U60039 六、發明說明： 特別是關於一種用以使移 之防撞結構。 【發明所屬之技術領域】 本發明係與防撞結構相關， 動裝置在碰到障礙物時改變方向 【先前技術】 U科技精的發展與進步，過去在電影 替人類服務的畫面或是機器人與人類共處 ^U60039 VI. Description of the invention: In particular, it relates to an anti-collision structure for moving. [Technical Field] The present invention relates to an anti-collision structure, and the moving device changes direction when encountering an obstacle. [Prior Art] U-tech development and progress, in the past, in the film for human service or robot and Human coexistence ^
現的夢想。近年來，智慧型機器人系統已被廣=== 廠=動化、醫院自動化、博物館導覽、外科手術辅助系统、 太工探險、軍事應用、家庭服務、辦公室服務、娛樂用途、 甚至替代人類執行具危險性之任務。 μ 、 由於機器人被視為下—世代的新興產業，許多公司分 別杈入大里貝源進行機器人的研發與產品開發，使得眾多 不之機器人產品陸續問世’例如用於與人類作伴之 機器寵物及用於打掃家裡之清潔性機^人等。然而，不論 是構造複雜之工業用機器人，亦或是結構相對簡單之家用™ 小型機杰人皆需設有感測元件，以利機器人之活動並避免 機器人與障礙物之間產生衝撞，造成損害。 叩貝且結構袓雜之機器人，通常係同時採用多種 感測器以讓其能準確偵測障礙物並避免衝撞。舉例而言， Honda自行研發之ASIM〇機器人即採用了頭部視覺感測 器與地面感測器進行障礙物之偵測，規劃出另一行進路線 以繞過障礙物並達到目的地。另外，市面上亦有許多一般 豕庭可負擔得起之家用機器人，例如由Electrolux所製造 4 1360039The present dream. In recent years, intelligent robotic systems have been widely implemented === factory=moving, hospital automation, museum tours, surgical aids, labor exploration, military applications, home services, office services, entertainment, and even human execution. A dangerous task. μ, because robots are regarded as the next generation-generation of emerging industries, many companies have entered the Dalibei source for robot research and development and product development, making many non-robot products come out one after another, such as machine pets for human beings and It is used to clean the cleaning machine at home. However, whether it is a complex industrial robot or a relatively simple structure, the home TM small machine needs to have sensing components to facilitate the robot's activities and avoid collisions between the robot and the obstacles, causing damage. . Mussels and noisy robots usually use multiple sensors at the same time to allow them to accurately detect obstacles and avoid collisions. For example, Honda's self-developed ASIM〇 robot uses head vision sensors and ground sensors to detect obstacles and plan another route to bypass obstacles and reach their destination. In addition, there are many household robots that are generally affordable in the market, such as those manufactured by Electrolux 4 1360039
Tnlobite吸塵器機器人。其係利用超音波感測器，藉由 超音波之發射與接收達到偵測並避開障礙物之目的。然 而，上述之視覺感測器、冑音波感測器或紅外線感測器雖 能有效_並避開障礙物’但卻具有高成本及結構複雜之 缺點，而當機器人因速度過快使得感測器無法及時做出反 應從而撞上障礙物時，亦無法提供緩衝的作用。 讓機器人有效情測並避開障礙物之其它方法包含利用 紅外線訊號或採用安全磁條構築虛擬牆壁，此方法雖能限 ♦制機器人之行動，使其避開已知障礙物，但卻無法有效避 開移動障礙物（如猶、狗、人類等），且使用上亦相當不便。 雖然目前市面上所販售之家用機器人為了降低碰撞之 損傷大多設有保險桿（bu帅er)，例如iR〇b〇t所開發之 Roomba吸塵器機器人及—洗地機器a，但其通常僅 設置於機器人前方’因而當機器人轉彎或後退使其兩側或 後方發生碰撞時將無法提供緩衝保護。此外，由於保險桿 通常係搞合至觸碰感測器，因此假使機器人 之處未設有保險桿，上述感測器將不會被觸發，而需藉: 其他感測裝置對碰撞做出反應。 ，導電膠粒與導電膠條係—種日益熱門的電路連接材 抖，由於其具有纖薄、輕巧、靈活性、可靠性及可挽曲之 優點，且不需要焊接即可牢固的固定於元件上，以實現電 子凡件導通之特色，而被廣泛應用於遙控器、手機 型電腦、隨身聽等電子產品上。 < 有鑑於上述，本發明提出—種可使移動裝置（如機器人） 5 1360039 在碰到障礙物時改變方向之防撞結構，其具有在發生撞擊 時提供緩衝並轉向之效果、可以低成本之方式實施並可藉 由包覆於移動裝置之周圍而提供360度之緩衝保護。 【發明内容】 本發明之一目的係在於提供一種使移動裝置在碰到障 礙物時改變方向之防撞結構，其具有架構簡單及成本低廉 之優點。 本發明之另一目的係在於提供一種使移動裝置在碰到 •障礙物時改變方向之防撞結構，其可在移動裝置撞上障礙 物時提供緩衝’以將移動裝置之損害降至最低。 本發明之又一目的係在於提供一種使移動裝置在碰到 障礙物時改變方向之防撞結構，其可包覆於移動裝置之周 圍進而提供360度之緩衝保護。 依據本發明之一觀點，本發明係提供一種用於移動裝 置之防撞結構，可使移動裝置在碰到障礙物時改變方向。 上述防撞結構包含一基底、一彈性殼體及一導電端子。上 述基底具有複數導電板形成於其上，其中導電板係經由基 底耦合至一移動裝置之控制電路。上述彈性殼體係形成於 基底上，其内側形成一凸出之致動部，而致動部係與上述 導電板平行。導電端子係形成於致動部之底部但未與導電 板接觸。彈性殼體可在碰撞發生時提供緩衝，且碰撞所產 生之力將迫使致動部往下壓，使得致動部之導電端子與複 數導電板耦合’進而導通複數導電板並傳輸訊號至移動裝 置之控制電路’使其執行轉向之指令。 6 1360039 =據本發日月之另—觀點，本發日㈣係提供—種用於移 =裝置之防撞結構，可使移動裝置在碰到障礙物時改變方 體。f述：撞結構包含一基底、複數致動部及複數彈性殼 基底具有複數導電板形成於其上，其中導電板係 :由基底耦合至一移動裝置之控制電路。上述複數致動部 =形成於基底上，且具有相應之複數導電端子形成於其底 邛，其中複數致動部係與上述複數導電板平行，且上述複 數導電端子並未與複數導電板形成接觸。複數彈性殼體則 係形成於複數致動部上。彈性殼體可在碰撞發生時提供緩 衝，且碰撞所產生之力將迫使相應之致動部往下壓，使得 相應致動部之導電端子與複數導電板耦合，進而導通複數 導電板並傳輸訊號至移動裝置之控制電路，使其執行轉向 之指令。 【實施方式】 本發明將配合其較佳實施例與隨附之圖式詳述於下。 應可理解者為本發明中所有之較佳實施例僅為例示之用， 並非用已限制本發明。因此除文中之較佳實施例外，本發 明亦可廣泛地應用在其它實施例中。且本發明並不受限於 任何實施例，應以隨附之申請專利範圍及其同等領域而定。 參照第一圖，其係本發明之防撞結構之較佳實施例於 未發生碰撞時之剖面圖。防撞結構100包含一基底1〇2、 一彈性殼體104及一導電端子1Q6。如圖所示：複數導電 板108係形成於基底1〇2上方；彈性殼體104係形成於基 底102上，且彈性殼體1 〇4内側形成一凸出之致動部丨丨〇， 7 1360039 而致動部110係與導電板108平行；導電端子1〇6係形成 於致動部110底部，但未與導電板1〇8造成接觸。另外， 導電板108係經由基底102耦合至一移動裝置之控制電路 (未顯示於圖中）。 第二圖顯示出本發明之防撞結構之較佳實施例於發生 碰撞時之剖面圖。當碰撞發生時，可藉由彈性殼體1〇4提 供緩衝之功能，使得防撞結構1〇〇(及所連結之裝置）之損害 降至取低。此外，碰撞所產生之力將迫使致動部ιι〇向下 壓，使致動部110上之導電端子1〇6與複數導電板1〇8形 成耦合。如此一來，複數導電板108將被導通，進而傳輸 讯號至與其耦合之移動裝置的控制電路（未顯示），使其執 行轉向之指令。 〃 在若干實施例中，防撞結構之基底係採用可撓性基底 (例如矽膠或橡膠）’搭配彈性殼體，讓防撞結構可依需求 環繞或包覆於移動裝置（如機器人、小車或自走型玩具）周 春圍：另外，彈性殼體亦可因應移動裝置之外觀設計採用各 種形狀，如條狀、粒狀、柱狀、片狀、多角形、或不規則 在若干實施例中，可利用導電墊片（conductive pads) 或印刷電路（printed circuit)取代基底上之導電板。在若干 ::例中’致動部之導電端子係採用導電橡膠、低阻抗鋼 片或碳膜。 在若干實施例中，複數防撞結構亦可以陣列之方式排 列連結，形成一防撞膠塊或防撞膠條。參照第三、第=與 8 1360039 第五圖，錢本發明之防撞結構之另一較佳實施例之示意 圖。防撞結構200包含基底202、複數彈性殼體2〇4、複數 致動部210、上蓋212及複數固定件214。如圖所示：複數 導電板208係形成於基底202上方；複數致動部21〇係以 陣列之方式配置於基底202上，且致動部21〇底部更具有 相應之導電端子206，其中致動部21〇係與導電板2〇8平 行，而導電端子206未與導電板208形成接觸；複數彈性 殼體204係分別覆蓋於致動部21〇上；上蓋212則覆蓋於 •彈性殼體上204並藉由複數固定件2M將上蓋212、複數 彈性殼體204及複數致動部21〇固定於基底上2〇2(如第五 •圖所示）。另外導電板208係經由基底202耦合至一移動裝 置之控制電路（未顯示於圖中）。導電板2〇8係藉由受壓導 通而將控制訊號輸入至控制電路而執行指令。 當碰撞發生時，可藉由彈性殼體2〇4提供緩衝之功 能，使得防撞結構200(及所連結之裝置）之損害降至最低。 籲此外，碰撞所產生之力將迫使相應之致動部21〇向下壓， 使相應致動部210上之導電端子2〇6與複數導電板2〇8形 成耦合。此舉將導通複數導電板2〇8，進而傳輸訊號至與 其耦合之移動裝置的控制電路（未顯示），使其執行轉向之 指令。 在若干實施例中，彈性殼體、致動部與導電端子之組 合可以一體成形之導電膠粒方式實施。另外，亦可藉由串 接複數導電膠粒之方式形成導電膠條而加以實施。第六與 第七圖係本發明之導電膠條之實施例示意圖。如圖所示,，、 1360039 緣膠條3G2與位於其内側之導電膠片 =吏π裝置轉向之效果’由於其原理與上述:= 第八圖係本發明之防撞結構應用於一 圖。而第九與第十圖係本發明之防撞結構應詩二= 裝置之示意圖。由於本發明之㈣結構4Tnlobite vacuum cleaner robot. It uses an ultrasonic sensor to detect and avoid obstacles by transmitting and receiving ultrasonic waves. However, the above-mentioned visual sensor, acoustic wave sensor or infrared sensor can effectively and avoid obstacles', but has the disadvantages of high cost and complicated structure, and when the robot is too fast, the sensing is performed. When the device fails to respond in time and hits an obstacle, it does not provide a buffer. Other methods for allowing robots to effectively measure and avoid obstacles include using infrared signals or constructing virtual walls with safety magnetic strips. This method limits the action of robots to avoid known obstacles but is not effective. Avoid moving obstacles (such as juveniles, dogs, humans, etc.) and it is quite inconvenient to use. Although the home robots currently on the market mostly have bumpers (bu handsome er) for reducing collision damage, such as the Roomba vacuum cleaner robot developed by iR〇b〇t and the scrubbing machine a, they are usually only set. In front of the robot, it will not provide cushioning protection when the robot turns or retreats to cause collisions on either side or behind. In addition, since the bumper usually fits into the touch sensor, if the robot does not have a bumper, the sensor will not be triggered, but need to borrow: other sensing devices react to the collision . Conductive rubber particles and conductive adhesive strips - an increasingly popular circuit connection material, due to its slimness, light weight, flexibility, reliability and flexibility, it can be firmly fixed to components without soldering. In order to realize the characteristics of electronic parts conduction, it is widely used in electronic products such as remote controls, mobile computers, and walkmans. < In view of the above, the present invention proposes an anti-collision structure that allows a mobile device (e.g., robot) 5 1360039 to change direction when it hits an obstacle, which has the effect of providing cushioning and steering when an impact occurs, and can be low-cost The method is implemented and provides 360 degree buffer protection by being wrapped around the mobile device. SUMMARY OF THE INVENTION One object of the present invention is to provide an anti-collision structure for changing a direction of a mobile device when it encounters an obstacle, which has the advantages of simple structure and low cost. Another object of the present invention is to provide an anti-collision structure that causes the mobile device to change direction when it encounters an obstacle, which can provide cushioning when the mobile device hits an obstacle to minimize damage to the mobile device. It is still another object of the present invention to provide an anti-collision structure that redirects a mobile device when it encounters an obstacle, which can be wrapped around the mobile device to provide 360 degree cushioning protection. In accordance with one aspect of the present invention, the present invention provides an anti-collision structure for a mobile device that allows the mobile device to change direction when it encounters an obstacle. The anti-collision structure comprises a base, an elastic housing and a conductive terminal. The substrate has a plurality of conductive plates formed thereon, wherein the conductive plates are coupled to a control circuit of a mobile device via a substrate. The elastic housing is formed on the base, and a convex actuation portion is formed on the inner side thereof, and the actuation portion is parallel to the conductive plate. The conductive terminals are formed at the bottom of the actuator but are not in contact with the conductive plates. The elastic housing can provide cushioning when a collision occurs, and the force generated by the collision will force the actuation portion to press down, so that the conductive terminals of the actuation portion are coupled with the plurality of conductive plates to further conduct the plurality of conductive plates and transmit signals to the mobile device. The control circuit 'makes it to execute the steering command. 6 1360039 = According to the other point of this issue, this issue (4) provides an anti-collision structure for the mobile device that allows the mobile device to change its shape when it encounters an obstacle. f: The collision structure comprises a substrate, a plurality of actuators and a plurality of elastic shells. The substrate has a plurality of conductive plates formed thereon, wherein the conductive plates are: a control circuit coupled to the mobile device by the substrate. The plurality of actuation portions are formed on the substrate, and have corresponding plurality of conductive terminals formed on the bottom thereof, wherein the plurality of actuation portions are parallel to the plurality of conductive plates, and the plurality of conductive terminals are not in contact with the plurality of conductive plates . A plurality of elastic housings are formed on the plurality of actuators. The elastic housing can provide cushioning when a collision occurs, and the force generated by the collision will force the corresponding actuating portion to be pressed downward, so that the conductive terminals of the corresponding actuating portion are coupled with the plurality of conductive plates, thereby turning on the plurality of conductive plates and transmitting signals. The control circuit to the mobile device is caused to execute the steering command. [Embodiment] The present invention will be described in detail with reference to the preferred embodiments thereof and the accompanying drawings. It is to be understood that the preferred embodiments of the invention are merely illustrative and not intended to be limiting. Therefore, the present invention is also widely applicable to other embodiments, except for the preferred embodiments. The invention is not limited to any embodiment, but should be determined by the scope of the appended claims and their equivalents. Referring to the first figure, it is a cross-sectional view of a preferred embodiment of the crash structure of the present invention in the absence of a collision. The crash structure 100 includes a substrate 1 , an elastic case 104 , and a conductive terminal 1Q6 . As shown in the figure, a plurality of conductive plates 108 are formed on the substrate 1〇2; an elastic case 104 is formed on the substrate 102, and a convex actuating portion 形成 is formed inside the elastic case 1〇4, 7 1360039 and the actuation portion 110 is parallel to the conductive plate 108; the conductive terminals 1〇6 are formed at the bottom of the actuation portion 110, but are not in contact with the conductive plates 1〇8. Additionally, conductive plate 108 is coupled via a substrate 102 to a control circuit of a mobile device (not shown). The second figure shows a cross-sectional view of a preferred embodiment of the crash structure of the present invention in the event of a collision. When a collision occurs, the buffering function can be provided by the elastic casing 1〇4, so that the damage of the collision preventing structure 1 (and the connected device) is reduced to a low level. In addition, the force generated by the collision forces the actuator to be depressed, causing the conductive terminals 1〇6 on the actuator 110 to be coupled to the plurality of conductive plates 1〇8. As such, the plurality of conductive plates 108 will be turned "on" to transmit signals to the control circuitry (not shown) of the mobile device coupled thereto for commanding the steering.若干 In some embodiments, the base of the crash structure is made of a flexible substrate (such as silicone or rubber) with an elastic housing, so that the anti-collision structure can be wrapped around or wrapped around the mobile device (such as a robot or a trolley). Or self-propelled toy) Zhou Chunwei: In addition, the elastic housing may also adopt various shapes according to the design of the mobile device, such as strips, granules, columns, sheets, polygons, or irregularities in several embodiments. In the middle, the conductive pads on the substrate may be replaced by conductive pads or printed circuits. In some of the following examples, the conductive terminals of the actuator are made of conductive rubber, low-impedance steel or carbon film. In some embodiments, the plurality of anti-collision structures may also be arranged in an array to form a bumper or bumper strip. Referring to the third, third and eighth 1360039 fifth figures, a schematic view of another preferred embodiment of the crash structure of the present invention. The crash structure 200 includes a base 202, a plurality of resilient housings 2〇4, a plurality of actuators 210, an upper cover 212, and a plurality of fasteners 214. As shown in the figure, a plurality of conductive plates 208 are formed on the substrate 202; the plurality of actuating portions 21 are arranged in an array on the substrate 202, and the bottom of the actuating portion 21 has a corresponding conductive terminal 206, wherein The movable portion 21 is parallel to the conductive plate 2〇8, and the conductive terminal 206 is not in contact with the conductive plate 208; the plurality of elastic housings 204 are respectively covered on the actuation portion 21〇; the upper cover 212 is covered by the elastic housing The upper cover 204 and the plurality of elastic housings 204 and the plurality of actuating portions 21 are fixed to the base by a plurality of fixing members 2M (as shown in FIG. 5). In addition, conductive plate 208 is coupled via a substrate 202 to a control circuit (not shown) of a moving device. The conductive plates 2〇8 execute commands by inputting control signals to the control circuit by pressure conduction. When a collision occurs, the cushioning function can be provided by the resilient housing 2〇4 to minimize damage to the crash structure 200 (and the attached device). In addition, the force generated by the collision will force the corresponding actuating portion 21 to be pressed downward, so that the conductive terminals 2〇6 on the corresponding actuating portion 210 are coupled to the plurality of conductive plates 2〇8. This will turn on the plurality of conductive plates 2〇8, which in turn transmit signals to the control circuitry (not shown) of the mobile device coupled thereto for execution of the steering command. In some embodiments, the combination of the elastomeric housing, the actuation portion and the electrically conductive terminals can be implemented as integrally formed electrically conductive rubber pellets. Alternatively, the conductive strip may be formed by connecting a plurality of conductive beads in series. The sixth and seventh figures are schematic views of an embodiment of the conductive strip of the present invention. As shown in the figure, the effect of the 1360039 edge strip 3G2 and the conductive film located on the inner side of the 吏π device is due to the principle and the above: = the eighth figure is applied to the figure of the collision avoidance structure of the present invention. The ninth and tenth drawings are schematic diagrams of the anti-collision structure of the present invention. Due to the structure (4) of the present invention
㈣、橡膠等)實施，故可藉其可挽性圍燒於 外側(如圖所示)’使得移動裝置往任-方向_度)所發生 之碰撞均可得_衝，並使其做出轉向之㈣ :二中所示之防撞結構僅為較佳實施例，本發明』 、、，°構亦可以不同形式設置於其它移動裝置上。 上述敘述係本發明之較佳實施例。此領域之技蓺者應 得以領會其係用以說明本發明而非用以限定本發明所主張 之專利權利範圍。其專利㈣範圍當視後附之中請專利範 圍及其同等領域而定。凡熟悉此領域之技藝者，在不脫離 本專利精神範圍内，所作之更動或潤飾，均屬於本發明所 揭不精神下所完叙等效改變或設計，且應包含在下述之 申請專利範圍内。 【圖式簡單說明】 本發明可藉由說明書中若干較佳實施例及詳細钦述以 及後附圖式得以瞭解H此領域之技藝者應得以領會 所有本發明之較佳實施例侧以說明而非用以限制本發明 1360039 之申請專利範圍，其中： 第一圖係本發明之防撞結構之較佳實施例於未發生碰 撞時之剖面圖； 第一圖係本發明之防撞結構之較佳實施例於發生碰撞 時之剖面圖； 第三圖係本發明之防撞結構之另一較佳實施例之分解(4), rubber, etc.), so it can be used to make a collision with the outer side (as shown in the figure), which makes the mobile device go to the direction-direction _ degree, and can make it Steering (4): The anti-collision structure shown in the second embodiment is only a preferred embodiment, and the invention can be arranged in different forms on other mobile devices. The above description is a preferred embodiment of the invention. Those skilled in the art should be able to understand the invention and not to limit the scope of the patent rights claimed herein. The scope of the patent (4) is subject to the patent scope and its equivalent fields. Any changes or modifications made by those skilled in the art without departing from the spirit of the present invention are intended to be equivalent to changes or designs, and should be included in the following claims. Inside. BRIEF DESCRIPTION OF THE DRAWINGS The present invention can be understood by the following description of the preferred embodiments and the detailed description and the accompanying drawings. It is not intended to limit the scope of the patent application of the present invention, which is incorporated herein by reference. FIG. 1 is a cross-sectional view of a preferred embodiment of the anti-collision structure of the present invention in the absence of a collision; A cross-sectional view of a preferred embodiment in the event of a collision; and a third embodiment is an exploded view of another preferred embodiment of the anti-collision structure of the present invention
第四圖係第三圖之實施例的另一視角圖； 第五圖係第三圖與第四圖之防撞結構的結合示意圖； 第六圖係本發明之一較佳實施例的示意圖·， 第七圖係第六圖之實施例的另一視角圖； 第八圖係本發明之防撞結構應用於一移動裳置之示音 第九圖係本發明之防撞結構應用於另一移動裝置之示 第十圖係第九圖之實施例的另一視角圖。 【主要元件符號說明】 100防撞結構 102基底 104彈性殼體 106導電端子 108導電板 110致動部 200防撞結構 1360039 基底 彈性殼體 導電端子 導電板 致動部 上蓋 固定件 導電膠條 絕緣膠條 導電膠片 防撞結構The fourth drawing is another perspective view of the embodiment of the third figure; the fifth figure is a schematic view of the combination of the third and fourth anti-collision structures; and the sixth figure is a schematic view of a preferred embodiment of the present invention. 7 is another perspective view of the embodiment of the sixth figure; the eighth figure is the ninth figure of the anti-collision structure of the present invention applied to a mobile skirt; the anti-collision structure of the present invention is applied to another The tenth embodiment of the mobile device is another perspective view of the embodiment of the ninth diagram. [Main component symbol description] 100 anti-collision structure 102 substrate 104 elastic case 106 conductive terminal 108 conductive plate 110 actuating portion 200 anti-collision structure 1360039 base elastic case conductive terminal conductive plate actuating portion upper cover fixing member conductive rubber strip insulating rubber Strip conductive film anti-collision structure