Obstacle Detection Device Of Autonomous Mobile System

• US 20070293995A1
• Filed: 10/02/2006
• Published: 12/20/2007
• Est. Priority Date: 05/09/2006
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Sun, Yann-Shuoh, Yu, Hung-Hsiu, Chung, Yu-Liang, Hsu, Shao-Yu
• Granted Patent: US 7,577,499 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area

Abstract

The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

Claims

1. An obstacle detection device, adapted for detecting abnormalities of an autonomous mobile system, comprising:

a conducting wire;

a first unit, comprising a first conducting part electrically connected to an end of the conducting wire; and

a second unit, further comprising a second conducting part electrically connected to another end of the conducting wire other than that connecting to the first conducting part;

wherein, as an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

2. The obstacle detection device of claim 1, wherein a voltage source and a resistor are connected to the conducting wire.

3. The obstacle detection device of claim 1, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

stopping the moving of the autonomous mobile system, and enabling the autonomous mobile system to turn and head in a random direction.

4. An obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, comprising:

a conducting wire;

a pin, being arranged on a front bumper of the autonomous mobile system, further comprising a first conducting part electrically connected to an end of the conducting wire; and

a conducting plate, being arranged on a base of the autonomous mobile system, further comprising a second conducting part electrically connected to another end of the conducting wire other than that connecting to the first conducting part;

wherein, as the autonomous mobile system collides with the obstacle, a reactive force will be generated to force the front bumper to press the pin while causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision.

5. The obstacle detection device of claim 4, wherein a voltage source and a resistor are connected to the conducting wire.

6. The obstacle detection device of claim 4, wherein a pin bearer, having a pin hole boring therethrough for receiving the pin, is arranged at a position between the pin and the conducting plate

7. The obstacle detection device of claim 6, wherein the first conducting part of the pin is enabled to move reciprocatively inside the pin hole while the pin is inserted into the pin hole, and the second conducting part of the base is aligned to the pin hole for enabling the first conducting part can be moved to come into contact with the second conducting part.

8. The obstacle detection device of claim 4, wherein a spring is arranged between the pin and the conducting plate in a manner that the elastic force of the spring can be used for enabling the pin to move reciprocatively.

9. The obstacle detection device of claim 8, wherein the spring is an article selected from the group consisting of a compression spring, a tension spring, a plate spring, and a torsion spring.

10. The obstacle detection device of claim 4, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

stopping the moving of the autonomous mobile system, and enabling the autonomous mobile system to turn and head in a random direction.

11. An obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, comprising:

a conducting wire;

a first reed, being arranged on a front bumper of the autonomous mobile system, further comprising a first conducting part electrically connected to an end of the conducting wire; and

a second reed, being arranged on a base of the autonomous mobile system, further comprising a second conducting part electrically connected to another end of the conducting wire other than that connecting to the first conducting part;

wherein, as the autonomous mobile system collides with the obstacle, a reactive force will be generated to force the front bumper to press the first reed while causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision.

12. The obstacle detection device of claim 11, wherein a voltage source and a resistor are connected to the conducting wire.

13. The obstacle detection device of claim 11, wherein an end of the first reed is connected to a side of an insulating plate while another side of the insulating plate is connected to an end of the second reed.

14. The obstacle detection device of claim 11, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

stopping the moving of the autonomous mobile system, and enabling the autonomous mobile system to turn and head in a random direction.

15. An obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, comprising:

a conducting wire;

a spring, having two ends thereof respectively affixed to a front bumper and a frame of the autonomous mobile system; and

a limit switch, being arranged at the frame of the autonomous mobile system while connecting the two ends thereof respectively to two ends of the conducting wire;

wherein, as the autonomous mobile system collides with the obstacle, a reactive force will be generated by the spring to force the front bumper to press a reed of the limit switch so as to enable an electrical conduction of the limit switch and thus enable the limit switch to issue an electrical signal to the control unit of the autonomous mobile system for enabling the autonomous mobile system to react with respect to the collision.

16. The obstacle detection device of claim 15, wherein a voltage source and a resistor are connected to the conducting wire.

17. The obstacle detection device of claim 15, wherein two protrusions are respectively arranged at the two ends of the inner side of the front bumper for enabling the two to press upon the reed of the limit switch so as to activate the electrical conduction of the limit switch.

18. The obstacle detection device of claim 15, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

enabling the autonomous mobile system to stop moving backward, and enabling the autonomous mobile system to turn and head in a random direction.

19. An obstacle detection device, adapted for detecting whether an autonomous mobile system is missing a step, comprising:

a conducting wire;

a telescopic rod, being arranged on a base of the autonomous mobile system, further comprising a first conducting part electrically connected to an end of the conducting wire while being coupled to a roller of the autonomous mobile system so as to be driven to move thereby; and

a sensing seat, being arranged on a frame of the autonomous mobile system, further comprising a second conducting part electrically connected to another end of the conducting wire other than that connecting to the first conducting part;

wherein, as the autonomous mobile system misses a step enabling the roller to hang in the air, the a telescopic rod is enabled to extend causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the missing of step.

20. The obstacle detection device of claim 19, wherein a voltage source and a resistor are connected to the conducting wire.

21. The obstacle detection device of claim 19, wherein a spring is arranged surrounding the telescopic rod.

22. The obstacle detection device of claim 19, wherein the spring is an article selected from the group consisting of a compression spring, a tension spring, a plate spring, and a torsion spring.

23. The obstacle detection device of claim 19, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

enabling the autonomous mobile system to start moving backward, and enabling the autonomous mobile system to turn and head in a random direction.

24. The obstacle detection device of claim 21, wherein the first conducting part is separated from the second conducting part for breaking the electrical conduction between the two as the spring is being pressed by a pressing force, and the first conducting part is driven to contact with the second conducting part for enabling the electrical conduction as the spring is relieved from the pressing force.

25. An obstacle detection device, adapted for detecting whether an autonomous mobile system is missing a step, comprising:

a conducting wire; and

a photo interrupter, arranged at the front of a frame of the autonomous mobile system while connecting the two ends thereof respectively to two ends of the conducting wire;

wherein, as the autonomous mobile system is missing a step, the photo interrupter is activated and electrically conducted for enabling the same to issue an electric signal to a control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the missing of step.

26. The obstacle detection device of claim 25, wherein a voltage source and a resistor are connected to the conducting wire.

27. The obstacle detection device of claim 25, wherein the reaction performed by the autonomous mobile system can be one action selected from the group consisting of:

enabling the autonomous mobile system to start moving backward, and enabling the autonomous mobile system to turn and head in a random direction.