CN106514673A - Obstacle detecting device, robot and obstacle detecting method - Google Patents
Obstacle detecting device, robot and obstacle detecting method Download PDFInfo
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- CN106514673A CN106514673A CN201611255202.6A CN201611255202A CN106514673A CN 106514673 A CN106514673 A CN 106514673A CN 201611255202 A CN201611255202 A CN 201611255202A CN 106514673 A CN106514673 A CN 106514673A
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- exploring block
- circuit board
- barrier
- robot
- rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an obstacle detecting device, a robot and an obstacle detecting method. The obstacle detecting device comprises a driving part for outputting rotating power through a rotating shaft thereon, a first circuit board arranged on the rotating shaft of the driving part and driven by the driving part to rotate, a detecting part arranged on the first circuit board and synchronously rotating with the first circuit board for detecting an obstacle, a second circuit board arranged with the first circuit board in parallel, and a power supply part is used for supplying working voltage to the first circuit board, the detecting part and the second circuit board. The obstacle detecting device can realize all-directional obstacle detection, and is simple in structure.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of barrier detecting apparatus, robot and obstacle physical prospecting
Survey method.
Background technology
With developing rapidly for modern science and technology, the range of application of intelligent robot is more and more extensive, either in family, or
The figure of intelligent robot can be seen in the public places such as market, bank.
Be typically provided with obstacle detection function in robot, with when mobile can avoiding obstacles automatically, Huo Zhe
People near when can be avoided automatically.In order to detect the barrier in multiple directions, multiple spies are just installed in robot
Survey part.
The existing this mode for installing multiple exploring blocks, though the barrier in multiple directions can be detected, but deposits
In blind area, it is impossible to realize the detection of comprehensive barrier.In addition, the mode of multiple exploring blocks is installed, it is relatively costly, and install
It is complicated.
The content of the invention
In consideration of it, embodiments providing a kind of barrier detecting apparatus, robot and obstacle detection method, use
To solve the problems, such as that prior art can not meet comprehensive obstacle detection.
Then, in one embodiment of the invention, there is provided a kind of barrier detecting apparatus.The device includes：Drive
Part, the rotary shaft of the driver part are used for outputting rotary power；First circuit board, which is arranged in the rotary shaft, with
Rotate under the driving of the driver part；Exploring block, which is arranged on the first circuit board, with the first circuit board
Synchronous rotary, for detecting obstacles thing；Second circuit board, is be arranged in parallel with the first circuit board；Power supply part is used for as institute
State first circuit board, the exploring block and the second circuit board and running voltage is provided.
Optionally, in above-mentioned device, the second circuit board is provided with through hole；The through hole and the driver part
Outline is adapted to, and the rotary shaft of the driver part stretches out the through hole.
Optionally, above-mentioned device may also include：Timer.The timer is for during detection to the exploring block
Between carry out timing, so as to the clocking information of the timer and the detection when barrier is detected based on the exploring block
The rotary speed of part, determines the orientation of the barrier.
Optionally, the device of above-mentioned offer may also include：Zero-bit components of assays and Zero positioning part.Zero-bit components of assays
Be arranged on the first circuit board, with the exploring block synchronous rotary；It is electric that Zero positioning part is arranged on described second
Lu Shang；Wherein, the zero-bit components of assays is connected with the timer, and the zero-bit components of assays is detected in rotary course
Timing reset signal is sent to the timer during Zero positioning part, to be zeroed out to the timer.
Optionally, the device of above-mentioned offer may also include：Processor.Processor respectively with the exploring block and timer
Connection.The processor is used for obtaining the detectable signal that the exploring block is generated, and is determined away from obstacle according to the detectable signal
The distance of thing；If the distance is less than safe distance, the clocking information of the timer is obtained；According to the clocking information and
The rotary speed of the exploring block, determines the orientation of the barrier.
Optionally, the device of above-mentioned offer also includes：Wireless transmitter module and wireless receiving module.Wherein, it is described wireless
Transmitter module is communicated to connect with the wireless receiving module；The wireless receiving module, which is arranged on the second circuit board,
For connecting external equipment；The wireless transmitter module, which is arranged on the first circuit board, and is connected with the exploring block
Connect, for the detectable signal for being received from the exploring block generation is sent by the wireless receiving module.
In another embodiment of the invention, there is provided a kind of robot.The robot includes being arranged on the robot
On barrier detecting apparatus；The barrier detecting apparatus can be realized using the technical scheme that above-described embodiment is provided.
In another embodiment of the present invention, there is provided a kind of robot.The robot includes：
Driver part, which is arranged in the robot, and the rotary shaft of the driver part is used for outputting rotary power；
Exploring block, which is arranged in the rotary shaft, to rotate detecting obstacles thing under the driving of the driver part；
Wherein, the exploring block is connected with the robot communication, for detectable signal is sent to the robot；
The robot, for the distance for determining barrier according to the detectable signal for receiving；
The robot, is additionally operable to carry out the rotation of the exploring block timing, and is being visited according to the exploring block
The rotary speed of clocking information and the exploring block when measuring barrier, determines the orientation of the barrier.
In another embodiment of the present invention, there is provided a kind of obstacle detection method.The method includes：
Obtain exploring block and detect the detectable signal generated during barrier, wherein, the exploring block is arranged on driving
In the rotary shaft of part, and the rotary speed according to the rotary shaft under the driving of the driver part rotates, to detect barrier
Hinder thing；
According to the detectable signal, the distance of barrier is determined；
If the distance is less than minimum safe distance, detection time and the rotation speed of the exploring block are obtained
Degree；
According to the detection time and the rotary speed, the orientation of the barrier is determined.
Optionally, above-mentioned method, may also include：If the exploring block rotation full is enclosed, by the detection time
Reset with reclocking.
Optionally, in above-mentioned method, the exploring block is arranged on moving body；And
Methods described, also includes：
Obtain the speed that the moving body is moved to the barrier；
Obtain the braking distance of the moving body；
Obtain the blind area time of the exploring block；
According to the speed, the braking distance and the blind area time, the minimum safe distance is determined.
Technical scheme provided in an embodiment of the present invention, drives exploring block to carry out rotated detection by driver part, realizes
Omnibearing detection；By arranging first circuit board and second circuit board, by multiple parts, such as exploring block and power supply section
Part etc., is placed on two circuit boards, can simplify the complexity of structure, easily realizes.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
The structured flowchart of the barrier detecting apparatus that Fig. 1 is provided for one embodiment of the invention；
The structural representation of the robot that Fig. 2 is provided for one embodiment of the invention；
The structural representation of the robot that Fig. 3 is provided for another embodiment of the present invention；
The schematic flow sheet of the obstacle detection method that Fig. 4 is provided for one embodiment of the invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention.
In some flow processs described in description, claims and above-mentioned accompanying drawing in the present invention, contain according to spy
Multiple operations that fixed order occurs, these operations can not be performed according to the order which occurs herein or executed in parallel.
Sequence number of operation such as 101,102 etc., is only used for distinguishing each different operation, and it is suitable that sequence number itself does not represent any execution
Sequence.In addition, these flow processs can include more or less of operation, and these operations can be performed in order or be held parallel
OK.It should be noted that " first ", " second " herein etc. description, be for distinguishing different message, equipment, module etc.,
Sequencing is not represented, it is different types also not limit " first " and " second ".
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described.Obviously, described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, the every other enforcement obtained under the premise of creative work is not made by those skilled in the art
Example, belongs to the scope of protection of the invention.
Fig. 1 shows the structured flowchart of the barrier detecting apparatus that one embodiment of the invention is provided.As shown in figure 1, the barrier
Article inspection device is hindered to include：Driver part 10, first circuit board 11, exploring block 12, second circuit board 13, power supply part 400
(such as the wireless power coil 14 illustrated in Fig. 1 and wireless power receiving part 15).Wherein, the rotary shaft of driver part 10
101 are used for outputting rotary power.First circuit board 11 is arranged in the rotary shaft 101 of the driver part 10, with the drive
Rotate under the driving of dynamic component 10.Exploring block 12 is arranged on the first circuit board 11, same with the first circuit board 11
Step rotation, for detecting obstacles thing.Second circuit board 13 is be arranged in parallel with the first circuit board 11.Power supply part 400 is used for
Running voltage is provided for the first circuit board 11, the exploring block 12 and the second circuit board 13.
In a kind of attainable scheme, the power supply part 400 is wireless powering device, and for example, power supply part 400 includes
The wireless power coil 14 illustrated in Fig. 1 and wireless power receiving part 15.As shown in figure 1, wireless power receiving part 15 sets
Put on the second circuit board 13, for converting electrical energy into magnetic energy.Wireless power coil 14 is arranged on first circuit
On plate 11, and it is connected with the exploring block 12, for the magnetic energy that the wireless power receiving part is exported is converted to electric energy
To provide running voltage as the exploring block.
Technical scheme provided in an embodiment of the present invention, drives exploring block to carry out rotated detection by driver part, realizes
Omnibearing detection；By arranging first circuit board and second circuit board, exploring block and wireless power coil are arranged
On first circuit board, wireless power receiving part is arranged on the second circuit board, to realize the purpose of wireless power, one can
To improve service life, two can simplify structure.
Further, as shown in figure 1, through hole can be provided with the second circuit board 13.The through hole and the drive division
The outline adaptation of part.The rotary shaft 101 of the driver part stretches out the through hole.Using the structure, can cause whole
The structure of barrier detecting apparatus is compacter.
In actual applications, the driver part 10 can directly from but be not limited to：Motor, servomotor etc.
Deng.Or, the driver part 10 includes motor and speed adjusting gear；The rotary drive input of motor and the high speed of speed adjusting gear
Incoming end connects, the rotary drive output of the low speed outfan of the speed adjusting gear as the driver part.By to institute
Stating speed adjusting gear carries out speed governing setting, and the rotary speed of the rotary drive output of driver part can be adjusted.
Exploring block 12 in above-described embodiment can be but not limited to：Infrared-reflectance sensors, laser sensor etc..
Technical scheme provided in an embodiment of the present invention is suitable to from the sensor using light as detection medium carry out the detection of barrier.
The first circuit board 11, second circuit board 13 can select printed circuit board (PCB) (printed circuit board, PCB).Nothing
Line power coil 14 can be realized electrically connecting by the wiring on printed circuit board (PCB) with exploring block 12.Wireless power receiving part 15
Power supply is connected by second circuit board 13, and the electric energy that power supply is provided is converted to into magnetic energy, with the wireless power receiving part
Magnetic energy is converted to electric energy by the 15 wireless power coils 14 being oppositely arranged, to provide work as each part on first circuit board 11
Voltage.
Further, said apparatus may also include：Timer (not shown).The timer is for the detection
The detection time of part carries out timing.The purpose for carrying out timing to the detection time of the exploring block is：Based on the detection
The rotary speed of the part clocking information of the timer and exploring block when barrier is detected, determines the obstacle
The orientation of thing.For example, rotary speed of the exploring block under the driving of driver part is 20 π rad/s；Exploring block is from start bit
Put rotation and start timing, it is assumed that it is 50ms that exploring block detects the clocking information of timer during barrier, then can obtain
To the angle rotated by exploring block relative starting position：20 π rad/s*50ms=π rad；Determine barrier orientation be with
On the direction of original position phase difference of pi rad angle.Wherein, original position can be manually set.
Need exist for illustrate be：The barrier detecting apparatus provided in above-mentioned and following embodiment may be mounted at any
On the equipment for needing carry out obstacle detection, such as on intelligent robot, or on sweeping robot etc..If the obstacle detection
Device is arranged on intelligent robot, above-mentioned timer can be a part in barrier detecting apparatus, or
A part in robot.
In a kind of attainable technical scheme, the meter of exploring block timer when barrier is detected is obtained
When information t and exploring block rotary speed w, you can obtain the angle of the detection direction relative starting position of current exploring block
Spend for Φ=t*w.The angle for now calculating is likely larger than described 360 degree (or 2 π), i.e., exploring block has turned ability after multi-turn
Detect barrier.Now it is determined that barrier orientation when can using deduct whole circle (n*360 or 2n π, n=1,2,3 ... from
Right number) mode calculated, for example, the angle for calculating is 380 degree, and the angle is deducted 1*360,20 degree are obtained；That
Can determine that barrier differs the direction at 20 degree of angles in the original position away from exploring block.Need exist for illustrate be：Calculate
To 20 degree be 20 degree from original position along clockwise direction, still 20 degree in the counterclockwise direction need to be by exploring block
Depending on direction of rotation.The direction of rotation of exploring block is determined by driver part, it is assumed that the direction of rotation of exploring block is suitable
Hour hands, then above-mentioned calculated 20 degree should be 20 degree from original position along clockwise direction.
In another kind of attainable technical scheme, can be in exploring block per being zeroed out to timer when turning a full circle.I.e.
The described device of above-mentioned offer can also be arranged：Zero-bit components of assays 16 and Zero positioning part 17.As shown in figure 1, zero-bit is determined
Part 16 is arranged on the first circuit board 11, with 12 synchronous rotary of the exploring block.Zero positioning part 17 is arranged
On the second circuit board 13.The zero-bit components of assays 16 is connected with the timer (not shown), the zero-bit
Components of assays 16 sends timing reset signal to the timer when detecting the Zero positioning part 17 in rotary course,
To be zeroed out to the timer.
In above-described embodiment and following embodiments, the zero-bit components of assays 16 can be realized using Hall element,
The Zero positioning part 17 can be realized using the magnetic magneticss of any tool.Certainly, only it is exemplary enumerating herein
Zero-bit components of assays and Zero positioning part are implemented, and the embodiment of the present invention is not especially limited to this.
The orientation of barrier can be determined by arranging timer based on detection time, is rung in order to make corresponding driving
Should；It is in order to clear i.e. to timer when exploring block rotation is full one week by arranging zero-bit components of assays and Zero positioning part
Zero once, to eliminate cumulative errors, improves the accuracy that orientation determines.If not carrying out a circle clearing, because the time is accumulative
Error of error and rotary speed etc. can cause the accuracy of final barrier fixing by gross bearings.
Further, the barrier detecting apparatus that above-described embodiment is provided can be provided with processor, to calculate away from barrier
Hinder the distance of thing and the orientation of barrier.Processor can send calculated distance and bearing to barrier detecting apparatus
The object installed, such as robot, by mounted object according to the distance and bearing, make corresponding response and (for example stop
Car, steering etc.).Or, processor is not provided with the barrier detecting apparatus, and wireless transmitter module 18 is set and is wirelessly connect
Receive module 19 (as shown in Figure 1).By arranging the detection of wireless transmitter module and wireless receiving module so that exploring block to be generated
Signal is sent to external equipment, determines the distance and bearing of barrier according to detectable signal by external equipment.Specifically, such as Fig. 1
Shown, the wireless transmitter module is communicated to connect with the wireless receiving module；The wireless receiving module, which is arranged on described
On second circuit board, for connecting external equipment；The wireless transmitter module, which is arranged on the first circuit board, and with
The exploring block connection, for the detectable signal for being received from the exploring block generation is sent out by the wireless receiving module
Go out.Wherein, the external equipment of wireless receiving module connection can be robot, or intelligent mobile dolly etc., the present invention is implemented
Example is not especially limited to this.For example, detectable signal is forwarded to by robot by the wireless receiving module, by robot root
Distance and the direction of barrier is calculated according to the detectable signal for receiving, and makes corresponding response (such as brake, steering etc.).
Fig. 2 shows the schematic diagram of the robot that one embodiment of the invention is provided.As shown in Fig. 2 the robot includes
The barrier detecting apparatus 21 being arranged in robot 20.Barrier detecting apparatus 21 may be provided at the highest order of robot 20
Put, to avoid a certain partial occlusion exploring block of robot.For example, obstacle detection can be filled by robot as shown in Figure 2
Put 21 crowns for being arranged on robot 20.
When being embodied as, the barrier detecting apparatus being previously mentioned in the present embodiment can be filled using above-mentioned obstacle detection
Put to realize.Here is omitted for the related content that the structure of the barrier detecting apparatus can be found in above-described embodiment.It is above-mentioned
In barrier detecting apparatus, driver part, second circuit board and each part being arranged on the second circuit board may be provided at
The inside of robot；First circuit board and be arranged on first circuit board each part (such as exploring block, without collimation method launch mould
Block, zero-bit components of assays) may be provided at the outside of robot.
The technical scheme that the present embodiment is provided, drives exploring block to carry out rotated detection by driver part, realizes complete
The detection in orientation, reduces the setting quantity of exploring block, simple structure；By arranging first circuit board and second circuit board,
So that exploring block and wireless power coil are arranged on first circuit board, wireless power receiving part is arranged on into second circuit
On plate, to realize the purpose of wireless power, one can improve service life, and two can simplify structure.
Fig. 3 illustrates the schematic diagram of the robot that another embodiment of the present invention is provided.As shown in figure 3, the robot includes：
Robot 30, driver part 31 and exploring block 32.Wherein, the driver part 31 is arranged in the robot 30, described
The rotary shaft of driver part is used for outputting rotary power.Exploring block 32 is arranged in the rotary shaft of the driver part 31, with
Detecting obstacles thing is rotated under the driving of the driver part.Wherein, the exploring block 32 and 30 communication link of the robot
Connect, for detectable signal is sent to the robot 30；The robot 30 is for according to the detectable signal for receiving
Determine the distance of barrier；The robot 30 is additionally operable to carry out the rotation of the exploring block timing, and according to the spy
The rotary speed of clocking information of the part 32 when barrier is detected and the exploring block 32 is surveyed, the barrier is determined
Orientation.
The technical scheme that the present embodiment is provided, drives exploring block to carry out rotated detection by driver part, realizes complete
The detection in orientation, reduces the setting quantity of exploring block, simple structure.
Need exist for illustrate be：Driver part described in the present embodiment and the exploring block can adopt above-described embodiment
In corresponding construction realize, specifically can be found in the content in above-described embodiment, here is omitted.
The schematic flow sheet of the obstacle detection method that Fig. 4 is provided for one embodiment of the invention.As shown in figure 4, this enforcement
The methods described that example is provided, including：
101st, obtain exploring block and detect the detectable signal generated during barrier.
Wherein, as shown in figure 1, the exploring block 12 is arranged in the rotary shaft 101 of driver part 10, and in the drive
Rotary speed under the driving of dynamic component 10 according to the rotary shaft 101 rotates, with detecting obstacles thing；
102nd, according to the detectable signal, determine the distance of barrier.
If the 103, the distance is less than minimum safe distance, the detection time of the exploring block and the rotation is obtained
Speed.
104th, according to the detection time and the rotary speed, determine the orientation of the barrier.
Embodiment shown in Fig. 4 can be realized using the device that the various embodiments described above are provided.
In above-mentioned 101 and 102, exploring block can be but not limited to：Infrared-reflectance sensors, laser sensor etc..
Hypothesis exploring block is infrared-reflectance sensors, and which includes a solid state light emitting diode that can launch infrared light and a use
Make the solid-state light sensitive diode (or phototriode) of receptor.The infrared signal that infrared-reflectance sensors send, the signal
Break the barriers and be reflected back infrared-reflectance sensors；The distance of barrier just can determine that based on duration used by backspace signal.Swash
The operation principle of optical sensor is similar to, and here is omitted.
Minimum safe distance described in above-mentioned 103 is a default value, and the default value can artificially rule of thumb be obtained
Arrive.Or, the minimum safe distance is one according to the calculated value of practical application scene.For example, detection is installed
Moving body (such as robot) translational speed of part is variable motion；Now need to be determined according to the current translational speed of moving body
The minimum safe distance.Moving body translational speed is fast, and its braking distance is long, therefore corresponding minimum safe distance is just long；Move
Kinetoplast translational speed is slow, and its braking distance is short, therefore corresponding minimum safe distance is just short.What i.e. above-described embodiment was provided is described
Method, the step of may also include determining that minimum safe distance.The step of this determines minimum safe distance may include：Obtain the shifting
The speed that kinetoplast is moved to the barrier；Obtain the braking distance of the moving body；When obtaining the blind area of the exploring block
Between；According to the speed, the braking distance and the blind area time, the minimum safe distance is determined.Certainly, above-mentioned minimum
Safe distance also dependent on moving body maximum translational speed determining；And the result determined is worth by default.
Further, the obstacle detection method that above-described embodiment is provided may also include the steps of：
If the exploring block rotation full is enclosed, the detection time is reset with reclocking.
In the specific implementation, determine whether exploring block rotation is expired a circle and can be realized in the following way：
Mode one, the rotary speed according to exploring block and detection time, calculate exploring block current rotary position and rise
Angle between beginning position is determining whether the exploring block rotates a full circle.
Mode two, the zero testing part with exploring block synchronous axial system by arranging, and it is arranged on the zero-bit
Zero positioning part in detection part rotating range；When the zero-bit components of assays detects the zero-bit in rotary course
Timing reset signal is sent to the timer when demarcating part, to be zeroed out to the timer.If not carrying out a circle
Reset, because the cumulative errors of time, and the error of rotary speed etc. can cause the accuracy of final barrier fixing by gross bearings.
Cumulative errors mentioned above can be reduced by arranging zero-bit components of assays and Zero positioning part, the accurate of orientation determination is improved
Property.
Need exist for supplement be：Obstacle detection method provided in an embodiment of the present invention can be carried using the various embodiments described above
For barrier detecting apparatus, robot to be realizing.
It should be noted that：The executive agent of each step of the provided method of above-described embodiment may each be same equipment,
Or, the method is also by distinct device as executive agent.Such as, the executive agent of step 101 to step 103 can be equipment
A；Again such as, step 101 and 102 executive agent can be device A, and the executive agent of step 103 can be equipment B；Etc..
Device embodiment described above is only schematic, and the wherein described unit as separating component explanation can
To be or may not be physically separate, as the part that unit shows can be or may not be physics list
Unit, you can local to be located at one, or can also be distributed on multiple NEs.Which is selected according to the actual needs can
In some or all of module realizing the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
By software plus required general hardware platform mode realizing, naturally it is also possible to by hardware.Based on such understanding, on
State the part that technical scheme substantially contributes prior art in other words to embody in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each enforcement
Method described in some parts of example or embodiment.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
With reference to the foregoing embodiments the present invention has been described in detail, it will be understood by those within the art that：Which still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of barrier detecting apparatus, it is characterised in that include：
Driver part, the rotary shaft of the driver part are used for outputting rotary power；
First circuit board, which is arranged in the rotary shaft, to rotate under the driving of the driver part；
Exploring block, which is arranged on the first circuit board, and the first circuit board synchronous rotary, for detecting obstacles
Thing；
Second circuit board, is be arranged in parallel with the first circuit board；
Power supply part, for providing running voltage for the first circuit board, the exploring block and the second circuit board.
2. device according to claim 1, it is characterised in that
The second circuit board is provided with through hole；
The through hole is adapted to the outline of the driver part；
The rotary shaft of the driver part stretches out the through hole.
3. device according to claim 1 and 2, it is characterised in that also include：Timer；
The timer, carries out timing for the detection time to the exploring block, is visiting to be based on the exploring block
The rotary speed of the clocking information of the timer and the exploring block during barrier is measured, the side of the barrier is determined
Position.
4. device according to claim 3, it is characterised in that also include:
Zero-bit components of assays, which is arranged on the first circuit board, with the exploring block synchronous rotary；
Zero positioning part, which is arranged on the second circuit board；
Wherein, the zero-bit components of assays is connected with the timer, and the zero-bit components of assays is detected in rotary course
Timing reset signal is sent to the timer during Zero positioning part, to be zeroed out to the timer.
5. device according to claim 1 and 2, it is characterised in that also include：Wireless transmitter module and wireless receiving mould
Block；
The wireless transmitter module is communicated to connect with the wireless receiving module；
The wireless receiving module, which is arranged on the second circuit board, for connecting external equipment；
The wireless transmitter module, which is arranged on the first circuit board, and is connected with the exploring block, for receiving
The detectable signal generated from the exploring block is sent by the wireless receiving module.
6. a kind of robot, it is characterised in that include：
The barrier detecting apparatus being arranged in the robot；
The barrier detecting apparatus adopt barrier detecting apparatus any one of the claims 1 to 5.
7. a kind of robot, it is characterised in that include：
Driver part, which is arranged in the robot, and the rotary shaft of the driver part is used for outputting rotary power；
Exploring block, which is arranged in the rotary shaft, to rotate detecting obstacles thing under the driving of the driver part；
Wherein, the exploring block is connected with the robot communication, for detectable signal is sent to the robot；
The robot, for the distance for determining barrier according to the detectable signal for receiving；
The robot, is additionally operable to carry out the rotation of the exploring block timing, and is being detected according to the exploring block
The rotary speed of clocking information and the exploring block during barrier, determines the orientation of the barrier.
8. a kind of obstacle detection method, it is characterised in that include：
Obtain exploring block and detect the detectable signal generated during barrier, wherein, the exploring block is arranged on driver part
Rotary shaft on, and under the driving of the driver part according to the rotary shaft rotary speed rotate, with detecting obstacles thing；
According to the detectable signal, the distance of barrier is determined；
If the distance is less than minimum safe distance, the detection time of the exploring block and the rotary speed is obtained；
According to the detection time and the rotary speed, the orientation of the barrier is determined.
9. method according to claim 8, it is characterised in that also include：
If the exploring block rotation full is enclosed, the detection time is reset with reclocking.
10. the method according to right wants 8 or 9, it is characterised in that the exploring block is arranged on moving body；And
Methods described, also includes：
Obtain the speed that the moving body is moved to the barrier；
Obtain the braking distance of the moving body；
Obtain the blind area time of the exploring block；
According to the speed, the braking distance and the blind area time, the minimum safe distance is determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255202.6A CN106514673A (en) | 2016-12-30 | 2016-12-30 | Obstacle detecting device, robot and obstacle detecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255202.6A CN106514673A (en) | 2016-12-30 | 2016-12-30 | Obstacle detecting device, robot and obstacle detecting method |
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| Publication Number | Publication Date |
|---|---|
| CN106514673A true CN106514673A (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611255202.6A Pending CN106514673A (en) | 2016-12-30 | 2016-12-30 | Obstacle detecting device, robot and obstacle detecting method |
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| Country | Link |
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| CN (1) | CN106514673A (en) |
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| CN111708363A (en) * | 2020-06-08 | 2020-09-25 | 深圳市阳日电子有限公司 | Walking toy and control system thereof |
| CN113137940A (en) * | 2021-04-23 | 2021-07-20 | 歌尔股份有限公司 | Control method, device and equipment of electronic equipment and readable storage medium |
| CN113284490A (en) * | 2021-04-23 | 2021-08-20 | 歌尔股份有限公司 | Control method, device and equipment of electronic equipment and readable storage medium |
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| CN113284490A (en) * | 2021-04-23 | 2021-08-20 | 歌尔股份有限公司 | Control method, device and equipment of electronic equipment and readable storage medium |
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