Collision detection apparatus and robot

Abstract

A collision detection apparatus (10), relating to the technical field of artificial intelligence devices, and comprising: a fixing support, comprising a connecting portion (11) and a support portion (12), the connecting portion (11) being fixedly connected to the support portion (12); a floating housing (13) covering the periphery of the support portion (12), a movement gap being formed between the floating housing (13) and the support portion (12); a reset elastic member (14) located in the movement gap and supported between the floating housing (13) and the support portion (12), the reset elastic member (14) being used for allowing the floating housing (13) to displace relative to the support portion (12) during a collision and allowing the floating housing (13) to reset after the collision disappears; and a detection member (15) and a trigger member (16), one of the detection member (15) and the trigger member (16) being provided on the support portion (12), and the other being correspondingly arranged on the floating housing (13). By covering the periphery of the support portion (12) with the floating housing (13), when an object collides with the collision detection apparatus (10) from external different directions, the floating housing (13) can displace and the detection member (15) is triggered, thereby identifying a collision condition, and reducing the omission ratio of collision detection. The present application further relates to a robot.

Description

Collision detection device and robot Technical Field

[0001] The present application relates to the technical field of artificial intelligence equipment, and more specifically, to a collision detection device and a robot. Background Art

[0002] With the development of artificial intelligence (AI) technology, robots of various types and functions are becoming widely used in our daily lives. In related technologies, robots are equipped with collision detection devices to detect collisions and assist in obstacle avoidance. However, due to structural limitations of these devices, they can only detect collisions at specific angles. The robots are unable to accurately detect collisions at other angles, resulting in a high rate of missed detections.

[0003] Therefore, the existing technology still needs to be improved and developed.

[0004] Summary of the Invention

[0005] The purpose of this application is to provide a collision detection device and a robot to solve the problem of a high missed detection rate when the robot performs collision detection.

[0006] To achieve the above objectives, the present application provides a collision detection device in a first aspect, comprising:

[0007] A fixed bracket, comprising a connecting portion and a supporting portion, wherein the connecting portion is fixedly connected to the supporting portion;

[0008] A floating shell covering the outer periphery of the support portion and having a movable gap between the floating shell and the support portion;

[0009] a reset elastic member, located in the movable gap and supported between the floating shell and the support portion, the reset elastic member being used to enable the floating shell to displace relative to the support portion after a collision and to reset the floating shell after the collision disappears;

[0010] A detection member and a trigger member, one of which is arranged on the support portion, and the other is correspondingly arranged on the floating shell.

[0011] Optionally, the floating shell is provided with a first accommodating cavity and an opening connecting the outside with the first accommodating cavity, the supporting portion is arranged in the first accommodating cavity, one end of the connecting portion is connected to the supporting portion, and the other end extends to the outside of the floating shell through the opening.

[0012] Optionally, the floating housing includes a first sub-shell and a second sub-shell, and the first sub-shell and the second sub-shell are enclosed to form the first accommodating cavity.

[0013] Optionally, the first sub-shell is fixedly connected to the second sub-shell, at least one of the first outer shell and the second sub-shell is fixedly connected to one end of the reset elastic member, and the other end of the reset elastic member is fixedly connected to the support portion.

[0014] Optionally, the support portion includes a first sub-portion and a second sub-portion, the first sub-portion and the second sub-portion are connected and enclosed to form a second accommodating cavity, the detection member is arranged in the second accommodating cavity, and the detection member is a non-contact detection member.

[0015] Optionally, the detection element includes a Hall sensor, and the triggering element includes a magnet.

[0016] Optionally, the reset elastic member includes a first elastic member and a second elastic member, the first elastic member is arranged between the first sub-portion and the floating shell, and the second elastic member is arranged between the second sub-portion and the floating shell.

[0017] Optionally, a first mounting portion is provided on a surface of the first sub-section facing the second sub-section, one end of the first elastic member is connected to the first mounting portion, the other end of the first elastic member extends toward the side where the second sub-section is located, and a first avoidance channel for avoiding the first elastic member is provided on the second sub-section; a second mounting portion is provided on a surface of the second sub-section facing the first sub-section, one end of the second elastic member is connected to the second mounting portion, the other end of the second elastic member extends toward the side where the first sub-section is located, and a second avoidance channel for avoiding the second elastic member is provided on the first sub-section.

[0018] Optionally, at least one of the first mounting portion and the second mounting portion is a boss provided with an external thread, and correspondingly, at least one of the first elastic member and the second elastic member is threadedly connected to the boss.

[0019] Optionally, at least one of the first elastic member and the second elastic member is a spring, and one end of the spring is threadedly connected to the boss.

[0020] Optionally, at least one of the first elastic member and the second elastic member is an elastic composite, which includes an elastic resin rod and a nut located at the end of the elastic resin rod, the nut and the elastic resin rod are integrally injection molded, and the nut is used to be threadedly connected to the boss.

[0021] Optionally, the floating shell is also provided with a third mounting portion connected to the first elastic member, and a fourth mounting portion connected to the second elastic member, and at least one of the third mounting portion and the fourth mounting portion is also provided as a boss with an external thread, and accordingly, at least one of the first elastic member and the second elastic member is screwed to the boss.

[0022] Optionally, when the floating shell includes a first sub-shell and a second sub-shell, the first elastic member is arranged between the first sub-portion and the first sub-shell, the third mounting portion is arranged on the first sub-shell, the second elastic member is arranged between the second sub-portion and the second sub-shell, and the fourth mounting portion is arranged on the second sub-shell.

[0023] Optionally, the first sub-part is connected to the connecting part, and a wire hole is provided on the first sub-part at a position corresponding to the connecting part, and the wire hole is used for passing a wire connected to the detection component.

[0024] Optionally, the angle between the resetting elastic member and the horizontal plane is 60° to 90°.

[0025] A second aspect of the present application provides a robot, comprising a body, a control device, and a collision detection device as described in the above embodiment, wherein the connecting portion is connected to the body, and the detection member is electrically connected to the control device.

[0026] Optionally, the connecting portion is detachably connected to the fuselage.

[0027] Optionally, a mounting groove is provided on the body, and the connecting portion is cooperatively mounted in the mounting groove and screwed to the bottom wall of the mounting groove via a threaded fastener.

[0028] Optionally, a corrugated sealing tube is provided on the outer sleeve of the connecting portion, and the corrugated sealing tube is located between the floating shell and the fuselage.

[0029] Optionally, the robot comprises a lawn mowing robot.

[0030] The beneficial effects of the collision detection device and robot provided by the present application are at least that: by arranging a floating outer shell cover on the outer periphery of the support part, when an object collides with the collision detection device from different external directions, the floating outer shell will be displaced and the detection part will be triggered, thereby identifying the occurrence of a collision, reducing the occurrence of situations such as a collision having occurred but no collision detection result being obtained, and thereby reducing the missed detection rate when the robot performs collision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] FIG1 is a schematic diagram of the three-dimensional structure of a collision detection device provided by an embodiment of the present application at one viewing angle;

[0033] FIG2 is a schematic diagram of the three-dimensional structure of the collision detection device in FIG1 from another perspective;

[0034] FIG3 is a schematic diagram of the three-dimensional structure of the collision detection device in FIG1 from another perspective;

[0035] FIG4 is a schematic diagram of the three-dimensional structure of the collision detection device in FIG1 from another perspective;

[0036] FIG5 is a schematic diagram of the three-dimensional structure of a fixing bracket provided in an embodiment of the present application at one viewing angle;

[0037] FIG6 is a schematic diagram of the three-dimensional structure of the fixing bracket in FIG5 from another perspective;

[0038] FIG7 is a schematic diagram of the exploded structure of the fixing bracket in FIG5 ;

[0039] FIG8 is a schematic structural diagram of the connection between the fixing bracket and the first sub-shell according to an embodiment of the present application;

[0040] FIG9 is a schematic diagram of the three-dimensional structure of a floating shell provided in one embodiment of the present application;

[0041] FIG10 is a schematic diagram of the three-dimensional structure of a first sub-shell provided in one embodiment of the present application;

[0042] FIG11 is a schematic diagram of the three-dimensional structure of a second sub-shell provided in one embodiment of the present application;

[0043] FIG12 is a schematic diagram of the three-dimensional structure of a robot provided in one embodiment of the present application, showing that a collision detection device is installed on the body of the robot;

[0044] FIG13 is a schematic diagram of the bottom structure of the robot in FIG9 .

[0045] Among them, the figure marks in the figure are: 10, collision detection device; 11, connecting part; 111, corrugated sealing tube; 12, supporting part; 121, first sub-part; 122, second sub-part; 123, second accommodating chamber; 124, first mounting part; 125, first avoidance channel; 126, second mounting part; 127, second avoidance channel; 128, wire hole; 13, floating shell; 131, first accommodating chamber; 132, opening; 133, first sub-shell; 134, second sub-shell; 135, third mounting part; 136, fourth mounting part; 14, reset elastic member; 141, first elastic member; 142, second elastic member; 15, detection member; 16, trigger member; 20, fuselage; 21, mounting groove. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0047] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0048] In a first aspect of an embodiment of the present application, a collision detection device is provided, which is used in a robot. During movement, the robot can use the collision detection device to detect whether it is blocked or hit by an object, thereby changing its movement strategy. The collision detection device of an embodiment of the present application is described below in conjunction with the accompanying drawings.

[0049] Please refer to Figures 1 to 8, which show the structural schematic diagrams of the collision detection device 10 of the present application. The collision detection device 10 includes a fixed bracket, a floating shell 13, a reset elastic member 14, a detection member 15 and a trigger member 16.

[0050] Referring to Figures 5-7 , the fixed bracket includes a connecting portion 11 and a supporting portion 12. The connecting portion 11 is fixedly connected to the supporting portion 12 and is also used to connect to the robot body 20, thereby connecting the collision detection device 10 to the robot. Referring to Figures 1-4 , a floating housing 13 cooperates with the supporting portion 12. Specifically, the floating housing 13 covers the outer periphery of the supporting portion 12, with a clearance between the floating housing 13 and the supporting portion 12. A resetting elastic member 14 is located within the clearance and supported between the floating housing 13 and the supporting portion 12. The resetting elastic member 14 is used to enable the floating housing 13 to displace relative to the supporting portion 12 after a collision and to return the floating housing 13 to its original position after the collision subsides. Supported by the resetting elastic member 14, the floating housing 13 floats around the outer periphery of the supporting portion 12. It should be understood that the outer periphery of the supporting portion 12 refers to the area surrounding the outer periphery of the supporting portion 12. In other words, the outer periphery of the supporting portion 12 is surrounded by the floating housing 13. When an external object collides with the supporting portion 12, it will first collide with the floating housing 13.

[0051] Specifically, one of the detection member 15 and the trigger member 16 is disposed on the support portion 12, while the other is correspondingly disposed on the floating housing 13. The detection member 15 and the trigger member 16 form a pair of mutually cooperating detection components. During use, when the floating housing 13 is displaced relative to the support portion 12, this represents a relative displacement between the detection member 15 and the trigger member 16. At this point, the trigger member 16 triggers the detection member 15. Upon being triggered, the detection member 15 generates an electrical signal that is transmitted to the robot's control device. Based on the electrical signal transmitted by the detection member 15, the robot can detect that the floating housing 13 is blocked or hit by an object, thereby adjusting its movement strategy to appropriately avoid the object.

[0052] In the related art, the collision detection device 10 on the robot, its floating shell 13 is usually set in a specific direction facing the support part 12, and is not surrounded by the outer periphery of the support part 12. Only when the external object collides from this specific direction can it accurately hit the floating shell 13, causing the floating shell 13 to move relative to the support part 12. When the collision occurs in other directions, the effect of the floating shell 13 moving relative to the support part 12 will be greatly reduced, which will affect the detection sensitivity of the collision detection. For example, when the floating shell 13 is set directly in front of the support part 12, if the support part 12 collides with an obstacle from the rear or up and down directions, the floating shell 13 will hardly move relative to the support part 12 or the moving distance will not be significant, and the detection part 15 will be difficult to be triggered. It is possible that a collision has occurred but no collision detection result is obtained, resulting in missed collision detection.

[0053] In the embodiment provided herein, the floating housing 13 is positioned around the periphery of the support portion 12, surrounding the support portion 12. When an object collides with the collision detection device from various external directions, it will collide with the floating housing 13, causing the floating housing 13 to shift and triggering the detection member 15. This reduces the occurrence of situations where a collision occurs but no collision detection result is obtained, thereby reducing the missed detection rate of collision detection. Furthermore, the floating housing 13 is positioned around the periphery of the support portion 12, while the support portion 12, detection member 15, and trigger member 16 are all located within the floating housing 13. The floating housing 13 protects these components, particularly when the robot employing the collision detection device 10 is an outdoor robot. This configuration reduces the risk of the support portion 12, detection member 15, and trigger member 16 becoming wet and damaged by rain.

[0054] In some embodiments, referring to Figures 1-4 , the floating housing 13 is provided with a first accommodating chamber 131 and an opening 132 connecting the first accommodating chamber 131 to the outside world. The support portion 12 is disposed within the first accommodating chamber 131. One end of the connecting portion 11 is connected to the support portion 12, and the other end extends outside the floating housing 13 through the opening 132. In other words, the support portion 12 is enclosed within the first accommodating chamber 131 and is surrounded on all sides by the floating housing 13. Therefore, during robot movement, no matter from which direction an obstacle strikes the collision detection device 10, it will contact the floating housing 13. The floating housing 13 absorbs the impact and, under the action of the return spring 14, moves relative to the support portion 12, causing the trigger 16 to trigger the detection member 15, thereby achieving collision detection. The return spring 14 is also disposed within the first accommodating chamber 131 and supported between the floating housing 13 and the support portion 12.

[0055] In some embodiments, referring to Figures 1-4 , the floating housing 13 includes a first sub-housing 133 and a second sub-housing 134, which together form a first accommodating cavity 131. This arrangement can also reduce the manufacturing difficulty of the floating housing 13. This is particularly true when the floating housing 13 is made of plastic. Providing the first accommodating cavity 131 within the floating housing 13 can make it difficult to remove the floating housing 13 from the mold. By separately manufacturing the first sub-housing 133 and the second sub-housing 134 and jointly forming the first accommodating cavity 131 with the first sub-housing 133 and the second sub-housing 134, this problem of removing the floating housing 13 from the mold is resolved.

[0056] In some embodiments, referring again to Figures 1-4, at least one of the first sub-shell 133 and the second sub-shell 134 is recessed to form a groove, and the first sub-shell 133 and the second sub-shell 134 are butt-jointed and snap-fitted together to enclose a first accommodating chamber 131. Optionally, the floating housing 13, formed by the butt-jointed and snap-fitting, is sealed at all locations except for the opening 132 communicating with the outside world, thereby fully covering the support portion 12. Regardless of the angle from which an obstacle strikes the support portion 12, it will contact and collide with the floating housing 13, and the entry of moisture, impurities, etc. into the first accommodating chamber 131 is also reduced. When the first sub-shell 133 and the second sub-shell 134 are butt-jointed and snap-fitted together, either the first sub-shell 133 or the second sub-shell 134 can move the other when impacted.

[0057] Of course, in addition to the aforementioned butt-jointed connection, in some other embodiments, a certain gap may be provided between the first sub-shell 133 and the second sub-shell 134 to form an open floating housing 13. For example, the first sub-shell 133 may be positioned directly opposite the second sub-shell 134, and the first sub-shell 133 and the second sub-shell 134 may be supported and connected to the support portion 12 via the resilient member 14. The first sub-shell 133 and the second sub-shell 134 may be positioned around the periphery of the support portion 12, with a gap between them. In this case, the first sub-shell 133 and the second sub-shell 134 may not be fixedly connected.

[0058] When there is no fixed connection between the first sub-shell 133 and the second sub-shell 134, the first sub-shell 133 can move relative to the second sub-shell 134. In this case, the first sub-shell 133 and the second sub-shell 134 are both connected to the support portion 12 via the reset elastic member 14, and the periphery of the support portion 12 is divided into a first area and a second area, and the first sub-shell 133 and the second sub-shell 134 each cover the first area and the second area. In other words, the first sub-shell 133 and the second sub-shell 134 together cover most of the area outside the support portion 12. When an obstacle collides with the collision detection device 10, it at least collides with one of the first sub-shell 133 and the second sub-shell 134. At least one of the first sub-shell 133 and the second sub-shell 134 can move relative to the support portion 12, thereby achieving the purpose of collision detection. As an example, the reset elastic member 14 includes a first elastic member and a second elastic member, one end of the first elastic member is fixedly connected to the support portion 12, and the other end is fixedly connected to the first sub-shell 133; one end of the second elastic member is fixedly connected to the support portion 12, and the other end is fixedly connected to the second sub-shell 134.

[0059] When there is no fixed connection between the first sub-shell 133 and the second sub-shell 134 , a detection member 15 is provided on both the first sub-shell 133 and the second sub-shell 134 , or a trigger member 16 is provided on both the first sub-shell 133 and the second sub-shell 134 , so that the detection member 15 can be triggered when either the first sub-shell 133 or the second sub-shell 134 moves.

[0060] In some embodiments, referring to the connection forms in Figures 1 to 4, the first sub-shell 133 is fixedly connected to the second sub-shell 134, at least one of the first sub-shell 133 and the second sub-shell 134 is fixedly connected to one end of the reset elastic member 14, and the other end of the reset elastic member 14 is fixedly connected to the support portion 12.

[0061] It can be understood that when the first sub-shell 133 and the second sub-shell 134 are fixedly connected, the movement between the first sub-shell 133 and the second sub-shell 134 is synchronized. Therefore, the reset elastic member 14 only needs to be connected to either the first sub-shell 133 or the second sub-shell 134 to support the entire floating housing 13 on the periphery of the support portion 12. As an example, the reset elastic member 14 includes a first elastic member and a second elastic member. One end of the first elastic member is fixedly connected to the support portion 12, and the other end provides positional support for the first sub-shell 133 but is not fixedly connected to the first sub-shell 133; one end of the second elastic member is fixedly connected to the support portion 12, and the other end is fixedly connected to the second sub-shell 134. As an example, the reset elastic member 14 includes a first elastic member and a second elastic member. One end of the first elastic member is fixedly connected to the support portion 12, and the other end is fixedly connected to the first sub-shell 133; one end of the second elastic member is fixedly connected to the support portion 12, and the other end provides positional support for the second sub-shell 134 but is not fixedly connected to the second sub-shell 134. As an example, the reset elastic member 14 includes a first elastic member and a second elastic member, one end of the first elastic member is fixedly connected to the support part 12, and the other end is fixedly connected to the first sub-shell 133; one end of the second elastic member is fixedly connected to the support part 12, and the other end is fixedly connected to the second sub-shell 134.

[0062] In some embodiments, referring to Figures 5-7, the support portion 12 includes a first sub-portion 121 and a second sub-portion 122, which are connected and enclosed to form a second accommodating cavity 123. The detection member 15 is disposed in the second accommodating cavity 123. The detection member 15 is a non-contact detection member 15, that is, the trigger member 16 can trigger the detection member 15 without contacting the detection member 15.

[0063] It is understandable that the detection member 15 is used to send an electrical signal after being triggered. The detection member 15 is connected to the control device of the robot. Therefore, once the detection member 15 is interfered with by debris, such as being immersed in water, it is easy to cause the detection member 15 to be damaged. The present application arranges the detection member 15 in the second accommodating chamber 123 so that the detection member 15 can not only be shielded and protected by the floating shell 13, but also be shielded and protected by the support portion 12, thereby achieving a double protection effect, isolating the detection member 15 from the outside world, and effectively reducing the impact of external debris on the detection member 15. Since the detection member 15 is a non-contact detection member 15, the detection member 15 can be installed in the second accommodating chamber 123, that is, inside the support portion 12, and the trigger member 16 arranged on the floating shell 13 can also trigger the detection member 15 without directly contacting the detection member 15.

[0064] Optionally, the non-contact detection element 15 includes a Hall sensor, and the corresponding trigger element 16 includes a magnet. Both the Hall sensor and the magnet are easy to install and can save costs while ensuring detection accuracy.

[0065] When the magnet is set on the floating shell 13 and moves with the floating shell 13, the magnet will approach or move away from the Hall sensor during the movement, thereby changing the magnetic field strength applied to the Hall sensor. The Hall sensor outputs a high-level signal or a low-level signal in response to the change in magnetic field strength, which is then transmitted to the robot's control device. The control device issues a control command after receiving the signal.

[0066] Specifically, when the magnetic field applied to the Hall sensor increases, its output voltage is high as long as the magnetic induction intensity is less than the first threshold. When the magnetic induction intensity is greater than the first threshold, the output changes from high to low. When the magnetic field weakens and the magnetic induction intensity decreases to the second threshold, the output voltage changes from low to high.

[0067] Of course, the non-contact detection element 15 may also include a magnetoresistive effect sensor, and the corresponding trigger element 16 may also include a magnet. The detection element 15 may also include a photoelectric detection sensor, and the corresponding trigger element 16 may include a reflector. When the trigger element 16 moves relative to the detection element 15, the detection element 15 can be triggered. This application does not specifically limit the selection of the detection element 15 and the trigger element 16.

[0068] The above embodiment illustrates the arrangement of the non-contact detection member 15. In some embodiments, the detection member 15 may also be a contact detection member 15. In this case, the detection member 15 is disposed and exposed on the support portion 12, and the trigger member 16 contacts or moves away from the detection member 15 as it moves with the floating housing 13. When the trigger member 16 contacts the detection member 15, the detection member 15 is triggered. For example, the detection member 15 includes an isolated electrode sheet, which outputs a first signal in an isolated state. The trigger member 16 includes a conductive block, which turns on the isolated electrode sheet when the conductive block contacts the electrode sheet, and the electrode sheet outputs a second signal in a conductive state, thereby achieving the function of a switch.

[0069] Of course, contact detection element 15 can also be a piezoresistive pressure sensor. This sensor is a sensor fabricated using the piezoresistive effect of single-crystal silicon material and integrated circuit technology. When a force is applied to the single-crystal silicon material, its resistivity changes. A measurement circuit generates an electrical signal proportional to the force change, sensing the measured pressure through a silicon diaphragm. Correspondingly, trigger element 16 is a push-button bump that moves in contact with or away from the silicon diaphragm as floating housing 13 moves.

[0070] In some embodiments, referring to Figures 5 to 7, the reset elastic member 14 includes a first elastic member 141 and a second elastic member 142. The first elastic member 141 is arranged between the first sub-portion 121 and the floating shell 13, and the second elastic member 142 is arranged between the second sub-portion 122 and the floating shell 13, that is, the floating shell 13 and the support portion 12 are elastically supported by the first elastic member 141 and the second elastic member 142 respectively.

[0071] Since the floating shell 13 has a certain gravity, if the floating shell 13 is subjected to unbalanced force for a long time, for example, the reset elastic member 14 is only provided on one of the first sub-section 121 and the second sub-section 122, the fatigue deformation of the reset elastic member 14 will be accelerated, causing the relative position of the floating shell 13 and the support portion 12 to change, thereby reducing the accuracy of collision detection.

[0072] By providing the first elastic member 141 and the second elastic member 142, the force on the floating shell 13 is made more balanced; after the floating shell 13 is collided, the floating shell 13 can undergo a relatively stable displacement relative to the support part 12; after the collision disappears, the first elastic member 141 and the second elastic member 142 can not only restore the floating shell 13, but also provide stable support for it, thereby reducing the risk of changes in the relative position of the floating shell 13 and the support part 12, and improving the accuracy of collision detection.

[0073] When an applied external force compresses or stretches the resetting elastic member 14, whether it is the first elastic member 141 or the second elastic member 142, under the same external force, the deformation amount thereof is proportional to the external force, that is, the applied external force = K*((the length of the resetting elastic member 14 after deformation - the absolute value of the length of the resetting elastic member 14 before deformation)), where K is a constant and is the stiffness coefficient of the resetting elastic member 14. Therefore, if the resetting elastic member 14 is very short, its stiffness coefficient needs to be large. The disadvantage of a short length and a large stiffness coefficient is that the sensitivity of the resetting elastic member 14 will be relatively low. Conversely, if the resetting elastic member 14 is relatively long, its stiffness coefficient is relatively small, and the sensitivity of the resetting elastic member 14 will be relatively high. When the resetting elastic member 14 has a high sensitivity, it is easier to detect a collision.

[0074] Because the resetting elastic member 14 is located within the active gap and supported between the floating housing 13 and the support portion 12, the active gap is used to accommodate the resetting elastic member 14, namely the first elastic member 141 and the second elastic member 142. In actual use, if the active gap is large, the volume of the floating housing 13 will need to be large, occupying too much space and hindering the miniaturization of the device. On the other hand, if the active gap is small, the volume of the floating housing 13 can be reduced, but the active gap must also be small, which means that the active space of the resetting elastic member 14 is very small. Therefore, the spring coefficient of the resetting elastic member 14 must be set relatively large, affecting the detection sensitivity.

[0075] In some embodiments, in order to simultaneously meet the requirements of reducing the volume of the floating shell 13 and ensuring that the reset elastic member 14 has high sensitivity, referring to Figures 5 to 7, a first mounting portion 124 is provided on the side surface of the first sub-portion 121 facing the second sub-portion 122, one end of the first elastic member 141 is connected to the first mounting portion 124, and the other end of the first elastic member 141 extends toward the side where the second sub-portion 122 is located, and a first avoidance channel 125 for avoiding the first elastic member 141 is provided on the second sub-portion 122; a second mounting portion 126 is provided on the side surface of the second sub-portion 122 facing the first sub-portion 121, one end of the second elastic member 142 is connected to the second mounting portion 126, and the other end of the second elastic member 142 extends toward the side where the first sub-portion 121 is located, and a second avoidance channel 127 for avoiding the second elastic member 142 is provided on the first sub-portion 121.

[0076] By making full use of the thickness of the support portion 12 and, under the condition that the movable gap is set to be the same, the first avoidance channel 125 and the second avoidance channel 127 are provided to provide the first elastic member 141 and the second elastic member 142 with movable space other than the movable gap. Therefore, a reset elastic member 14 with a moderate stiffness coefficient and length can be selected to ensure the sensitivity of the reset elastic member 14, thereby reducing the volume of the floating shell 13 and improving the accuracy of collision detection.

[0077] In some embodiments, at least one of the first mounting portion 124 and the second mounting portion 126 is a boss with external threads, and accordingly, at least one of the first elastic member 141 and the second elastic member 142 is threadedly connected to the boss. In a specific implementation, referring to Figures 5-7 , the first mounting portion 124 and the second mounting portion 126 are bosses with external threads, and accordingly, the first elastic member 141 and the second elastic member 142 are both threadedly connected to the boss. This allows the first elastic member 141 and the second elastic member 142 to be removed and replaced after fatigue deformation, making the assembly and disassembly process simple and convenient.

[0078] Of course, it also includes the case where only the first mounting portion 124 is set as a boss, and the first elastic member 141 is detachably screwed on the boss, or the case where only the second mounting portion 126 is set as a boss, and the second elastic member 142 is detachably screwed on the boss.

[0079] It should be noted that the first subsection 121 and the second subsection 122 are plastic parts and can be injection molded, directly forming the first avoidance channel 125 and the second avoidance channel 127 during the injection molding process. In addition, the first mounting portion 124 and the second mounting portion 126 can be integrally molded on the first subsection 121 and the second subsection 122 by injection molding, or can be detachably mounted on the first subsection 121 and the second subsection 122.

[0080] Optionally, at least one of the first elastic member 141 and the second elastic member 142 is a spring, one end of which is screwed to the boss. It is understood that the spring itself has a spiral structure, and its end can be directly adapted to be screwed to the external thread of the boss, which is convenient for installation.

[0081] Optionally, in addition to direct connection through the spiral structure of the spring itself, a connection area can be provided at the end of the spring, the connection area is provided with an internal thread, and the spring is screwed to the boss through the connection area.

[0082] In some embodiments, at least one of the first elastic member 141 and the second elastic member 142 is an elastic composite (not shown), which includes an elastic resin rod and a nut located at the end of the elastic resin rod. The nut and the elastic resin rod are integrally injection molded, and the nut is used to be screwed to the boss.

[0083] The elastic resin rod is a resin rod that can undergo elastic deformation. It has good corrosion resistance and oxidation resistance and can still maintain good elastic recovery force after long-term use.

[0084] In some embodiments, the first elastic member 141 and the second elastic member 142 are not only connected to the support portion 12, but also connected to the floating shell 13. Specifically, referring to Figures 8 to 11, the floating shell 13 is also provided with a third mounting portion 135 connected to the first elastic member 141, and a fourth mounting portion 136 connected to the second elastic member 142. At least one of the third mounting portion 135 and the fourth mounting portion 136 is also provided as a boss with an external thread. Accordingly, at least one of the first elastic member 141 and the second elastic member 142 is screwed to the boss.

[0085] Optionally, to more stably support the first and second elastic members 141, 142 between the support portion 12 and the floating housing 13, the first and second elastic members 141, 142 are both threadedly connected to the bosses on the floating housing 13. Consequently, both ends of the first and second elastic members 141, 142 are threadedly fixed to the floating housing 13 and the support portion 12, respectively. Even if the floating housing 13 shakes, the first and second elastic members 141, 142 will not be displaced or misaligned. Furthermore, when the first and second elastic members 141, 142 need to be replaced, they can be removed and installed at any time, making the operation convenient and efficient.

[0086] In some embodiments, when the reset elastic member 14 is not connected by a boss with an external thread, it can also be positioned by means of a socket connection. The reset elastic member 14 here refers to at least one of the first elastic member 141 and the second elastic member 142. Specifically, the elastic reset member 14 is always in a compressed state after installation, and a clamping portion with a slot is provided at the end of the reset elastic member 14. A boss is also provided on the floating shell 13 or the support portion 12. The slot of the clamping portion is adapted to be fitted on the boss. When the floating shell 13 shakes relative to the support portion 12, since the reset elastic member 14 is always in a compressed state, the two ends of the reset elastic member 14 will always be fixed to the boss by the socket connection of the clamping portion, thereby maintaining a fixed position. During the installation process, the screw connection step can be omitted, and the installation can be completed by aligning the clamping connection.

[0087] In some embodiments, when the floating shell 13 includes a first sub-shell 133 and a second sub-shell 134, the first elastic member 141 is arranged between the first sub-portion 121 and the first sub-shell 133, the third mounting portion 135 is arranged on the first sub-shell 133, the second elastic member 142 is arranged between the second sub-portion 122 and the second sub-shell 134, and the fourth mounting portion 136 is arranged on the second sub-shell 134.

[0088] In some embodiments, the first sub-case 133 and the second sub-case 134 are plastic parts that can be obtained by injection molding, and the third mounting portion 135 and the fourth mounting portion 136 can be integrally molded on the first sub-case 133 and the second sub-case 134 by injection molding. Of course, in other embodiments, the third mounting portion 135 and the fourth mounting portion 136 can also be detachably mounted on the first sub-case 133 and the second sub-case 134. Specifically, the third mounting portion 135 is screwed onto the first sub-case 133, and the fourth mounting portion 136 is screwed onto the second sub-case 134.

[0089] During installation, before connecting the first sub-section 121 and the second sub-section 122 to form the support section 12, place the detection member 15 in the second accommodating cavity 123 of the support section 12; after connecting the first sub-section 121 and the second sub-section 122 to form the support section 12, connect the first elastic member 141 to the first mounting portion 124, and connect the second elastic member 142 to the second mounting portion 126; place the first sub-shell 133 opposite to the first sub-section 121 and connect it to the first elastic member 141 through the third mounting portion 135, and set the trigger member 16 on the first sub-shell 133; place the second sub-shell 134 opposite to the first sub-section 121, and connect it to the first elastic member 141 through the third mounting portion 135. The second sub-portion 122 is connected to the second elastic member 142 through the fourth mounting portion 136, and a trigger member 16 is provided on the second sub-shell 134; then the first sub-shell 133 and the second sub-shell 134 are connected to form the floating shell 13, the support portion 12 is accommodated in the first accommodating cavity 131 of the floating shell 13, the first sub-shell 133 and the second sub-shell 134 are covered on the outer periphery of the support portion 12, and the first elastic member 141 and the second elastic member 142 respectively support the first sub-shell 133 and the second sub-shell 134 on opposite sides of the support portion 12, thereby completing the installation of the support portion 12 and the floating shell 13.

[0090] Optionally, the supporting portion 12 is connected to the connecting portion 11. During installation, the first sub-shell 133 and the second sub-shell 134 are covered outside the supporting portion 12, the connecting portion 11 extends from the opening 132 to the outside of the floating shell 13, and the detecting member 15 is located in the second accommodating cavity 123 formed by the first sub-portion 121 and the second sub-portion 122. The detecting member 15 is electrically connected to the control device of the robot through a wire.

[0091] In some embodiments, referring to Figures 5-7, the first sub-portion 121 of the supporting portion 12 is connected to the connecting portion 11, and a wire hole 128 is provided on the first sub-portion 121 at a position corresponding to the connecting portion 11. The wire hole 128 is connected to the second accommodating cavity 123. The wire hole 128 is used for passing the wire connected to the detection member 15, thereby connecting the wire to the control device on the robot.

[0092] In some embodiments, the wire extends out of the support portion 12 through the wire hole 128 , and then extends directly along the connecting portion 11 through the opening 132 on the floating shell 13 to be connected to the control device on the robot.

[0093] In some embodiments, a wire hiding groove extending to the outside of the floating shell 13 is provided on the connecting portion 11 , and the wires are arranged along the wire hiding groove and extend to the outside of the floating shell 13 in a concealed manner.

[0094] Optionally, the floating shell 13 is a shell having a certain length, and along the length direction of the floating shell 13, the shape is configured as any one of a long strip, an arc, a bent strip, or a combination thereof. For example, referring to Figures 1-4, the floating shell 13 is configured as a long strip, because the collision detection device 10 is intended to be mounted on the robot's body 20. In other embodiments, the shape of the floating shell 13 can be configured as other shapes depending on the shape of the body 20. When the collision detection device 10 is located on a flat surface on the robot's body 20, the corresponding floating shell 13 is configured as a long strip; when the collision detection device 10 is located on an arc, the corresponding floating shell 13 is configured as an arc; when the collision detection device 10 needs to be located at a corner of the body 20, and the corner is a curved surface, the floating shell 13 is configured as a bent strip. This allows the floating shell 13 to extend circumferentially around the body 20, providing a wider collision detection coverage area while reducing the robot's size.

[0095] Optionally, the support portion 12 is arranged in the first accommodating cavity 131 of the floating shell 13, and the first accommodating cavity 131 is also a cavity with a certain length. The shape of the cavity is consistent with that of the floating shell 13, and the support portion 12 is also a strip-shaped body with a certain length. The appearance of the support portion 12 is consistent with that of the floating shell 13 and the first accommodating cavity 131. The floating shell 13 and the support portion 12 adapt to each other to achieve installation, so that each position of the support portion 12 can be covered by the floating shell 13. After each position of the floating shell 13 is collided with the same external force, the displacement of the floating shell 13 relative to the support portion 12 is almost the same, which facilitates the setting of the detection component 15 and the trigger component 16, so that the collision detection result is more accurate.

[0096] In some embodiments, the collision detection device 10 includes multiple sets of detection members 15 and trigger members 16 spaced apart from each other. These sets of detection members 15 and trigger members 16 are arranged along the length of the collision detection device 10, that is, along the length of the floating hull 13. When a certain portion of the floating hull 13 is impacted, the displacement of other portions may be relatively small. With multiple sets of detection members 15 and trigger members 16, a collision is determined to have occurred if all detection members 15 are triggered, thereby improving detection accuracy. Alternatively, multiple sets of detection members 15 and trigger members 16 can be provided to cover various locations of the collision detection device 10. When any location of the floating hull 13 is impacted, a collision is determined to have occurred if at least one detection member 15 is triggered, thereby improving collision detection sensitivity.

[0097] Optionally, the collision detection device 10 includes multiple groups of reset elastic members 14 arranged at intervals, and the reset elastic members 14 are arranged in sequence along the length direction of the floating shell 13, so that each area of ​​the floating shell 13 is supported by the reset elastic member 14, and the floating shell 13 can be stably covered on the periphery of the support part 12.

[0098] Specifically, when the support portion 12 includes a first sub-portion 121 and a second sub-portion 122, and a second avoidance channel 127 is provided on the first sub-portion 121 and a first avoidance channel 125 is provided on the second sub-portion 122, a plurality of first avoidance channels 125 are arranged at intervals along the length direction of the second sub-portion 122, and a plurality of second avoidance channels 127 are arranged at intervals along the length direction of the first sub-portion 121. The reset elastic member 14 includes a plurality of first elastic members 141 and a second elastic member 142. The first elastic member 141 is correspondingly accommodated in the first avoidance channel 125, and the second elastic member 142 is correspondingly accommodated in the second avoidance channel 127.

[0099] In some embodiments, the angle between the reset elastic member 14 and the horizontal plane is 60° to 90°. In other words, the reset elastic member 14 extends vertically between the first sub-shell 133 and the second sub-shell 134 of the floating housing 13, or the reset elastic member 14 extends at a slight angle between the first sub-shell 133 and the second sub-shell 134 of the floating housing 13. In this way, combined with the floating housing 13 being mounted on the outer periphery of the support portion 12, if the floating housing 13 is hit from the front, rear, left, or right sides, the reset elastic member 14 can bend. If the top or bottom sides of the floating housing 13 are hit, the reset elastic member 14 can expand and contract. In either case, the reset elastic member 14 can cause the floating housing 13 to move, thereby improving the coverage angle of collision detection.

[0100] Optionally, the angle between the reset elastic member 14 and the horizontal plane is 80° to 90°. In this way, the reset elastic member 14 extends nearly vertically between the first sub-shell 133 and the second sub-shell 134 of the floating shell 13. When the front, rear, left and right sides of the floating shell 13, as well as the top and bottom sides of the floating shell 13 are hit, the reset elastic member 14 can make a larger deformation, and the collision detection sensitivity of the floating shell 13 is higher.

[0101] A second aspect of the present application provides a robot. Referring to Figures 12 and 13 , the robot includes a body 20, a control device (not shown), and the collision detection device 10 of the above-described embodiment. The connection portion 11 of the collision detection device 10 is connected to the body 20, and the detection member 15 of the collision detection device 10 is electrically connected to the control device. When the collision detection device 10 is hit by a collision, the detection member 15 is triggered and sends an electrical signal to the control device, which controls the robot to perform an operation. As an example, the operation includes controlling the robot to stop working, retreat, or detour.

[0102] Optionally, the connection portion 11 is detachably connected to the fuselage 20 . The collision detection device 10 may be damaged after a collision. The detachable connection facilitates replacement and maintenance of the collision detection device 10 .

[0103] In some embodiments, as shown in FIG13 , a mounting slot 21 is provided on the housing 20, and the connecting portion 11 is fitted into the mounting slot 21 and screwed to the bottom wall of the mounting slot 21 via threaded fasteners. The provision of the mounting slot 21 allows the connecting portion 11 to be quickly positioned and mounted on the housing 20, making installation quick and easy.

[0104] Optionally, the mounting slot 21 is provided on the outside of the body 20. More specifically, the mounting slot 21 is provided and exposed at the bottom of the body 20. Without opening the body 20, the connection portion 11 can be directly connected to the body 20 from the bottom, and the connection portion 11 is concealed, making the robot's appearance more concise and beautiful.

[0105] In some embodiments, referring to Figures 1, 2, 4, and 8, a bellows seal 111 is provided on the outer surface of the connecting portion 11. Bellows seal 111 is located between the floating hull 13 and the fuselage 20. This bellows seal 111 can block external debris and reduce its ingress into the floating hull 13. In practice, one end of bellows seal 111 seals an opening 132 in the floating hull 13, while the other end abuts against the outer wall of the fuselage 20.

[0106] In some embodiments, the robot comprises a lawn mower robot. It will be appreciated that the lawn mower robot includes a cutting device for mowing grass, and the collision detection device 10 can perform collision detection while the lawn mower robot is moving and mowing grass. Optionally, when the lawn mower robot collides with an obstacle, the control device controls the cutting device of the lawn mower robot to stop operating, thereby preventing the cutting device from cutting into the obstacle and improving the safety of the lawn mower robot.

[0107] Of course, robots also include sweeping robots, cleaning robots, food delivery robots, logistics and transportation robots, and other intelligent robots that require artificial intelligence control to move. During their movement and walking, the collision detection device 10 can perform collision detection so that the robot can avoid obstacles and perform emergency braking.

[0108] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A collision detection device, characterized in that, Comprising: A fixed bracket, including a connecting portion and a supporting portion, the connecting portion being fixedly connected to the supporting portion; A floating housing, covering the outer periphery of the supporting portion and having a movable gap therebetween; A reset elastic member, located within the movable gap and supported between the floating housing and the supporting portion, the reset elastic member being configured to enable the floating housing to displace relative to the supporting portion after being collided and to reset the floating housing after the collision disappears; A detecting member and a triggering member, one of the detecting member and the triggering member being disposed on the supporting portion, and the other being correspondingly disposed on the floating housing.

2. The collision detection device according to claim 1, wherein The floating housing is provided with a first accommodating cavity and an opening communicating the outside with the first accommodating cavity, the supporting portion is disposed within the first accommodating cavity, one end of the connecting portion is connected to the supporting portion, and the other end extends outside the floating housing through the opening.

3. The collision detection device according to claim 2, characterized in that The floating housing includes a first sub-housing and a second sub-housing, the first sub-housing and the second sub-housing enclosing to form the first accommodating cavity.

4. The collision detection device according to claim 3, wherein The first sub-housing is fixedly connected to the second sub-housing, at least one of the first housing and the second sub-housing is fixedly connected to one end of the reset elastic member, and the other end of the reset elastic member is fixedly connected to the supporting portion.

5. The collision detection device according to any one of claims 1 to 4, characterized in that, The supporting portion includes a first sub-portion and a second sub-portion, the first sub-portion and the second sub-portion are connected and enclose to form a second accommodating cavity, the detecting member is disposed within the second accommodating cavity, and the detecting member is a non-contact detecting member.

6. The collision detection device according to claim 5, wherein The detecting member includes a Hall sensor, and the triggering member includes a magnet.

7. The collision detection device according to claim 5, wherein The reset elastic member includes a first elastic member and a second elastic member, the first elastic member is disposed between the first sub-portion and the floating housing, and the second elastic member is disposed between the second sub-portion and the floating housing.

8. The collision detection device according to claim 7, characterized in that, On a surface of the first sub-portion facing the second sub-portion, a first mounting portion is provided, one end of the first elastic member is connected to the first mounting portion, the other end of the first elastic member extends toward the side where the second sub-portion is located, and a first avoiding channel for avoiding the first elastic member is formed on the second sub-portion; on a surface of the second sub-portion facing the first sub-portion, a second mounting portion is provided, one end of the second elastic member is connected to the second mounting portion, the other end of the second elastic member extends toward the side where the first sub-portion is located, and a second avoiding channel for avoiding the second elastic member is formed on the first sub-portion.

9. The collision detection device according to claim 8, characterized in that, At least one of the first mounting portion and the second mounting portion is a stud provided with an external thread, and correspondingly, at least one of the first elastic member and the second elastic member is screwed to the stud.

10. The collision detection device according to claim 9, wherein, At least one of the first elastic member and the second elastic member is a spring, and one end of the spring is screwed to the stud.

11. The collision detection device according to claim 9, wherein, At least one of the first elastic member and the second elastic member is an elastic composite body, the elastic composite body includes an elastic resin rod and a nut located at an end of the elastic resin rod, the nut and the elastic resin rod are integrally injection molded, and the nut is used for screwing to the stud.

12. The collision detection device according to claim 9, wherein The floating housing is further provided with a third mounting portion connected to the first elastic member and a fourth mounting portion connected to the second elastic member, and at least one of the third mounting portion and the fourth mounting portion is also provided as a stud with an external thread. Correspondingly, at least one of the first elastic member and the second elastic member is screwed to the stud.

13. The collision detection device according to claim 12, characterized in that, When the floating housing includes a first sub-housing and a second sub-housing, the first elastic member is disposed between the first sub-portion and the first sub-housing, the third mounting portion is disposed on the first sub-housing, the second elastic member is disposed between the second sub-portion and the second sub-housing, and the fourth mounting portion is disposed on the second sub-housing.

14. The collision detection device according to claim 5, characterized in that, The first sub-portion is connected to the connecting portion, and a wire passing hole is formed in a position corresponding to the connecting portion on the first sub-portion, and the wire passing hole is used for a wire connected to the detecting member to pass through.

15. The collision detection device according to claim 1, characterized in that The collision detection device includes a plurality of groups of the detecting members and the triggering members arranged at intervals; and / or, the included angle between the reset elastic member and the horizontal plane is 60° to 90°.

16. A robot, characterized in that, It includes a fuselage, a control device, and the collision detection device according to any one of claims 1-15. The connecting portion is connected to the fuselage, and the detecting member is electrically connected to the control device.

17. The robot according to claim 16, wherein The connecting portion is detachably connected to the fuselage.

18. The robot according to claim 17, wherein, An installation groove is provided on the fuselage, and the connecting portion is fitted and installed in the installation groove and screwed to the bottom wall of the installation groove through a threaded fastener.

19. The robot according to any one of claims 16 to 18, characterized in that, A corrugated seal tube is sleeved outside the connecting portion, and the corrugated seal tube is located between the floating housing and the fuselage.

20. The robot according to any one of claims 16 to 18, characterized in that, The robot includes a lawn mowing robot.

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