SAFETY PROTECTION METHOD OF DYNAMIC DETECTION FOR MOBILE ROBOTS

• US 20180333869A1
• Filed: 10/08/2016
• Published: 11/22/2018
• Est. Priority Date: 10/08/2016
• Status: Active Grant

• Current Assignee: Zhejiang Guozi Robot Technology Co., Ltd.
• Original Assignee: Zhejiang Guozi Robot Technology Co., Ltd.
• Inventors: Ding, Meng, Tao, Yikun, Wang, Xia, Mi, Xudong, Zhu, Lingfen, Zheng, Hongbo, Du, Xinfeng, Shen, Jizhong
• Granted Patent: US 10,723,029 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/31002 Computer controlled agv conveys workpieces between buffer and cell
• CPC Class Codes: G05B 2219/50393 Floor conveyor, AGV automatic guided vehicle
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The present invention discloses a safety protection method of dynamic detection for mobile robots. The mobile robot is provided with a sensor. Said sensor obtains the obstacle information in the detection areas in front of a mobile robot, and the mobile robot is caused to progressively slow down and dynamically adjust the detection area when an obstacle appears in the detection area. If no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving, and if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until they are stopped. The sensor sets different detection areas according to the traveling speed and traveling direction of the mobile robot, or presets the detection area according to the path and dynamically adjusts it when the mobile robot is running. The safety protection method of dynamic detection for mobile robots of the present invention enables a mobile robot to pass through a path with many obstacles, having good capability of anti-interference and meanwhile ensuring the consistency of the detection range and processing mechanism at curved and linear paths.

Claims

1. A safety protection method of dynamic detection for mobile robots, wherein a mobile robot is provided with a sensor obtaining obstacle information in a detection area in front of the mobile robot, causing the mobile robot to progressively decelerate when an obstacle appears in the detection area, and the detection area is dynamically adjusted;

if no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving;

if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until it stops.

2. The safety protection method of dynamic detection for mobile robots according to claim 1, wherein the detection area is divided into a stop zone that is close to the mobile robot and a deceleration zone in front of the stop zone.

3. The safety protection method of dynamic detection for mobile robots according to claim 1, wherein dynamically adjusting the detection area comprises progressively decreasing the area of the detection area of the sensor.

4. The safety protection method of dynamic detection for mobile robots according to claim 3, wherein the progressively decreasing of the area of the detection area of the sensor is a proportional decreasing.

5. The safety protection method of dynamic detection for mobile robots according to claim 4, wherein the maximum detection width of the detection area vertical to the direction of movement of the mobile robot is greater than the width of the mobile robot.

6. The safety protection method of dynamic detection for mobile robots according to claim 1, wherein, when the mobile robot is in a turning status, the direction, curvature and shape of the detection area are adjusted according to the traveling direction and the magnitude of the angular velocity of the mobile robot.

7. The safety protection method of dynamic detection for mobile robots according to claim 1, wherein there are a plurality of sensors, each provided with different detection distances, the mobile robot dynamically adjusting the detection area by switching the combination pattern of the sensors.

8. The safety protection method of dynamic detection for mobile robots according to claim 7, wherein said sensors comprise photoelectric sensors and/or laser sensors and/or visual sensors and/or ultrasonic sensors.

9. The safety protection method of dynamic detection for mobile robots according to claim 1, wherein the mobile robot presets the parameters of the detection area of different sections of a path according to the condition of the path.

10. A safety protection method of dynamic detection for mobile robots, wherein the mobile robot is provided with a sensor for obtaining the obstacle information in a detection area in front of the mobile robot, said sensor is provided with different detection areas according to the traveling speed and traveling direction of the mobile robot.