Arrangement of force / tactile sensors and robot thereof

Abstract

The embodiment of the application belongs to the technical field of collision detection, and relates to a force / tactile sensor arrangement structure. The side surface of a robot forms a detection surface; the detection surface comprises N detection edges; N is an integer greater than or equal to 3; the intersection of two adjacent detection edges forms an intersection surface; the force / tactile sensor comprises N sensing units; each sensing unit is arranged corresponding to an intersection surface, and the surface of a sensing probe of the sensing unit abuts against the intersection surface. The application also provides a related robot. The technical scheme adopted by the application can improve the sensitivity of robot collision detection.

Description

Technical Field

[0001] This application relates to the field of collision detection technology, and in particular to an arrangement structure of force / tactile sensors and a robot thereof. Background Technology

[0002] Collision detection is widely used in robots. Taking cleaning robots such as vacuum cleaners as an example, collision detection can prevent the robot from getting stuck or damaging furniture.

[0003] Currently, various similar robots on the market, including cleaning robots such as sweeping robots and humanoid robot bases, typically use sensors for collision detection, which has the disadvantage of a high false alarm rate. Utility Model Content

[0004] The purpose of this application is to propose a force / tactile sensor arrangement structure and its robot to improve the sensitivity of robot collision detection.

[0005] In a first aspect, embodiments of this application provide an arrangement structure for a force / tactile sensor, including the following technical solution:

[0006] A force / tactile sensor arrangement structure; the force / tactile sensor is mounted on a robot; a detection surface is formed on the side of the robot; the detection surface includes N detection edges; where N is an integer greater than or equal to 3; the intersection of two adjacent detection edges forms an intersection surface; the force / tactile sensor includes N sensing units;

[0007] Each of the sensing units corresponds to one of the interface surfaces, and the surface of the sensing probe of the sensing unit abuts against the interface surface.

[0008] Furthermore, in one embodiment, the interface surface and the surface of the sensing probe respectively form mutually cooperating arc shapes.

[0009] Furthermore, in one embodiment, forming an intersection surface at the junction of two adjacent detection edges includes: the intersection surface is formed on the inner side of the junction of the two adjacent detection edges.

[0010] Furthermore, in one embodiment, the detection surface is formed on the side of the robot's outer shell.

[0011] Furthermore, in one embodiment, the height of the robot is L1, and the distance between the center of each of the sensing units and the top of the robot is (0.60-0.90)*L1.

[0012] Furthermore, in one embodiment, each of the sensing units is located in the same horizontal plane.

[0013] Secondly, embodiments of this application provide a robot, the robot including force / tactile sensors arranged based on the force / tactile sensor arrangement structure described above.

[0014] Furthermore, in one embodiment, the robot further includes a shell and a main body portion; the shell covers the main body portion;

[0015] The outer casing includes: a side surface, a bottom surface, and a top surface.

[0016] Furthermore, in one embodiment, each of the sensing units includes: a mounting base, an elastic element, and a sensing probe;

[0017] The mounting base is fixedly connected to the robot;

[0018] One end of the elastic element is fixedly connected to the bottom of the fixed base, and the other end is fixedly connected to the bottom of the sensing probe; and the elastic element forms an elastic prestress, so that the sensing probe abuts against the corresponding interface surface based on the elastic prestress.

[0019] Furthermore, in one embodiment, the robot is a chassis for a cleaning robot, an AGV (Automated Guided Vehicle), or a humanoid robot.

[0020] Compared with the prior art, the embodiments of this application have the following main advantages:

[0021] In this embodiment, the sensor unit's probe abuts against the junction surface formed by the intersection of two adjacent detection edges. Since the junction surface has higher stiffness than other positions of the detection edges, its sensitivity to collision response is also lower. Therefore, by specifically placing the sensor unit at this junction surface, the sensitivity of robot collision detection can be improved. Attached Figure Description

[0022] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a top view of a first embodiment of a robot including a force / tactile sensor according to this application.

[0024] Figure 2 To and Figure 1 The corresponding front view of the robot.

[0025] Figure 3This is a partially enlarged structural diagram of one embodiment of a robot with force / tactile sensors installed.

[0026] Reference numerals: 100 Robot; 200 Force / Tactile Sensor; 110 Detection Surface; 120 Base; 111 Detection Edge; 112 Intersection Surface; 210 Sensing Unit; 211 Sensing Probe; 212 Mounting Base; L1 Height of Robot. Detailed Implementation

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0030] This application provides an arrangement structure for force / tactile sensors installed on a robot.

[0031] Among them, force / tactile sensor refers to force sensor and / or tactile sensor.

[0032] Force / tactile sensors consist of multiple sensing units arranged in a preset layout, enabling the perception of force distribution information at multiple points.

[0033] Among them, the force sensor may be, but is not limited to, a one-dimensional or multi-dimensional force sensor used to measure pressure or three-dimensional force data.

[0034] Tactile sensors can measure multidimensional contact force information, surface deformation information, temperature information, texture information, etc. The tactile sensor and the object detection surface are typically flexible and have good resilience. The implementation of a tactile sensor may include a flexible detection surface, sensing circuitry, computing devices, and contact force information analysis algorithms.

[0035] Specifically, the tactile sensor may be, but is not limited to, a capacitive, magnetic, piezoelectric, photoelectric, or visual tactile sensor.

[0036] It should be noted that the robot described in this application embodiment can refer to cleaning robots such as sweeping, mopping, or window wiping robots; or any robot that requires collision detection based on contact force feedback information collected by force / tactile sensors (or in combination with other sensors), such as AGV carts or the chassis of humanoid robots. For ease of understanding, this application embodiment mainly uses a sweeping robot as an example for detailed description.

[0037] In one embodiment, the robot described in this application includes a shell and a main body (e.g., control circuitry and drive unit). The shell typically covers the main body to protect and enhance the appearance of the internal components. The shell may include a bottom surface, a top surface, and side surfaces located between the bottom surface (also referred to as the "base") and the top surface.

[0038] like Figure 1 As shown, Figure 1 This is a top view of a first embodiment of a robot including a force / tactile sensor according to this application.

[0039] In one embodiment, this application provides an arrangement structure of force / tactile sensors; force / tactile sensors 200 are mounted on a robot 100; a detection surface 110 is formed on the side of the robot; the detection surface includes N detection edges 111; where N is an integer greater than or equal to 3; an intersection surface 112 is formed at the junction of two adjacent detection edges 111.

[0040] Typically, the junction of two adjacent detection edges forms a junction surface, including: the inner side of the junction of two adjacent detection edges 111 forms the junction surface 112, so that the collision between the detection surface and the outside world can be transmitted to the sensing probe located on the inner side; in addition, the junction surface can also be formed on the outer side of the junction as needed (see figure omitted), all of which are within the scope of protection of this application.

[0041] The force / tactile sensor 200 includes N sensing units 210; each sensing unit is provided with a corresponding interface 112, and the surface of the sensing probe 211 of the sensing unit abuts against the interface 112.

[0042] In one embodiment, the detection surface of the robot can be the side of the robot's shell; in addition, it can also be a separate detection surface set outside the shell, etc., as needed, all of which are within the scope of protection of this application.

[0043] In this embodiment of the application, taking the side of the robot's shell as the detection surface as an example, since each sensing unit is in contact with the corresponding detection surface, when the side of the shell collides with an external object during the robot's movement, the external object applies a force to the corresponding detection surface. The detection surface then transmits the force or the deformation or positional change of the detection surface based on the force to the sensing unit in contact with it. Collision detection can be achieved based on the detection principle of the sensing unit. For example, taking a flexible tactile sensing unit as an example, the surface of the sensing probe 211 of the sensing unit is a flexible body. Based on the force, the flexible body deforms, and collision detection is achieved based on the deformation of the flexible body.

[0044] It should be noted that the above-mentioned contact can refer to the entire or part of the surface of the sensor probe being in close contact with the interface surface; or a small gap (e.g., 1 mm) can be formed between the two as needed. Both are within the scope of protection of this application. As long as the sensor probe can generate a corresponding collision detection signal when the detection surface collides with the outside world, it is within the scope of protection of this application.

[0045] Specifically, the robot's cross-section can be triangular, rectangular, pentagonal, etc., as needed. For ease of understanding, this application's embodiments mainly use a rectangular cross-section, i.e., N equals 4, as an example for illustration.

[0046] For example, continue as follows Figure 1 As shown, taking a robot with a rectangular cross-section as an example, the inner side of the intersection of two adjacent detection sides 111 forms the above-mentioned intersection surface 112. The rectangular robot forms a total of 4 intersection surfaces at the four corners, and 4 sensing units are set accordingly. The surface of the sensing probe 211 of each sensing unit abuts against the intersection surface 112.

[0047] In one implementation, each sensing unit 210 includes: a sensing probe 211, an elastic element (not shown due to obstruction), and a mounting base 212.

[0048] One end of the elastic element is fixedly connected to the fixed base; the other end is fixedly connected to the bottom of the sensing probe 211; and the elastic element forms an elastic prestress, so that the surface of the sensing probe 211 abuts against the interface based on the elastic prestress. Specifically, the elastic element can be any existing or future-developed structural component with elastic force. For example, a spring.

[0049] The mounting base 212 is fixedly connected to the robot 100 to fix the sensing unit to the robot. For example, the mounting base 212 is fixedly connected to the robot's base 120. In addition, the mounting base can also be fixedly connected to any other structure required by the robot, all of which are within the scope of protection of this application.

[0050] In one embodiment, a mounting groove can be formed at the position of each sensing unit on the base or other corresponding position, and the mounting base 2151 of the sensing unit can be embedded in the mounting groove to facilitate fixed connection with the robot.

[0051] By adopting the above-described structure, each sensing unit can be fixedly connected to the robot's base using a simple structure. Furthermore, the elastic prestress formed by the elastic element ensures that the sensing probe abuts against the detection surface, thereby enabling each sensing unit to have good contact force feedback detection capability. In addition, by adopting the above-described structural design, the overall structure of the robot after installing the force / tactile sensor is more compact, occupies less space, and has high reliability.

[0052] It should be noted that, in addition to the sensing unit structure described in the above embodiments, each sensing unit can adopt any existing or future-developed structural form as needed. As long as each sensing unit meets the arrangement method described in the embodiments of this application, it falls within the scope of protection of this application.

[0053] In this embodiment, the sensor unit's probe abuts against the junction surface formed by the intersection of two adjacent detection edges. Since the junction surface has higher stiffness than other positions of the detection edges, its sensitivity to collision response is also lower. When a collision occurs at this point with the outside world, it is not easy to be detected. Therefore, by specifically placing the sensor unit at this junction surface, the sensitivity of robot collision detection can be improved.

[0054] like Figure 1 and 3 As shown, Figure 3 This is a partially enlarged structural diagram of one embodiment of a robot with force / tactile sensors installed.

[0055] In one embodiment, the surfaces of the interface 112 and the sensing probe 211 are respectively formed into mutually matching arc shapes.

[0056] In this embodiment, designing the interface as an arc can increase the contact area between the interface and the outside world. Thus, the probe surface of the sensing unit is an arc that fits and matches the interface, thereby further improving the sensitivity of robot collision detection.

[0057] It should be noted that, in addition to the embodiments described above, the interface can also be any shape as needed, such as a linear interface, all of which fall within the scope of protection of this application.

[0058] like Figure 2 As shown, Figure 2 To and Figure 1 The corresponding front view of the robot.

[0059] In one embodiment, the force / tactile sensor arrangement based on the force / tactile sensor arrangement structure described in the above embodiment has each sensing unit located in the same horizontal plane to facilitate a unified calculation standard for collision detection; in addition, the sensing units may be located in different horizontal planes as needed, all of which fall within the scope of protection of this application.

[0060] like Figure 2 As shown, for example, the four sensing units 210 located at the four intersection surfaces of the robot are located in the same horizontal plane.

[0061] In one embodiment, let the height of the robot be L1. Then the distance between the center of each sensing unit and the top of the robot is (0.60-0.90)*L1.

[0062] In this embodiment, the distance between the center of each sensing unit and the top of the robot is set to (0.60-0.90)*L1. If the sensing unit is installed too high, the shell will generate torsional stress and overturning stress during a collision, and the detected translational displacement will be smaller. Therefore, at this ratio, it is more beneficial for the sensing probe to detect collisions.

[0063] Based on the arrangement structure of the force / tactile sensors installed on the robot as described in the above embodiments, this application also provides a robot.

[0064] Continue as Figure 1 and 3 As shown, in one embodiment, robot 100 includes force / tactile sensors 200 arranged according to the force / tactile sensor arrangement structure described in the above embodiment.

[0065] In this embodiment, the sensor unit's probe abuts against the junction surface formed by the intersection of two adjacent detection edges. Since the junction surface has higher stiffness than other positions of the detection edges, its sensitivity to collision response is also lower. When a collision occurs at this point with the outside world, it is not easy to be detected. Therefore, by specifically placing the sensor unit at this junction surface, the sensitivity of robot collision detection can be improved.

[0066] Based on the foregoing embodiments, the robot may also include a shell and a main body. The shell covers the main body.

[0067] The housing includes: housing side 110, housing top surface and housing bottom surface 120.

[0068] In one embodiment, the shell includes: a shell body with an open bottom surface (the shell body forms the aforementioned shell side surface and shell top surface) and a shell bottom surface 120. Assembling the shell body with the base can form a complete robot shell. Alternatively, the shell side surface and shell top surface can be used as separate components, and the shell side surface, shell top surface and shell bottom surface can be assembled to form a complete robot shell. All of these are within the scope of protection of this application.

[0069] In one embodiment, the outer casing side 110 forms the detection surface 110 described in the above embodiment.

[0070] It should be noted that the fixed connection described in the embodiments of this application includes, but is not limited to: prefabricated as a whole; or fixed connection through intermediate parts (such as screws, pins, adhesives).

[0071] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A force / tactile sensor arrangement structure; the force / tactile sensor is mounted on a robot; a detection surface is formed on the side of the robot; the detection surface includes N detection edges; where N is an integer greater than or equal to 3; the intersection of two adjacent detection edges forms an intersection surface; characterized in that, The force / tactile sensor includes N sensing units; Each of the sensing units corresponds to one of the interface surfaces, and the surface of the sensing probe of the sensing unit abuts against the interface surface.

2. The arrangement structure of the force / tactile sensor according to claim 1, characterized in that, The interface and the surface of the sensing probe form mutually matching arcs.

3. The arrangement structure of the force / tactile sensor according to claim 1 or 2, characterized in that, The intersection of two adjacent detection edges forms an intersection surface, including: The inner surface of the intersection of two adjacent detection edges forms the intersection surface.

4. The arrangement structure of the force / tactile sensor according to claim 1 or 2, characterized in that, The detection surface is formed on the side of the robot's outer shell.

5. The arrangement structure of the force / tactile sensor according to claim 1 or 2, characterized in that, The robot's height is L1, and the distance between the center of each of the sensor units and the top of the robot is (0.60-0.90)*L1.

6. The arrangement structure of the force / tactile sensor according to claim 1 or 2, characterized in that, Each of the sensing units is located in the same horizontal plane.

7. A robot, characterized in that, The robot includes force / tactile sensors arranged according to the arrangement structure of force / tactile sensors according to any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that, The robot also includes a shell and a main body; the shell covers the main body. The outer casing includes: a side surface, a bottom surface, and a top surface.

9. The robot according to claim 7 or 8, characterized in that, Each of the sensing units includes: a mounting base, an elastic element, and a sensing probe; The mounting base is fixedly connected to the robot; One end of the elastic element is fixedly connected to the bottom of the fixed base, and the other end is fixedly connected to the bottom of the sensing probe; and the elastic element forms an elastic prestress, so that the sensing probe abuts against the corresponding interface surface based on the elastic prestress.

10. The robot according to claim 7 or 8, characterized in that, The robot is the chassis of a cleaning robot, an AGV (Automated Guided Vehicle), or a humanoid robot.

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