working device may be a hair dryer.

[0003] The robot will walk and work in the work area based on a prescribed path. However, due to the complexity and diversity of the work area environment, the robot will often encounter various obstacles. In order to cope with this situation, the robot will usually set up a crash bar as a protection measure to reduce damage to the robot itself when colliding with an obstacle. Although the crash bar in the robot can protect the robot after the robot collides with an obstacle, the robot cannot identify the collision situation, that is, the recognition accuracy of the collision situation is insufficient. This may cause the robot to continuously collide with obstacles, affecting the robot's work efficiency.

[0004] Therefore, those skilled in the art are in urgent need of finding a new technical solution to solve the above problems. Utility Model Content

[0005] The embodiments of the present utility model aim to provide an anti-collision device and a robot, which can solve the technical problem in the prior art that the working efficiency is affected after the robot collides with an obstacle.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] The present application discloses an anti-collision device, comprising:

[0008] Mounting frame, including mounting plate;

[0009] An anti-collision sensing device, comprising an anti-collision strip and an anti-collision sensor, wherein the anti-collision strip extends along its length, the anti-collision sensor is arranged at a position where the anti-collision strip contacts an external obstacle, and the anti-collision strip is fixedly connected to the mounting frame;

[0010] The anti-collision recognition device is arranged on the mounting plate and is in the same setting direction as the anti-collision sensing device.

[0011] In some possible implementations, the mounting frame further includes a mounting bar provided with a mounting plate and a connecting bar, wherein the connecting bar is fixedly connected to a side of the mounting bar that is not the mounting plate.

[0012] In some possible implementations, the anti-collision bar is fixedly connected to the mounting bar at a position away from contact with external obstacles.

[0013] In some possible embodiments, the mounting frame further includes a main frame fixedly connected to the connecting strip, the main frame being provided with a wire threading hole, a power signal line being provided at a position of the anti-collision identification device away from the identification direction, and the power signal line being passed through the wire threading hole.

[0014] In some possible implementations, a support member is provided on the mounting plate, and the anti-collision identification device includes a sensing probe mounted on the support member.

[0015] In some possible embodiments, the support member includes a bottom end and an upper end fixedly connected to the bottom end, the bottom end is provided on the mounting plate, the upper end is inclined relative to the bottom end, and is provided with a mounting hole adapted for the sensing probe.

[0016] In some possible implementations, the angle range of the sensing probe after passing through the mounting hole is 10 degrees to 30 degrees.

[0017] In some possible implementations, a receiving space is provided inside the anti-collision strip, and the anti-collision sensor is disposed in the receiving space and is in contact with the outer shell of the anti-collision strip.

[0018] In some possible implementations, the anti-collision sensor is disposed on a central side of the front side of the anti-collision strip, or / and the anti-collision sensor is disposed on both sides of the front side of the anti-collision strip.

[0019] The present application discloses a robot comprising:

[0020] The walking device is used for the overall walking of the robot and is installed on the body of the robot;

[0021] A working device, used for mowing, blowing snow or blowing leaves in the target area, is located on the front of the robot;

[0022] An anti-collision device is arranged at the rear of the vehicle body.

[0023] The above-mentioned anti-collision device and robot are equipped with an anti-collision sensing device and an anti-collision recognition device by installing an anti-collision sensing device and an anti-collision recognition device on the mounting frame at the tail of the robot. The anti-collision sensing device includes an anti-collision sensor and an anti-collision bar. During the backward movement of the robot, the anti-collision sensor provided in the length direction of the anti-collision bar can be used to determine whether the robot has collided with an external obstacle. The anti-collision recognition device can be used to determine the obstacle in advance and whether a collision with the external obstacle actually occurs. The two are in the same setting direction and are used in conjunction with each other during the collision process, which can improve the robot's recognition accuracy of external obstacles, and then effectively avoid obstacles based on the recognition accuracy, thereby improving the robot's work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0025] Figure 1 This is a schematic diagram of the overall structure of the robot body disclosed in the embodiment of the present application;

[0026] Figure 2 A schematic structural diagram of the anti-collision device disclosed in an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the support structure disclosed in an embodiment of the present application.

[0028] Figure numbers and corresponding meanings:

[0029] 1. Mounting frame; 101. Mounting plate; 102. Mounting strip; 103. Connecting strip; 104. Main frame; 105. Power signal line; 1041. Threading hole; 1011. Support member; 10111. Bottom end; 10112. Upper end; 10113. Mounting hole; 2. Anti-collision sensing device; 201. Anti-collision strip; 3. Anti-collision identification device; 301. Sensor probe; 4. Walking device; 5. Vehicle body. DETAILED DESCRIPTION

[0030] In order to facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed on" another element, it may be directly on the other element, or one or more centered elements may be present therebetween. When an element is described as being "connected to" another element, it may be directly connected to the other element, or one or more centered elements may be present therebetween. The terms "upper", "lower", "inside", "outside", "vertical", "horizontal", etc. used in this specification indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Include" or "comprising" and similar expressions mean that the element or object preceding the word includes the elements or objects listed after it, and their equivalents, without excluding other elements or objects. "Connected" or "connected" and similar expressions are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. Unless otherwise specified, the terms "parallel," "perpendicular," and "identical" used in the embodiments of this invention include both strict "parallel," "perpendicular," and "identical" in their strict sense, as well as "approximately parallel," "approximately perpendicular," and "approximately identical" with a certain degree of tolerance. For example, "approximately" can mean that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. In the following descriptions of the embodiments of this invention, when the number of a component or element is not specifically specified, it means that the component or element may be one or more, or may be understood to mean at least one. "At least one" means one or more, and "plurality" means at least two.

[0032] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art in the field of the present invention. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0033] Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined as long as they do not conflict with each other. Obviously, the described embodiments are only a portion of the embodiments of the present invention, not all of them. Based on the described embodiments of the present invention, all other embodiments derived by persons of ordinary skill in the art without requiring creative effort are also within the scope of protection of the present invention.

[0034] like Figure 1 and Figure 2 As shown, an anti-collision device disclosed in an embodiment of the present application includes:

[0035] Mounting frame 1, including mounting plate 101;

[0036] The anti-collision sensing device 2 includes an anti-collision strip 201 and an anti-collision sensor (not shown). The anti-collision strip 201 extends along its length. The anti-collision sensor (not shown) is located at the position where the anti-collision strip 201 contacts an external obstacle. The anti-collision strip 201 is fixedly connected to the mounting frame 1.

[0037] The anti-collision recognition device 3 is disposed on the mounting plate 101 and is in the same setting direction as the anti-collision sensing device 2 .

[0038] One end of the mounting frame 1 is connected to the rear of the robot's body, and the other end is connected to the anti-collision sensing device 2. The mounting frame 1 is also provided with a mounting plate 101 connected to the anti-collision recognition device 3. In this way, the anti-collision sensing device 2 and the anti-collision recognition device 3 can both be stably installed on the robot. The robot can also use the anti-collision sensing device 2 and the anti-collision recognition device 3 to identify collisions at the rear of the robot body. The collisions at the rear include collisions between the robot's rear and an obstacle, and also include collisions between the robot's rear and an obstacle.

[0039] The anti-collision sensing device 2 may include an anti-collision strip 201 and an anti-collision sensor (not shown in the figure). The material of the anti-collision strip 201 may be metal, and its interior may be hollow. A protective cover with a protective or buffering material may be provided at the position where the anti-collision strip 201 contacts the external obstacle. The protective cover may be made of a material with a certain elastic deformation. After the protective cover is provided, fixed plugs for fixing the protective cover on the anti-collision strip 201 and preventing water from entering may be provided on both sides of the anti-collision strip 201, respectively. In this way, the anti-collision strip 201 can play a protective role when colliding with obstacles; the anti-collision sensor (not shown in the figure) can be provided inside the anti-collision strip 201, which is also the position where the anti-collision strip 201 is easily in contact with external obstacles, and can trigger the anti-collision sensor (not shown in the figure) when it contacts the obstacle. The detection circuit in the anti-collision sensor (not shown) may include a pressure sensor and a photoelectric sensor. The sensitive element in the pressure sensor will be in contact with the outer shell of the anti-collision strip 201. After the anti-collision strip 201 comes into contact with an external obstacle, the anti-collision strip 201 will cause the sensitive element to deform or displace, and the detection circuit in the pressure sensor can sense the collision signal. The photoelectric sensor is provided with a transmitter and a receiver. The path between the transmitter and the receiver can be in a state of being always open. The transmitter will be in contact with the outer shell of the anti-collision strip 201. After the anti-collision strip 201 comes into contact with an external obstacle, the anti-collision strip 201 will cause the transmitter to displace, thereby closing the original path, and the detection circuit in the photoelectric sensor can sense the collision signal.

[0040] The anti-collision recognition device 3 may include a visual sensor or an ultrasonic sensor, which is mainly used to identify external obstacles and determine the information between the robot and the obstacle. For example, the visual sensor determines the information between the robot and the obstacle by analyzing the captured photos. The ultrasonic radar is a device that can detect ultrasonic waves to the outside world. It determines the information between the robot and the obstacle by calculating the ultrasonic signal fed back by the ultrasonic wave when it reaches the obstacle. The recognition direction of the anti-collision recognition device 3 is the same as the setting direction of the anti-collision sensing device 2, so that the two can be used together.

[0041] In this embodiment, an anti-collision sensing device 2 and an anti-collision identification device 3 are installed on a mounting frame 1 at the tail of the robot. The anti-collision sensing device 2 may include an anti-collision sensor (not shown in the figure) and an anti-collision bar 201. During the backward movement of the robot, the anti-collision sensor (not shown in the figure) provided in the length direction of the anti-collision bar 201 can be used to determine whether the robot has collided with an external obstacle. The anti-collision identification device 3 can be used to determine the obstacle in advance and whether a collision with the external obstacle actually occurs. The two are in the same setting direction and are used in conjunction with each other during the collision process, which can improve the robot's recognition accuracy of external obstacles, and then effectively avoid obstacles based on the recognition accuracy, thereby improving the robot's work efficiency.

[0042] like Figure 2 As shown, in some embodiments, the anti-collision strip 201 is fixedly connected to the mounting strip 102 at a position away from contact with external obstacles.

[0043] Among them, the mounting strip 102 can be a columnar structure, which has the effect of a reinforcing rib. Another mounting plate 101 can also be provided at a position opposite to the mounting plate 101 in the mounting strip 102. The edges of the two mounting plates 101 can be protruding to form an installation space. The installation space can be used to set the anti-collision strip 201 at a position away from contact with external obstacles, and the screws set on the mounting plate 101 can be fixedly connected to one side of the anti-collision strip 201. In this way, the anti-collision strip 201 can be firmly fixed in the mounting strip 102.

[0044] like Figure 2 As shown, in some embodiments, the mounting frame 1 further includes a mounting bar 102 provided with a mounting plate 101 and a connecting bar 103 , wherein the connecting bar 103 is fixedly connected to a side of the mounting bar 102 that is not the mounting plate 101 .

[0045] Among them, a mounting plate 101 is provided at the uppermost position of the mounting bar 102, and the connection between the mounting plate 101 and the anti-collision bar 201 can be connected by screws or snaps; the connecting bar 103 can also be a columnar structure, which is directly fixedly connected to the mounting bar 102, and the mounting bar 102 and the connecting bar 103 can be an integral connection or a non-integrated connection. The connecting bar 103 is mainly used to fix the anti-collision bar 201 to the body of the robot, so that when the robot moves, the anti-collision bar 201 can also be driven to move together.

[0046] like Figure 2 As shown, in some embodiments, the mounting frame 1 also includes a main frame 104 fixedly connected to the connecting bar 103, the main frame 104 is provided with a wire threading hole 1041, and the anti-collision identification device 3 is provided with a power signal line 105 at a position away from the identification direction, and the power signal line 105 is passed through the wire threading hole 1041.

[0047] Among them, the main frame 104 may be provided with a structure for connecting with the robot body 5, such as through the mounting holes 10113 set on the main frame 104 to achieve fixed connection with the body 5. In addition, the main frame 104 may be provided with a threading hole 1041 for the power signal line 105 to pass through. The anti-collision recognition device 3 can be electrically connected to the power supply device in the robot body 5 through the power signal line 105, and can also be connected to the controller signal in the robot body 5 through the power signal line 105 to promptly feed back the collision signal to the controller.

[0048] like Figure 2As shown, in some embodiments, a support member 1011 is provided on the mounting plate 101 , and the anti-collision identification device 3 includes a sensing probe 301 , and the sensing probe 301 is mounted on the support member 1011 .

[0049] Among them, the shape of the support member 1011 can be various, mainly serving as a place to set up the sensing probe 301, and can assist the sensing probe 301 in identifying external obstacles within a certain range. The sensing probe 301 can be an ultrasonic probe or a camera.

[0050] like Figure 2 and Figure 3 As shown, in some embodiments, the support member 1011 includes a bottom end portion 10111 and an upper end portion 10112 fixedly connected to the bottom end portion 10111, the bottom end portion 10111 is arranged on the mounting plate 101, and the upper end portion 10112 is inclined relative to the bottom end portion 10111 and is provided with a mounting hole 10113 adapted to the sensing probe 301.

[0051] Among them, the support member 1011 may include a bottom end 10111 and an upper end 10112, the bottom end 10111 and the upper end 10112 are in a fixed connection state, the bottom end 10111 of the support member 1011 is fixedly connected to the mounting plate 101, and a mounting hole 10113 is provided at the upper end 10112 of the support frame, which can be adapted to the sensing probe 301 in the anti-collision identification device 3. In this way, the sensing probe 301 in the anti-collision identification device 3 can be fixed on the robot and can stably identify external obstacles.

[0052] like Figure 2 and Figure 3 As shown, in some embodiments, the sensing probe 301 is mounted behind the support 1011 at an angle ranging from 10 degrees to 30 degrees.

[0053] Among them, a mounting surface is provided on the upper end portion 10112, and the mounting surface is tilted, and the setting range can be 10 degrees to 30 degrees. In this way, the angle range of the sensing probe 301 in the mounting surface relative to the mounting plate 101 is also 10 degrees to 30 degrees. Within this angle range, the sensing probe 301 can accurately identify external obstacles and will not be blocked by other devices or components of the robot, such as the anti-collision bar 201 of the anti-collision sensing device 2 on the robot.

[0054] like Figure 2 As shown, in some embodiments, a accommodating space (not shown) is provided inside the anti-collision strip 201, and the anti-collision sensor (not shown) is provided in the accommodating space (not shown) and is in contact with the outer shell of the anti-collision strip 201.

[0055] Among them, the anti-collision strip 201 can be a hollow arch shape. The arch shape makes the anti-collision strip 201 have a stronger structure to withstand the collision of external obstacles, and a accommodating space (not shown) is formed inside it for placing the anti-collision sensor (not shown in the figure). At the same time, it can also be used as a placement space for the power signal line of the anti-collision sensor (not shown in the figure). The power signal line wiring is built-in to prevent the external environment from interfering with the anti-collision sensor (not shown in the figure). In addition, there is no specific requirement for the number of anti-collision sensors (not shown) placed in the placement space. For example, anti-collision sensors (not shown) can be set on the center side and left and right sides of the anti-collision strip 201, so that after a collision occurs at one of the positions, the robot can sense the specific position of the collision.

[0056] In some embodiments, the anti-collision sensor (not shown) is arranged on the central side of the front face of the anti-collision strip 201, or / and the anti-collision sensor (not shown) is arranged on both sides of the front face of the anti-collision strip 201.

[0057] An anti-collision sensor (not shown) can also be provided at the center of the front of the anti-collision strip 201. By providing anti-collision sensors (not shown) on both sides of the anti-collision strip 201, both sides of the anti-collision strip 201 can be detected simultaneously. In this way, by providing three anti-collision sensors (not shown) on the front of the anti-collision strip 201, the anti-collision function can be achieved from three angles. Moreover, the three anti-collision sensors (not shown) are independently connected to the obstacle avoidance circuit, which can increase the detection accuracy of the anti-collision device and facilitate the precise positioning of unknown obstacles.

[0058] like Figure 1 As shown, the embodiment of the present application also discloses a robot, comprising:

[0059] A walking device 4, used for the overall movement of the robot, is provided on the body 5 of the robot;

[0060] a working device (not shown), which is used to mow grass, blow snow or blow leaves in the target area and is located on the front of the robot (not shown);

[0061] An anti-collision device is provided at the rear portion of the vehicle body 5 .

[0062] Among them, the walking device 4 can be a crawler wheel device, which is arranged on the side of the robot body 5 close to the ground; the working device (not shown in the figure) can be selected and installed according to different application scenarios, such as a lawn mower head for mowing grass (not shown in the figure), a snow removal head for snow removal, and a leaf blowing head for blowing leaves; the anti-collision device is arranged at the tail of the robot body 5, which is used to identify obstacles and determine the distance between the robot and the obstacles when the robot is moving forward or backward; the target area can be the robot's working area, such as a courtyard area.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An anti-collision device, characterized in that: include: Mounting frame, including mounting plate; An anti-collision sensing device, comprising an anti-collision strip and an anti-collision sensor, wherein the anti-collision strip extends along its length, the anti-collision sensor is arranged at a position where the anti-collision strip contacts an external obstacle, and the anti-collision strip is fixedly connected to the mounting frame; The anti-collision recognition device is arranged on the mounting plate and is in the same setting direction as the anti-collision sensing device.

2. The anti-collision device according to claim 1, characterized in that: The mounting frame further comprises a mounting bar provided with a mounting plate and a connecting bar, wherein the connecting bar is fixedly connected to a side of the mounting bar that is not the mounting plate.

3. The anti-collision device according to claim 2, characterized in that: The anti-collision strip is fixedly connected to the mounting strip at a position away from contact with external obstacles.

4. The anti-collision device according to claim 2, characterized in that: The mounting frame also includes a main frame fixedly connected to the connecting strip, the main frame is provided with a threading hole, a power signal line is provided at a position of the anti-collision recognition device away from the recognition direction, and the power signal line is passed through the threading hole.

5. The anti-collision device according to claim 1, characterized in that: A support is provided on the mounting plate, and the anti-collision identification device includes a sensing probe, which is mounted on the support.

6. The anti-collision device according to claim 5, characterized in that: The support member includes a bottom end and an upper end fixedly connected to the bottom end, the bottom end is arranged on the mounting plate, the upper end is inclined relative to the bottom end, and is provided with a mounting hole adapted to the sensing probe.

7. The anti-collision device according to claim 6, characterized in that: The angle range of the sensing probe after passing through the mounting hole is 10 degrees to 30 degrees.

8. The anti-collision device according to claim 1, characterized in that: An accommodating space is provided inside the anti-collision strip, and the anti-collision sensor is arranged in the accommodating space and is in contact with the outer shell of the anti-collision strip.

9. The anti-collision device according to claim 1, characterized in that: The anti-collision sensor is arranged on the center side of the front side of the anti-collision strip, or / and the anti-collision sensor is arranged on both sides of the front side of the anti-collision strip.

10. A robot, characterized in that: include: The walking device is used for the overall walking of the robot and is installed on the body of the robot; A working device, used for mowing, blowing snow or blowing leaves in the target area, is located on the front of the robot; The anti-collision device according to any one of claims 1 to 9, wherein the anti-collision device is provided at the rear portion of the vehicle body.

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