Collision detection device for underwater robots

Abstract

The utility model provides a kind of underwater robot's collision detection device, comprising: transparent tube, the inside filling of transparent tube has liquid, and is equipped with float ball;Sensor, the sensor is located in the end of the transparent tube close to the float ball, the float ball can enter or exit the induction area of the sensor.This application triggers sensor by the movement of liquid and float ball in transparent tube, realizes the accurate detection of underwater robot collision.The device is simple in structure, low in cost and high in reliability, suitable for various types of underwater robots.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a collision detection device for an underwater robot. Background Technology

[0002] The robot collision detection function uses sensors to send collision signals to the controller when the robot collides with a person or object during its movement. The controller then performs an emergency stop for the robot based on the safety trigger procedure.

[0003] Currently, existing robot collision detection is mainly achieved through force sensors or vision sensors. By installing sensors on different parts of the robot, such as the body surface, limb ends, or support base, when the robot encounters a person or object, the force sensor or vision sensor detects abnormal values ​​and generates a signal that is transmitted to the controller. The controller then stops the robot's movement to avoid serious collisions with people and objects.

[0004] However, traditional sensor detection methods require a large number of sensors to ensure a certain level of detection sensitivity and range, making the detection process complex, difficult to implement, and increasing detection costs. It is impossible to balance detection cost and sensitivity. Utility Model Content

[0005] The main purpose of this invention is to propose a collision detection device for underwater robots, aiming to solve the technical problem that existing sensor detection methods cannot balance cost and sensitivity.

[0006] To achieve the above objectives, this utility model proposes a collision detection device for an underwater robot, the device comprising:

[0007] A transparent tube, the inside of which is filled with liquid and equipped with a float;

[0008] A sensor is located at one end of the transparent tube near the float, and the float can enter or exit the sensing area of ​​the sensor.

[0009] Preferably, the transparent tube is a U-shaped glass tube, the floats are symmetrically distributed relative to the central axis of the U-shaped glass tube, and the sensors are symmetrically distributed on both sides of the U-shaped glass tube relative to the floats.

[0010] Preferably, the liquid level is the same as the height of the sensing area, and the sensor is triggered when the float exits the sensing area.

[0011] Preferably, the liquid level is lower than the height of the sensing area, the float is located outside the sensing area, and the sensor is triggered when the float enters the sensing area.

[0012] Preferably, the transparent tube is a cylindrical glass tube, and the sensor is located on one side of the transparent tube near the end of the float.

[0013] Preferably, the liquid level is the same as the height of the sensing area, the float is located within the sensing area, and the sensor is triggered when the float exits the sensing area.

[0014] Preferably, the liquid level is lower than the height of the sensing area, the float is located outside the sensing area, and the sensor is triggered when the float enters the sensing area.

[0015] Preferably, the sensor includes a slotted sensor, a photoelectric sensor, and a diffuse reflection sensor.

[0016] Preferably, the sensor is located at the top of the transparent tube near the end of the float.

[0017] This utility model also proposes an underwater robot, which includes a control circuit board and an underwater collision detection device as described above is provided on the control circuit board.

[0018] In this invention, a liquid and a float are placed inside a transparent tube. The float floats on the surface of the liquid, and a sensing area is located near the float in the transparent tube. The float moves with the liquid inside the transparent tube, entering or exiting the sensing area of ​​the sensor. When the transparent tube is impacted, the liquid inside will vibrate violently, and the position of the float will change accordingly, causing it to enter or exit the sensing area, triggering the sensor and detecting the collision. This collision detection device has a simple structure, low cost, and high sensitivity, making it suitable for various types of underwater robots. Attached Figure Description

[0019] Figure 1 A first structural schematic diagram of a collision device for an underwater robot provided for an embodiment of this utility model;

[0020] Figure 2 A second structural schematic diagram of a collision device for an underwater robot provided for an embodiment of this utility model;

[0021] Figure 3 A third structural schematic diagram of a collision device for an underwater robot provided for an embodiment of this utility model;

[0022] Figure 4 This is a fourth structural schematic diagram of a collision device for an underwater robot provided in an embodiment of the present invention.

[0023] In the attached diagram: 1-transparent tube; 2-sensor; 3-float; 4-sensing area. Detailed Implementation

[0024] The solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0027] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0028] Reference Figures 1 to 4 As shown, in one embodiment of the present invention, it includes:

[0029] A transparent tube 1 is filled with liquid and equipped with a float 3;

[0030] Sensor 2 is located at one end of the transparent tube 1 near the float 3. The float 3 can enter or exit the sensing area 4 of sensor 2.

[0031] In this embodiment, the transparent tube 1 is made of a transparent material, such as polycarbonate or polymethyl methacrylate, to encapsulate the liquid medium. The transparent structure allows external personnel to observe the positional changes of the float 3 inside the transparent tube 1. The transparent tube 1 is filled with a liquid of a specific density, such as water, glycerin, or a water-glycerin mixture, to provide a buoyancy environment. It also possesses good temperature stability and low compressibility, preventing solidification due to low external temperatures and excessive volume changes due to high external temperatures, thus avoiding impact on detection sensitivity. The float 3 is made of a low-density material, generally less dense than the liquid, such as plastic or foam. The float 3 floats freely within the transparent tube 1. When the device is impacted, the inertia generated by the impact causes the liquid to vibrate, thereby displacing the float 3. The sensor 2 is located at one end of the transparent tube 1 (near the initial stationary position of the float 3). This sensor 2 can be an infrared sensor, a Hall sensor, or a photoelectric switch. When the float 3 enters or leaves the sensing area 4 of the sensor 2 due to an impact, the sensor 2 is triggered to generate a signal and output it.

[0032] In this embodiment, when the underwater robot collides with an external object during operation, the collision causes an instantaneous change in the robot's overall acceleration. The transparent tube 1 installed inside the robot vibrates accordingly, and the liquid also vibrates. The float 3 in the liquid medium displaces due to inertia, thus entering or leaving the sensing area 4 of sensor 2. This change is monitored in real time by sensor 2, and the signal is fed back to the control unit. The control unit determines whether a collision has occurred based on the sensor 2 signal and takes appropriate action (such as deceleration, stopping, or avoidance).

[0033] In this embodiment, the device is compact, simple in structure, and easy to integrate and install at different locations on an underwater robot to achieve multi-point detection. The density difference between the float 3 and the liquid, as well as the adjustable size of the transparent tube 1, allow the device to adapt to collision scenarios of varying intensities.

[0034] Reference Figure 1 and Figure 2 As shown, in one embodiment, the transparent tube 1 is a U-shaped glass tube, the floats 3 are symmetrically distributed relative to the central axis of the U-shaped glass tube, and the sensors 2 are symmetrically distributed on both sides of the U-shaped glass tube relative to the floats 3.

[0035] In this embodiment, the transparent tube 1 is a U-shaped glass tube, which can be made of high-temperature glass, pressure-resistant glass, or other types of glass to adapt to underwater pressure environments. The U-shaped glass tube is filled with a liquid medium, which provides buoyancy and reduces the movement resistance of the floats 3. Floats 3 are respectively installed in the two vertical sections of the U-shaped structure of the U-shaped glass tube. The two floats 3 have the same shape, size, and density and are symmetrically distributed relative to the central axis of the U-shaped glass tube. This symmetrical arrangement improves the consistency of the device's response under multi-directional forces and is suitable for complex water flow or multi-angle collision scenarios. Sensors 2 are respectively installed on the outer sides of the two vertical sections of the U-shaped glass tube, symmetrically arranged on both sides of the floats 3. When the robot collides, regardless of the direction of the collision, it will cause displacement of the floats 3 in the liquid. As long as either float 3 enters the sensing area 4 of the corresponding sensor 2, the sensor 2 will generate a collision signal. The two sensors 2 can output signals individually or collaboratively to determine the direction of the collision.

[0036] In this embodiment, the symmetrical design enhances the accuracy of collision detection and direction determination. The U-shaped glass tube structure utilizes liquid connectivity and inertial response to achieve a complementary left-right detection mechanism, resulting in strong anti-interference capabilities.

[0037] Reference Figure 1 As shown, in one embodiment, the liquid level is the same as the height of the sensing area 4, and the sensor 2 is triggered when the float 3 exits the sensing area 4.

[0038] In this embodiment, to improve the determinism of the sensor 2's response and the sensitivity of collision detection, the liquid level is kept consistent with the height of the sensor 2's sensing area 4. That is, the liquid surface is exactly at the upper edge of the sensing area 4 when the float 3 is stationary. In its normal stationary state, the float 3 floats on the liquid surface, and the sphere is completely within the sensor 2's sensing area 4. The collision intensity can be determined by whether the float 3 obstructs the sensing area 4.

[0039] When an external impact causes vibration of the U-shaped glass tube or disturbance of the liquid, the float 3 is displaced due to inertia. In the case of a weak impact, the float 3 rises or falls slightly but remains within the sensing area 4, and the sensor 2 is not triggered. When the impact exceeds a set threshold, the float 3 completely exits the sensing area 4 of the sensor 2, at which point the sensor 2 is triggered and outputs a signal.

[0040] Reference Figure 2 As shown, in one embodiment, the liquid level is lower than the height of the sensing area 4, and the float 3 is located outside the sensing area 4. When the float 3 enters the sensing area 4, the sensor 2 is triggered.

[0041] In this embodiment, the liquid level inside the U-shaped glass tube is set below the height of the sensing area 4 where sensor 2 is located. Initially, the float 3 is suspended on the liquid surface but outside the sensing area 4 of sensor 2. With this structure, when the robot is not disturbed externally, the float 3 remains in a balanced and static state, and does not trigger sensor 2. However, once a collision occurs, the liquid is disturbed, and the float 3 floats accordingly, rising to the sensing area 4 of sensor 2 under gravity or inertia. At this point, sensor 2 is triggered and outputs a signal.

[0042] In this embodiment, the float 3 is initially stationary above the low liquid level and has not entered the sensing area 4. The sensor 2 is in an untriggered state. Upon collision, the float 3 moves upward due to inertia or fluctuation and enters the set sensing area 4. The sensor 2 generates a response signal, indicating that a valid collision has occurred.

[0043] In this embodiment, the "entering sensing zone 4 trigger" logic is adopted, which complements the "exiting sensing zone 4 trigger" logic. This is suitable for situations where the dynamic response path of the float 3 is more controllable. Since the float 3 is originally outside the sensing zone 4, it can better avoid false triggering caused by liquid disturbance, temperature change, or slight vibration. It is suitable for detecting collision scenarios with high intensity or specific direction, such as inertial changes caused by a robot retreating or tipping over. The sensitivity of the triggering conditions can be set by adjusting the liquid height and the density of the float 3, thereby improving the intelligent recognition capability of the device.

[0044] Reference Figure 3 and Figure 4 As shown, in one embodiment, the transparent tube 1 is a cylindrical glass tube, and the sensor 2 is located on one side of the transparent tube 1 near the end of the float 3.

[0045] In this embodiment, the transparent tube 1 is replaced by a cylindrical glass tube structure, which is a straight cylinder with a circular or elliptical cross-section, providing sufficient space along its length for the movement of the float 3. The cylindrical glass tube is still filled with liquid, which can be silicone oil or a water-based mixture as described in the previous scheme, to provide a buoyancy environment. The float 3 is placed inside the cylindrical glass tube, and its material and density are designed to allow it to float in the liquid. The sensor 2 is located on one side of the cylindrical glass tube, and when the float 3 is stationary, it can be inside or outside the sensor 2. Compared to the U-shaped glass tube solution, the cylindrical glass tube structure is easier to install in a straight line and requires less installation space. It enables unidirectional collision sensing in the longitudinal direction, making it suitable for collision sensing deployment on the bottom or head of underwater robots. It is also lower in cost, smaller in size, and more flexible and convenient.

[0046] Reference Figure 3 As shown, in one embodiment, the liquid level is the same as the height of the sensing area 4, the float 3 is located in the sensing area 4, and the sensor 2 is triggered when the float 3 exits the sensing area 4.

[0047] In this embodiment, the liquid level is set to be the same height as the sensing area 4 of sensor 2. Initially, the float 3 is above the liquid surface, i.e., within the sensing area 4, meaning sensor 2 is in a "shielded" or "sensing" state. Sensor 2 is mounted on the side wall of the cylindrical glass tube, close to the end where the float 3 is located, and precisely covers the sensing area 4. Sensor 2 can be a non-contact sensor such as an infrared beam sensor, a reflective photoelectric sensor, a capacitive sensor, or an inductive sensor.

[0048] Under normal conditions, the float 3 remains stationary on the liquid surface, blocking the sensor 2 or keeping the sensor 2 in a signal-enabled state. When a collision occurs, the float 3 is displaced by the force. If the displacement direction is downward or lateral, the float 3 leaves the sensing area 4 (i.e., exits the original blocking state). At this time, the sensor 2 signal changes abruptly, detects the collision, and responds.

[0049] Reference Figure 4 As shown, in one embodiment, the liquid level is lower than the height of the sensing area 4, and the float 3 is located outside the sensing area 4. When the float 3 enters the sensing area 4, the sensor 2 is triggered.

[0050] In this embodiment, the liquid level inside the cylindrical glass tube is set below the sensing area 4 of sensor 2, and initially, the float 3 is suspended on the liquid surface, outside the sensing area 4. Sensor 2 is installed on one side of the cylindrical glass tube near the top, corresponding to the sensing area 4 that the float 3 may enter. Initially, the float 3 is below the sensing area 4 and does not interact effectively with sensor 2; sensor 2 is in an "unobstructed" or "unsensing" state. When a collision occurs, due to external disturbances or acceleration, the float 3 deflects under inertia and enters the sensing area 4. When the float 3 enters the sensing area 4 of sensor 2, sensor 2 generates a response signal, detecting a collision.

[0051] In this embodiment, the triggering logic is "trigger upon entry," which, compared to the "trigger upon exit" logic, is suitable for detecting sudden collision responses at the initial moment. The liquid level is set below the sensing zone 4, which effectively eliminates false triggering caused by small fluctuations and is suitable for complex water flow or micro-vibration environments. The movement time or dwell position of the float 3 after entering the sensing zone 4 can also be used as an indirect basis for judging the collision intensity.

[0052] In one embodiment, sensor 2 includes a slotted sensor, a photoelectric sensor, and a diffuse reflection sensor.

[0053] In this embodiment, sensor 2 can be a slotted sensor, photoelectric sensor, diffuse reflection sensor, infrared photoelectric sensor, Hall sensor, or capacitive sensor, etc. The infrared photoelectric sensor forms a through-beam or reflection system with an infrared emitter and receiver. When the float 3 is in the sensing area 4, it blocks the infrared beam, creating a "blocked" state. When the float 3 exits the sensing area 4 due to a collision, the infrared signal is restored, and sensor 2 outputs a change signal. The Hall sensor uses a small permanent magnet embedded inside or on the surface of the float 3. The Hall sensor is located in the corresponding area outside the U-shaped tube and senses the magnetic field strength. When the float 3 enters or exits the sensing area 4, the magnetic field changes, and the Hall sensor outputs a response signal; this is suitable for invisible liquid environments (such as murky water or deep water). The capacitive sensor uses the change in the dielectric constant of the float 3 to generate a capacitance change signal. When the position of the float 3 changes, the capacitance value changes, and the system can detect this change and determine whether a collision has occurred; this is suitable for micro-collision detection applications where displacement changes are extremely critical.

[0054] In one embodiment, the sensor 2 is located at the top of the transparent tube 1 near the end of the float 3.

[0055] In this embodiment, sensor 2 is located at the end of the transparent tube 1 near the float 3. Sensor 2 can be a diffuse reflection sensor, which can emit modulated light signals, receive light reflected from the target object, and generate a corresponding signal based on the intensity of the reflected light. It can be configured to generate a collision signal when the float 3 approaches within a certain distance.

[0056] This embodiment also provides an underwater robot, including a control circuit board, on which the aforementioned collision detection device is mounted.

[0057] In this embodiment, the underwater robot receives signals from sensor 2 via a control circuit board, processes the signals, and controls the robot's next action according to a preset collision detection strategy, such as: stopping movement; issuing audible and visual alarm signals; and storing or uploading collision data to a remote terminal. The control circuit board can be installed at the robot's head, tail, interior, or surface shell, depending on the shape of the transparent tube 1. If a U-shaped glass tube structure is used, it can be installed parallel to both sides of the robot, forming multi-angle coverage; if a cylindrical glass tube structure is used, it can be vertically arranged at the top or bottom for sensing vertical collisions. The connection between sensor 2 and the control circuit board can be achieved through sealed connectors or an integrated PCB, ensuring the overall waterproof performance. The collision detection device has a simple structure, low power consumption, and minimal impact on the overall energy and space requirements. Multiple collision detection devices can be set up to form a distributed detection network, achieving high-precision, all-around collision perception.

[0058] The above description is only a part or preferred embodiment of this utility model. Neither the text nor the drawings should limit the scope of protection of this utility model. All equivalent structural transformations made using the content of this utility model specification and drawings under the overall concept of this utility model, or direct / indirect applications in other related technical fields, are included within the scope of protection of this utility model.

Claims

1. A collision detection device for an underwater robot, characterized in that, include: A transparent tube, the inside of which is filled with liquid and equipped with a float; A sensor is located at one end of the transparent tube near the float, and the float can enter or exit the sensing area of ​​the sensor.

2. The collision detection device for an underwater robot according to claim 1, characterized in that, The transparent tube is a U-shaped glass tube, the floats are symmetrically distributed with respect to the central axis of the U-shaped glass tube, and the sensors are symmetrically distributed on both sides of the U-shaped glass tube with respect to the floats.

3. The collision detection device for an underwater robot according to claim 2, characterized in that, The liquid level is the same as the height of the sensing area. When the float exits the sensing area, the sensor is triggered.

4. The collision detection device for an underwater robot according to claim 2, characterized in that, The liquid level is lower than the height of the sensing area, the float is located outside the sensing area, and the sensor is triggered when the float enters the sensing area.

5. The collision detection device for an underwater robot according to claim 1, characterized in that, The transparent tube is a cylindrical glass tube, and the sensor is located on one side of the transparent tube near the end of the float.

6. The collision detection device for an underwater robot according to claim 5, characterized in that, The liquid level is the same as the height of the sensing area. The float is located within the sensing area. When the float leaves the sensing area, the sensor is triggered.

7. The collision detection device for an underwater robot according to claim 5, characterized in that, The liquid level is lower than the height of the sensing area, the float is located outside the sensing area, and the sensor is triggered when the float enters the sensing area.

8. The collision detection device for an underwater robot according to claim 1, characterized in that, The sensors include slotted sensors, photoelectric sensors, and diffuse reflection sensors.

9. The collision detection device for an underwater robot according to claim 1, characterized in that, The sensor is located at the top of the transparent tube near the end of the float.

10. An underwater robot, comprising a control circuit board, characterized in that, The control circuit board is provided with a collision detection device as described in any one of claims 1 to 9.

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