CN109454655A - A kind of robot collision avoidance system and method based on multisensor - Google Patents
A kind of robot collision avoidance system and method based on multisensor Download PDFInfo
- Publication number
- CN109454655A CN109454655A CN201811482413.2A CN201811482413A CN109454655A CN 109454655 A CN109454655 A CN 109454655A CN 201811482413 A CN201811482413 A CN 201811482413A CN 109454655 A CN109454655 A CN 109454655A
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- China
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- robot
- sliding part
- sensor
- reset spring
- multisensor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot collision avoidance system based on multisensor, belongs to sensor field, and including robot and several sensors being mounted in robot, several sensors are mounted in the different direction of robot；Sensor includes shell, sliding part, reset spring and pressure-detecting device；Shell is mounted in the robot；Sliding part is slidably connected on shell, and one end that sliding part stretches out shell, which is equipped with, holds the portion of hitting, and holds the portion of hitting as spherical shape；The both ends of reset spring are connected to shell, on sliding part, and the telescopic direction of reset spring and the glide direction of sliding part are identical, and reset spring is for resetting sliding part；For pressure-detecting device between reset spring and sliding part, pressure-detecting device is used to detect the elastic force of reset spring；The connection of the control system of pressure-detecting device and robot.The present invention can learn direction and the dynamics of collision in time, in order to which robot adjusts in time.
Description
Technical field
The present invention relates to sensor field, in particular to a kind of robot collision avoidance system and side based on multisensor
Method.
Background technique
With the development of science and technology either manufacturing industry the factory robot or common civilian robot that use, all get over
It comes into operation come more；In these robots, includes a large amount of mobile humanoid robot, need automatic moving.
But robot is not biology after all, and haptic system is not present, robot perception environment is mainly still relied on and is taken the photograph
As head.But there are biggish vision quadrangles for camera.Therefore, robot is in moving process, it is easy to or actively or by
Dynamic collides with other objects, causes impaired outside robot；Meanwhile and because the machine in vision dead zone occurs for collision
Device people can not know to collide immediately, will continue to execute shift action, until dynamical system is crossed and is loaded onto threshold values or triggers other
When alert program, machine talent conference converts track route, and the wheel efficiency that this will lead to robot is low.
Summary of the invention
Robot of the existing technology collide post-process it is not prompt enough cause damage aiming at the problem that, it is of the invention
It is designed to provide a kind of robot collision avoidance system based on multisensor.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of robot collision avoidance system based on multisensor, if including robot and being mounted in the robot
Dry sensor, several described sensors are mounted in the different direction of the robot；The sensor includes shell, cunning
Dynamic portion, reset spring and pressure-detecting device；The shell is mounted in the robot；The sliding part is slidably connected at institute
It states on shell, one end that sliding part stretches out shell is equipped with the portion of hitting of holding, and spherical shape is in the portion of hitting of holding；The both ends of the reset spring point
It is not connected to the shell, on the sliding part, the glide direction phase of the telescopic direction of the reset spring and the sliding part
Together, the reset spring is for resetting the sliding part；The pressure-detecting device is located at the reset spring and the cunning
Between dynamic portion, the pressure-detecting device is used to detect the elastic force of the reset spring；The pressure-detecting device and the machine
The control system of device people connects.
Preferably, the sensor at least there are three, at least three sensor sliding part glide direction difference
It is parallel to three axis of the same cartesian coordinate system.
Further, guide rod is equipped in the reset spring, the guide rod installs the sliding on the housing
Portion is equipped with pilot hole compatible with the guide rod.
Further, adjustment portion, the glide direction of the adjustment portion and the reset bullet are slidably connected on the shell
The telescopic direction of spring is identical, and the adjustment portion is locked by lock-screw, and the reset spring is mounted in the adjustment portion.
The invention also discloses a kind of robot collision-proof method based on multisensor, comprising the following steps:
The installation site of each sensor in step 1, acquisition robot；
Step 2, according to the number of the pressure-detecting device on each sensor of traffic direction and acceleration calculation of robot
Value, is denoted as evaluation；
Step 3, robot acquire the real time value of pressure-detecting device on each sensor, are denoted as measured value；
Step 4, the control system of robot analyze the evaluation in step 2 with the measured value in step 3
Processing, and obtain direction and dynamics that whether robot collides and collide.
Further, in step 4, when the evaluation is identical as the measured value, judge that robot is not sent out
Raw collision；When the evaluation and the measured value difference, judge that robot collides.
Further, in step 4, the control system of robot is calculated by the difference of measured value and evaluation and is passed
The stress condition of sensor further according to the Impact direction and size of the resultant force calculating robot of all the sensors stress, and then obtains
The direction of collision and dynamics.
By adopting the above technical scheme, since the spherical in shape of sliding part outer end setting holds the portion of hitting, so that object direct collision
Make on a sensor, then no matter external force is exerted one's influence to holding the portion of hitting in which direction, and sliding part can be pressurized sliding, so that
Robot is quickly learnt, and then is evaded adjusting with route in time；It is multiple and the sensor that is distributed in different direction to set
It sets, so that the method for the resultant force by the elastic force for calculating multiple reset springs, external force that robot is subject to can be calculated and led
Whether priming power is consistent, and then can judge the direction for whether colliding and colliding and dynamics, and then is advised in time
It keeps away and is adjusted with route.
Detailed description of the invention
Fig. 1 is schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of sensor in the present invention.
In figure: 1- shell, 2- sliding part, 3- reset spring, 4- hold the portion of hitting, 5- pressure-detecting device, 6- adjustment portion, 7- lock
Tight screw, 8- guide rod, 9- robot, 10- sensor.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, a kind of robot collision avoidance system based on multisensor, including robot 9 and it is mounted on machine
Several sensors 10 on people 9, several sensors 10 are mounted in the different direction of robot 9.
Sensor 10 includes shell 1, sliding part 2, reset spring 3 and pressure-detecting device 5；Shell 1 is mounted on robot
On, shell 1 exists as shell and carrier；
Sliding part 2 is slidably connected on shell 1, and one end that sliding part 2 stretches out shell 1, which is equipped with, holds the portion of hitting 4, holds the portion of hitting 4
Outer rim is spherical in shape, in order to which the barrier to all directions is evaded and is decomposed；
The both ends of reset spring 3 are connected to shell 1, on sliding part 2, the telescopic direction and sliding part 2 of reset spring 3
Glide direction it is identical, reset spring 3 for make sliding part 2 be pressurized sliding after reset；
Pressure-detecting device 5 is connect with the control system of robot 9, and pressure-detecting device 5 is mounted on reset spring 3 and slides
Between dynamic portion 2, pressure-detecting device 5 is used to detect the elastic force of reset spring 3, and in the present embodiment, pressure-detecting device 5 is pressure
Sensor.
In the present embodiment, there are three sensors 10, and the glide direction of 10 sliding parts 2 is respectively parallel on three sensors
Three axis of the same cartesian coordinate system.
Meanwhile in order to adjust sliding part 2 to the sensitivity of external force, in the present embodiment, adjusting is slidably connected on shell 1
The glide direction in portion 6, adjustment portion 6 is identical as the telescopic direction of reset spring 3, and adjustment portion 6 is locked by lock-screw 7, resets
Spring 3 is mounted in adjustment portion 6.
In use, adjusting the position of adjustment portion 6 by lock-screw 7 first, suitable preload is set for reset spring 3
Power；When object, which directly touches, holds the portion 4 of hitting, the spherical portion of hitting 4 of holding has that slides into shell 1 to become under external force
Gesture, the pretightning force for making sliding part 2 overcome reset spring 3 are slided, displacement of the pressure-detecting device 5 by detection sliding part 2, machine
By analyzing, the displacement learns itself to the control system of people, where hit.
When external force does not directly touch sensor 10, then robot 9 judges whether to touch by another set of method
It hits, a kind of robot collision-proof method based on multisensor as follows, comprising the following steps:
The installation site of each sensor in step 1, acquisition robot；
Step 2, according to the number of the pressure-detecting device on each sensor of traffic direction and acceleration calculation of robot
Value, is denoted as evaluation；
Step 3, robot acquire the real time value of pressure-detecting device on each sensor, are denoted as measured value；
Step 4, the control system of robot analyze the evaluation in step 2 with the measured value in step 3
Processing, and obtain direction and dynamics that whether robot collides and collide.
In step 4, when the evaluation is identical as the measured value, judge that robot does not collide；When
When the evaluation and the measured value difference, judge that robot collides.
In step 4, the control system of robot by the difference of measured value and evaluation calculate sensor by
Power situation further according to the Impact direction and size of the resultant force calculating robot of all the sensors stress, and then obtains the side of collision
To and dynamics
Certainly, in actual use, because also there is acceleration in robot itself, control system can be according to the vertical meter of displacement
The stress condition of reset spring 3, then the acceleration by comparing itself are calculated, judges whether it is to be hit, if so, then carrying out phase
The avoiding action answered, if not, moving on.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (7)
1. a kind of robot collision avoidance system based on multisensor including robot and is mounted on several in the robot
A sensor, it is characterised in that: several described sensors are mounted in the different direction of the robot；The sensor packet
Include shell, sliding part, reset spring and pressure-detecting device；The shell is mounted in the robot；The sliding part is sliding
On the housing, one end that sliding part stretches out shell is equipped with the portion of hitting of holding, and spherical shape is in the portion of hitting of holding for dynamic connection；The reset bullet
The both ends of spring are connected to the shell, on the sliding part, the telescopic direction of the reset spring and the sliding part
Glide direction is identical, and the reset spring is for resetting the sliding part；The pressure-detecting device is located at the reset bullet
Between spring and the sliding part, the pressure-detecting device is used to detect the elastic force of the reset spring；The pressure detecting dress
It sets and is connect with the control system of the robot.
2. the robot collision avoidance system according to claim 1 based on multisensor, it is characterised in that: the sensor
There are three at least, the glide direction of sliding part is respectively parallel to the same cartesian coordinate system at least three sensor
Three axis.
3. the robot collision avoidance system according to claim 1 based on multisensor, it is characterised in that: the reset bullet
Guide rod is equipped in spring, on the housing, the sliding part is equipped with and is adapted with the guide rod for the guide rod installation
Pilot hole.
4. the robot collision avoidance system according to claim 1 based on multisensor, it is characterised in that: on the shell
Adjustment portion is slidably connected, the glide direction of the adjustment portion is identical as the telescopic direction of the reset spring, the adjustment portion
It is locked by lock-screw, the reset spring is mounted in the adjustment portion.
5. a kind of robot collision-proof method based on multisensor, it is characterised in that: the following steps are included:
The installation site of each sensor in step 1, acquisition robot；
Step 2, according to the numerical value of the pressure-detecting device on each sensor of traffic direction and acceleration calculation of robot, note
For evaluation；
Step 3, robot acquire the real time value of pressure-detecting device on each sensor, are denoted as measured value；
Evaluation in step 2 is analyzed and processed by step 4, the control system of robot with the measured value in step 3,
And obtain direction and dynamics that whether robot collides and collide.
6. the robot collision-proof method according to claim 5 based on multisensor, it is characterised in that: in step 4,
When the evaluation is identical as the measured value, judge that robot does not collide；When the evaluation with it is described
When measured value difference, judge that robot collides.
7. the robot collision-proof method according to claim 6 based on multisensor, it is characterised in that: in step 4,
The control system of robot calculates the stress condition of sensor by the difference of measured value and evaluation, further according to all biographies
The Impact direction and size of the resultant force calculating robot of sensor stress, and then obtain direction and the dynamics of collision.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482413.2A CN109454655A (en) | 2018-12-05 | 2018-12-05 | A kind of robot collision avoidance system and method based on multisensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482413.2A CN109454655A (en) | 2018-12-05 | 2018-12-05 | A kind of robot collision avoidance system and method based on multisensor |
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| Publication Number | Publication Date |
|---|---|
| CN109454655A true CN109454655A (en) | 2019-03-12 |
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ID=65612513
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811482413.2A Withdrawn CN109454655A (en) | 2018-12-05 | 2018-12-05 | A kind of robot collision avoidance system and method based on multisensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211521A (en) * | 2021-12-23 | 2022-03-22 | 上海交大智邦科技有限公司 | Robot gripper system and method for improving control precision stability thereof |
-
2018
- 2018-12-05 CN CN201811482413.2A patent/CN109454655A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211521A (en) * | 2021-12-23 | 2022-03-22 | 上海交大智邦科技有限公司 | Robot gripper system and method for improving control precision stability thereof |
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Application publication date: 20190312 |
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