JP2007253946A - Robot system, flapping device used for it and flapping flight controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot system or the like provided with a robot capable of being moved not depending on an obstacle or the like at an environment where existing human being acts. <P>SOLUTION: The robot system is provided with the robot 90 as a flapping device for performing flapping flight in a space existing with a fluid by flapping motion; an acceleration sensor 51 and an angular acceleration sensor 52 for obtaining acceleration and angular acceleration of the robot 90; and a base station as a flapping flight control device for controlling the form of the flapping flight of the robot 90. The base station controls the form of the flapping flight utilizing information of acceleration and information of angular acceleration obtained by the acceleration sensor 51 and the angular acceleration sensor 52. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot system, and more particularly, to a robot system using a flapping device that flutters and flies in a fluid by a wing launching operation and a downing operation, a flapping device used therefor, and a flapping flight control device.

In recent years, there has been a demand for robots that operate in human living environments. For example, as an example of a robot system, the 14th Annual Conference of the Robotics Society of Japan, Proceedings, Lecture No. 1M1-5-7 is equipped with sensors for various security purposes including infrared fire or intruder detection sensors. An office security robot has been announced.
The 14th Annual Conference of the Robotics Society of Japan, Proceedings, Lecture Number 1M1-5-7

  However, in homes and offices, conventional robots that move using wheels cannot move freely avoiding obstacles and do not have sufficient mobility. Was limited. Examples thereof will be described below.

  For example, the above-described security robot uses wheels having a diameter of about 40 cm as a moving mechanism. For this reason, both the width and the depth of the robot main body are about 60 cm in size, and a space of about 1 m in diameter is required for rotation. However, even with a robot of this size, the step that can actually be overcome is about 10 cm. That is, there is a disadvantage that only an area where there is no step of 10 cm or more within a radius of 50 cm can be guarded, and the use is limited to an office corridor. As a matter of course, since only the office corridor can be guarded, there is a problem that an intruder entering the office room through a window or the like cannot be found.

  In addition, since the gravity exceeds 100 kg, the maximum speed is only 0.5 m / sec due to safety restrictions in the event of a collision or falling, etc., resulting in poor mobility and very poor traveling efficiency. there were. However, if the wheels are made small for the purpose of weight reduction and good turning, it becomes impossible to get over an electric cord or a step of about several centimeters between rooms and between rooms and hallways. In other words, with conventional robots, robots with wheels that are large enough to overcome steps must be large and cannot be turned around, and guarding office rooms avoiding obstacles is as follows: Such a conventional robot was impossible.

  Further, since the security robot uses wheels to move, an elevator is necessary for movement to guard different floors, and a mechanism that allows the robot to operate the elevator needs to be added to the elevator. Furthermore, in order to guard the office room, it is necessary to add a mechanism to the door that allows the robot to operate the office door lock. For this reason, it was impossible to introduce it inexpensively and easily.

  In other words, the security robots that have been proposed in the past are very expensive to introduce, and even if they are introduced at a great cost, the range in which the robot can be guarded is limited to areas such as office corridors. In the end, the actual situation was that we could not get a merit that matched the cost.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a robot system using an apparatus that can be moved without being restricted by an obstacle even in an environment with many obstacles. A flapping apparatus and a flapping flight control apparatus are provided.

  In the above flapping apparatus, since the operation sound is loud and the housing is large, it is easy to be detected by an intruder, and the intruder does not enter a range where the robot can obtain information on the intruder using a camera or the like. It turns out that there is a problem that the intruder recognizes the robot, and that the intruder can fulfill the purpose while avoiding the security range of the robot.

  The present invention has been made to solve the above-described problems. Another object of the present invention is to provide a robot system including a flapping apparatus capable of quietly rising, a flapping apparatus used therefor, and flapping flight control. Is to provide a device.

  A robot system according to the present invention includes a flapping apparatus for flapping and flying in a space where a fluid exists by flapping motion, a flapping related physical quantity acquisition means for acquiring flapping related physical quantities related to flapping flight modes of the flapping apparatus, and a flapping apparatus And a flapping flight control device for controlling the flapping flight mode. The flapping flight control device controls flapping flight using the flapping related physical quantity information obtained by the flapping related physical quantity acquisition means, and the flapping device can flutter at a frequency of 32 Hz or less. . According to this, the robot system which can avoid that a flapping apparatus is recognized by the person is provided.

  The flapping apparatus of the present invention is a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion, and flapping related physical quantity acquisition means for acquiring flapping related physical quantities related to the flapping flight mode of the flapping apparatus, The present invention is used in a robot system including a flapping flight control device that performs flapping flight control for controlling the flapping flight mode of the flapping device. The flapping flight control device is a remote control device that is provided outside the flapping device and remotely controls the flapping device. In addition, the flapping apparatus uses the flapping-related physical quantity information obtained by the flapping-related physical quantity acquisition means by the remote control device, controls the flapping flight mode, and can flutter at a flapping frequency of 32 Hz or less. . According to this, flapping apparatus can avoid being recognized by a person.

  The flapping flight control device is a flapping flight control device that controls the flapping flight mode of the flapping device for flapping flight in a space where fluid exists by flapping motion, and flapping related physical quantities related to the flapping flight mode of the flapping device. Used in a robot system equipped with flapping related physical quantity acquisition means for acquisition. The flapping flight control device is provided outside the flapping device, functions as a remote control device for remotely controlling the flapping device, and uses the flapping related physical quantity information obtained by the flapping related physical quantity acquisition means, It is possible to control the flapping flight of the flapping apparatus at a flapping frequency of 32 Hz or less. According to this, it is possible to realize control for avoiding that the flapping apparatus is recognized by a person.

  Hereinafter, the robot system according to the embodiment of the present embodiment will be described by taking a security robot system as an example.

(System configuration)
First, the configuration of the system in the present embodiment will be described with reference to FIG.

  The system in the present embodiment is arranged in a work space 92, a work space 92, a robot 90 that can float and move in the space, and can acquire or change a physical quantity in the space, and information on the robot 90 and information And a base station 91 capable of exchanging.

  More specifically, the intruder 93 is detected by the robot 90 and the base station 91 by acquiring the amount of infrared rays using an infrared sensor mounted on the robot 90, and a light emitting diode is detected with respect to the detected intruder 93. The intruder 93 is warned by irradiating visible light using 8.

(Robot description)
(Main configuration and main functions)
First, the main configuration of the robot 90 will be described with reference to FIG.

  As shown in FIG. 2, the robot 90 has a support structure 1 as a main structure, and each component is arranged on the support structure 1. A right actuator 21 and a left actuator 22 are fixed to the upper part of the supporting action 1. A right wing 31 is attached to the right actuator 21, and a left wing 32 is attached to the left actuator 22. In addition, an electrode 61 is disposed in the lower part.

  Each of the actuators 21 and 22 can rotate the attached wings 31 and 32 with three degrees of freedom around the fulcrum of the actuator. The rotation of each actuator 21, 22 is controlled by a control circuit 4 mounted on the support structure 1. The detailed structure of each actuator will be described later.

  Note that the center of gravity O of the robot 90 in the state of FIG. 2 is vertically below the midpoint A0 of the rotation center of the left and right actuators 21 and 22.

  The support structure 1 includes an acceleration sensor 51, an angular acceleration sensor 52, and a pyroelectric infrared sensor 53.

  A communication device 7 is disposed on the support structure 1. The communication device 7 transmits / receives information to / from the base station 91.

  In the control device 4, the flying state of the flapping device is detected based on the information sent from the acceleration sensor 51 and the angular acceleration sensor 52, and the pyroelectric infrared is detected based on the information sent from the pyroelectric infrared sensor 53. Information on the heat generation source in the sensor detection region 531 is acquired. These pieces of information are transmitted to the base station 91 via the communication device 7.

  Further, the control device 4 controls ON / OFF of the light emitting diodes 8 arranged on the support structure 1.

  In addition, the communication device 7 receives an instruction signal from the base station 91. The control device 4 calculates the operation of each of the actuators 21 and 22 and the light emitting diode 8 according to this instruction signal, and determines the respective driving. Driving power for the left and right actuators 21 and 22, the control device 4, the sensors 51 to 53, the communication device 7, the light emitting diode 8, and the like is supplied by a power source 6.

  The power source 6 is a secondary battery, and is charged by electric power supplied via the electrode 61. Further, the electrode 61 also serves as a positioning pin, and can be localized in a posture determined by the positioning hole in the base station 91.

  In FIG. 2, the electrode 61 includes two pins, a positive electrode and a negative electrode, but a configuration including three or more pins including a charging state detection pin and the like is also possible.

(Support structure)
Next, the support structure 1 will be described in more detail with reference to FIG.

  It is preferable that the support structure 1 is sufficiently lightweight while ensuring mechanical strength. In the flapping apparatus support structure 1, polyethylene terephthalate (PET) aligned in a substantially spherical shell shape is used. Support legs 11 are arranged at the lower part of the support structure 1 so as not to fall down when landing. This support leg 11 is not essential if the landing stability is ensured or the landing stability is not a functional problem.

  Further, the material and shape of the support structure 1 are not limited to those shown in FIG. 2 as long as the performance is not impaired in flight. In particular, the material of the support structure 1 is preferably lightweight and highly rigid.

  For example, by using a composite material in which organic substances such as chitosan used in organisms such as crabs and shrimps and inorganic substances such as silica gel are hybridized at the molecular level, the crab and shrimp exoskeleton has a light weight. Although it has a strong property, it is easy to shape, and the optimal composition value originally possessed by a living organism can be used as it is. It is also less harmful to the environment.

  Moreover, a highly rigid support structure can also be constructed by using calcium carbonate, which is a shell material, instead of the aforementioned chitosan.

  Further, the arrangement shape of the actuators and wings is not limited to the mode shown in the present embodiment.

  In particular, in the present embodiment, with emphasis on the stability of levitation, the position of the center of gravity is positioned below the mechanical action center point of the wing so that the posture shown in FIG. Since the difference between the fluid forces of the left and right wings required for posture control is minimized when the center of gravity and the position of the mechanical action point coincide with each other, the posture of the flapping apparatus can be easily changed. Therefore, depending on the application, a design that prioritizes such ease of posture control can be considered.

(Floating mechanism)
(Wings and their movements)
Next, the wing and its operation will be described with reference to FIGS.

  For convenience of explanation, a coordinate system in FIG. 2 is defined. First, the center of the support structure 1 is the origin. Further, the direction of gravitational acceleration is assumed to be the downward direction, and the opposite is the upward direction. The z-axis is defined upward from the origin. Next, the direction connecting the shape center of the right actuator 21 and the shape center of the left actuator 22 is defined as the left-right direction, and the y-axis is defined from the origin toward the left wing. Further, the x-axis is defined as the cross product direction in the right-hand system of the y-axis and the z-axis from the origin, and hereinafter this is referred to as the front and the opposite direction is referred to as the rear.

  Also, FIG. 2 shows the flapping apparatus on a line drawn in the direction of gravitational acceleration from the midpoint A0 of the mechanical action point A1 of the right wing 31 with respect to the right actuator 21 and the mechanical action point A2 of the left wing 32 with respect to the left actuator 22. Is the state where the center of gravity O is located. In the present embodiment, the rotor 229 of the left actuator 22 is substantially spherical, and the left wing 32 is disposed so that the spherical center of the rotor 229 is positioned on the extension line of the main shaft 321. The mechanical action point A2 for the left actuator 22 and the fulcrum of the rotational movement of the main shaft 321 are located at this spherical center. The same applies to the right actuator 21.

  Hereinafter, it is assumed that the above-described x-axis, y-axis, and z-axis are coordinate systems unique to the flapping apparatus fixed to the support structure 1 in the state of FIG.

  On the other hand, with respect to the fixed coordinate system of the flapping apparatus, the x ′ axis, the y ′ axis, and the z ′ axis are defined as space coordinates having an arbitrary point fixed in space as the origin. As a result, the coordinates of the work space 92 in which the robot 90 moves are represented using the coordinates of the x ′ axis, the y ′ axis, and the z ′ axis, and the unique coordinates in the robot 90 are the x axis, the y axis, and the z axis. It is expressed using the coordinates of each axis.

  Next, the structure of the wing will be described. For example, the left wing 32 is formed by stretching a film 323 on a support member on which a branch 322 of the main shaft 321 grows. The main shaft 321 is arranged at a position closer to the front in the left wing 322. Further, the branch 322 faces downward as it goes forward. The film 323 has a protective color so that it is difficult for a person to notice it. The same effect can be obtained even if the film 323 is transparent.

  The left wing 32 has an upward convex cross-sectional shape. As a result, a high rigidity can be obtained with respect to the force received from the fluid, particularly during downing. The main shaft 321 and the branch 322 each have a carbon graphite hollow structure for weight reduction. The membrane 323 has a spontaneous tension in the shrinking direction on its inner surface, and functions to increase the rigidity of the entire wing.

  The diameter of the main shaft 321 of the wing used in the experiment by the present inventors was 100 μm at the root portion supported by the support structure 1 and 50 μm at the tip portion, and the main shaft 321 became thinner from the root toward the tip portion. Tapered shape. The film 323 is made of polyimide and has a size of about 1 cm in the front-rear direction, about 4 cm in the left-right direction, and a thickness of about 2 μm.

  In the left wing 32 shown in FIG. 3, the thickness of the main shaft 321 is enlarged for explanation. The right wing 31 (not shown) is attached to the support structure so as to be mirror-symmetrical with the left wing 32 across the xz plane.

Next, the expression of the movement of the wing will be described by taking the left wing 32 as an example.
The left actuator 22 can move the left wing 32 with three degrees of freedom of rotation. That is, the driving state of the left wing 32 can be expressed by its posture. For the sake of simplicity, the posture of the left wing 32 is defined as follows based on the state shown in FIG.

  First, as shown in FIG. 4, the axis is parallel to the xy plane including the fulcrum of rotation (mechanical action point A2) and the axes (// x, // y) parallel to the x-axis and y-axis, respectively. With reference to the plane, the angle formed by the line connecting the point A2 and the root of the main axis 321 of the left wing 32 with the plane is defined as the flapping stroke angle θ. The point A2 is based on a plane parallel to the yz plane including the fulcrum (mechanical action point A2) of the rotational movement of the shaft and the axes (/ y, // z) parallel to the y axis and the z axis, respectively. An angle formed by the line segment connecting the base of the main axis 321 of the left wing 32 and the plane thereof is defined as a declination α.

  At this time, the stroke angle θ is assumed to be positive above the plane parallel to the xy plane and negative below the plane. The declination α is positive in front of a plane parallel to the yz plane and negative in back.

  Then, as shown in FIG. 5, the tangent plane p1 of the film 323 at the root of the main axis 321 of the left wing 32 has an axis (// x) passing through the point A2 and parallel to the x axis and a plane p0 including the main axis 321. The angle formed is defined as the twist angle β. At this time, the torsion angle β is positive when viewed clockwise from the root of the main shaft 321 toward the tip.

(Actuator)
Next, the actuator will be described with reference to FIGS.

  In the present embodiment, the actuator is driven by a signal wave generated using a piezoelectric element (piezo) because the torque is large, the reciprocating motion can be easily realized, and the structure is simple. An actuator generally called an ultrasonic motor is used.

  FIG. 6 shows a commercially available ultrasonic motor 23. As shown in FIG. 6 (a), the projections 232 to 237 on the aluminum disc 231 with the piezoelectric element 230 attached to the lower surface thereof form six regular hexagons centered on the center of the disc. Further, the piezoelectric element 230 has a structure in which an electrode 238 divided into 12 parts in the circumferential direction is disposed on the lower surface of the piezoelectric element 230. An outline of this structure is shown in FIG. Every other electrode is electrically short-circuited, and a voltage is applied with reference to the disk 231. That is, voltages with different phases are applied to the piezoelectric element 230. This state is shown in FIG. 6C by dividing it into black paint with hatching. By applying a voltage to each of these in different temporal patterns, a signal wave is generated on the disk 231 and the tips of the protrusions 232 to 237 perform elliptical motion along the circumferential direction. The stator is configured as described above, and this stator can convey the rotor 239 arranged in contact with the stator along the circumferential direction by the elliptical motion of the tips of the protrusions 232 to 237 described above.

  The torque of the ultrasonic wave 23 is 1.0 gf · cm, and the no-load rotation speed is 800 rpm. The maximum current consumption is 20 mA. The diameter of the disk 231 is 8 mm, and the interval between the protrusions 232 to 237 is 2 mm. The thickness of the disc 231 is 0.4 mm, and the height of the protrusions 232 to 237 is about 0.4 mm. The driving frequency of the piezoelectric element 230 was 341 kHz.

  In the present embodiment, an actuator using the stator portion is used. As shown in FIG. 7B, the right actuator 31 has a structure in which a spherical shell-shaped rotor 219 is sandwiched and held by a stator 210 and a bearing 211 similar to the above-described stator. However, the contact portion of the stator 210 with the rotor 219 is processed into a shape that matches the rotor surface. The rotor 219 is a spherical shell having an outer diameter of 3.1 mm and an inner diameter of 2.9 mm, and a right wing spindle 311 is disposed on the surface. When the rotor is conveyed clockwise as viewed toward the surface with the stator protrusion (hereinafter, this is forward rotation, and the reverse rotation is referred to as reverse rotation), the right wing spindle 311 is shown in FIG. It moves in the direction of θ shown in FIG.

  Further, in order to drive the rotor 219 with three degrees of freedom, the upper auxiliary stator 212 and the lower auxiliary stator 213 are arranged together with the bearings 214 and 215 as shown in FIG. Each auxiliary stator is 0.7 times as large as the stator 210.

  Although the driving directions of the stators are not necessarily orthogonal, the rotor 219 can be driven with three degrees of freedom by a combination of these movements in order to give rotation to independent elements.

  For example, if the rotor 219 is forwardly rotated by the upper auxiliary stator 212 and is also forwardly rotated by the lower auxiliary stator 213, the rotor 219 is reversely rotated by the upper auxiliary stator 212 in the β direction, which is the configuration, If a positive rotation is given by the auxiliary stator 213, the auxiliary stator 213 rotates in the α direction.

  In actual driving, if two rotations having different rotation centers are performed, the efficiency decreases due to friction. For example, the upper auxiliary stator 212 and the lower auxiliary stator 213 are alternately operated in a very short period, In the meantime, it is desirable to use a driving method in which the protrusion of the stator that is not operating does not contact the rotor 219. This can be realized by adding a voltage in the contraction direction of the piezoelectric element to all the electrodes of the stator without adding any special component.

  In addition, since the frequency of the piezoelectric element is 300 kHz or higher, which is sufficiently high compared with the flapping frequency of about 100 Hz at most, even if the actuator is operated alternately, a substantially smooth movement can be given to the right wing spindle 311. .

  As described above, a three-degree-of-freedom actuator having characteristics equivalent to those of a commercially available ultrasonic motor used by the present inventors for study is configured.

  During generation of the stator, the amplitude of the signal wave is on the order of submicrons, and this rotor is required to have a sphericity of this order. The processing accuracy of parabolic mirrors used in consumer optical products is several tens of nm, and the processing accuracy of optical components used in optical interferometers is about several nanometers. The rotor can be manufactured by the current processing method technology.

  The above configuration is only one example in which the actuator for imparting the motion of three degrees of freedom to the wing in the present invention is configured by an ultrasonic motor, and the arrangement, size, material, driving method, and the like of each component are as follows. This does not apply if the physical functions required for flapping flight, such as torque, can be realized.

  Of course, the wing drive mechanism and the type of actuator used therefor are not particularly limited to those shown in the present embodiment. For example, flapping flight using a combination of an exoskeleton structure and a linear actuator, as shown in Japanese Patent Laid-Open No. 5-169567, is possible because the wing motion equivalent to the actuator shown in this embodiment can be realized. .

  Further, although electric power is used as driving energy, an internal combustion engine can also be used. Furthermore, it is also possible to use an actuator that converts chemical energy into kinetic energy by a physiological redox reaction, as found in insect muscles. For example, using muscles collected from insects as linear actuators, or using artificial muscles of composite materials made by combining amino acids and inorganic substances of insect muscle proteins at the molecular level as linear actuators, etc. There is a way.

  Naturally, it is also possible to obtain an actuator with high energy efficiency such as the above-mentioned internal combustion engine having a basic driving force and use an actuator driven by electric power as a control or auxiliary for these actuators.

(Floating method)
Next, the levitation method will be described with reference to FIGS.

  Here, the force that the wing receives from the fluid is referred to as fluid force. Further, for the sake of simplicity of explanation, the description will be made assuming a state in which the air flow occurs only by flapping, that is, a windless state.

  For simplicity of explanation, it is assumed that the external force exerted on the robot 90 is only the force acting on the wing from the fluid, that is, the fluid force and gravity.

  In order for the robot 90 to rise constantly, it is necessary to average (sum of upward fluid forces applied to the wing)> (gravity applied to the robot 90) on average during one flapping operation. .

  Here, a description will be given of a method of making the fluid force at the time of downfall greater than the fluid force at the time of launch by using a method of flapping the insects. For ease of explanation, the behavior of the fluid or the force it exerts on the wing will be described with reference to its main components. The magnitude of the levitation force and gravity acting on the robot 90 by this flapping method will be described later.

  Since a fluid force in a direction opposite to the direction in which the wing moves acts on the wing, the fluid force acts upward when the wing is lowered, and the fluid force acts downward when the wing is launched. Therefore, by increasing the fluid force at the time of downstroke and decreasing the fluid force at the time of launch, it is possible to obtain an upward fluid force on a time average during one flapping operation (downward motion and launch motion). Become.

  For this purpose, first, when the wing is moved down so that the volume of the space in which the wing moves is maximized, almost the maximum fluid force acts on the wing. This corresponds to downing the wing almost perpendicular to the plane in contact with the wing.

  On the other hand, if the wing is launched so that the volume of the space in which the wing moves is minimized, the fluid force exerted on the wing is almost minimized. This corresponds to launching the wing substantially along the curve of the cross section of the wing.

  The operation of such a wing will be described using a cross section perpendicular to the main axis 321 of the wing. First, the wing of FIG. 8 shows a case where the wing moves down so that the volume of the moving space becomes maximum, and FIG. 9 shows a case where the wing moves up so that the volume of the space where the wing moves is minimized.

  8 and 9, the position of the wing before the movement is indicated by a broken line, and the position of the wing after the movement is indicated by a solid line. Further, the moving direction of the wing is indicated by a dashed-dotted arrow. As shown in the figure, the fluid force acts on the wing in the direction opposite to the moving direction of the wing.

  In this way, the posture of the wing is changed with respect to the moving direction of the wing so that the volume of the space in which the wing moves at the time of launch is larger than the volume of the space in which the wing moves at the time of downstroke. In the time average during the flapping operation, the upward fluid force acting on the wing can be made larger than the gravity acting on the flapping device.

  In the present embodiment, the torsion angle β of the wing can be controlled, and the above-described movement of the wing is realized by changing this over time.

  Specifically, the following steps S1 to S4 are repeated. First, in step S1, the wing is lowered (stroke angle θ = + θ0 → −θ0) as shown in FIG. In step S2, the wing rotation 1 (wing twist angle β = β0 → β1) operation is performed as shown in FIG. In step 3, as shown in FIG. 12, the wing is launched (stroke angle θ = −θ0 → + θ0, torsion angle β = β1 → β2 (movement that minimizes the fluid force by movement along the curved surface of the wing)). Is done. In step S4, as shown in FIG. 13, a wing rotation 2 operation (wing twist angle β = β2 → β0) is performed.

  When the fluid force acting on the wings in step S1 and step S3 is time-averaged, the fluid force is upward due to the difference in volume of the space in which the wings move as described above. The magnitude relationship between the vertical component of the upward fluid force and gravity will be described later.

  Of course, also in step S2 and step S4, it is desirable that the time average of the fluid force acting on the wing is an upward fluid force.

  In the wing of the robot 90, as shown in FIGS. 10 to 13, the rotation center of the wing (main shaft 321 portion) is located near the front edge of the wing. That is, the length from the main shaft 321 to the rear edge of the wing is longer than the length from the main shaft 321 to the front edge of the wing. For this reason, as shown in FIGS. 11 and 13, in addition to the fluid flow that occurs along the direction of rotation of the wings in the rotational movement of the wings, the flow of fluid along the direction from the main shaft 321 toward the trailing edge of the wings. Will occur.

  As a reaction of the fluid flow, a force in the direction opposite to the direction of each flow acts on the wing. In step S2 shown in FIG. 11, a substantially upward fluid force is applied to the wing. In step S4 shown in FIG. 13, a downward fluid force is mainly applied to the wing.

  In step S3 shown in FIG. 12, the launching operation is performed while changing the torsion angle β of the wing from β1 to β2 along the curve of the cross section of the wing. Further, the rotation angle of the wing in step S2 shown in FIG. 11 is larger than the rotation angle of the wing in step S4 shown in FIG. As a result, also in step S2 and step S4, the fluid force acting upward on the wings overcomes the fluid force acting downwards, and the time-averaged fluid force acts on the wings.

  10 to 13, the postures before the movement of the wings in the respective steps S <b> 1 to S <b> 4 are indicated by wavy lines, and the postures after the movement are indicated by solid lines. The moving direction of the wing in each of steps S1 to S4 is indicated by a one-dot chain line arrow. In addition, the flow of fluid mainly generated in each of steps S1 to S4 is indicated by solid arrows.

  Next, a graph showing the values of the stroke angle θ and the torsion angle β as a function of time is shown in FIG. However, in FIG. 14, the ratios of the vertical axes of the stroke angle θ and the torsion angle β are different.

  In the experiment conducted by the present inventors, θ0 is, for example, 60 °. β0 is, for example, 0 °. β1 is, for example, −120 °. β2 is, for example, −70 °.

  In the above description, steps S1 to S4 have been described as independent operations for the sake of simplicity of description, but an operation of increasing the torsion angle of the wing while dropping the wing in step S1, for example, is also possible.

  Further, the above-described example is described from the first approximate consideration, and the flapping method that can actually fly is not limited to this.

  Although the left wing has been described here, the same argument holds for the right wing by defining the stroke angle θ, the deflection angle α, and the torsion angle β based on the left-hand system in mirror symmetry with respect to the xz plane. Hereinafter, the upward fluid force acting on the wing is referred to as levitation force, and the forward fluid force acting on the wing is referred to as propulsive force.

(Control method)
Next, a control method for causing the flapping apparatus to perform an arbitrary motion will be described. Here, the stroke angle θ based on the right hand shape, the deflection angle α, and the twist angle β are used for the left wing of the flapping apparatus, and the stroke angle θ based on the left hand shape that is mirror-symmetric with respect to the xz plane is used for the right wing. The posture of the wing is indicated using the deflection angle α and the twist angle β.

(Control flow)
Since the levitation movement by flapping is performed by the fluid force applied to the wing, it is the acceleration and angular acceleration that are given to the flapping apparatus that are directly controlled by the movement of the wing.

First, the difference between the floating state where S is the target and the current floating state, T (S) is a function representing conversion from the floating state to acceleration and angular acceleration, s is acceleration, and angular acceleration Fα (s) is acceleration. A function representing a control algorithm including sensor responses of the sensor 51 and the angular acceleration sensor 53, sα is an actuator control amount, G _W (sα) is a function representing the response of the actuator and the wing, s _W is motion of the wing, G _fS ( s _W ) is a function representing the acceleration or angular acceleration s _e exerted on the flapping apparatus by the movement of the wings, and Se is a change of the flying state performed by this series of processes, the process of obtaining the output Se from the input S is as follows: As shown in FIG.

In practice, the blade and the fluid inertia, wing movement to date, so that the influence R _W and R _fS which depends on the time history of the fluid motion is applied to the G _W and G _fS.

(Operation division)
Of course, there may be a method for accurately obtaining all functions other than Fα and calculating a control algorithm Fα in which S = Se is obtained. However, a fluid flow around the flapping apparatus and a time history of wing movement are required. Yes, it requires a huge amount of data and calculation speed. In addition, the coupled behavior of fluid and behavior is complex and often results in a chaotic response, which is not practical.

  Therefore, a method that prepares basic operation patterns in advance, divides the target ascending state, and combines these basic operation patterns in time series is simple and desirable.

  There are three degrees of freedom in translation in the x, y, and z directions and three degrees of freedom in rotation in the θx, θy, and θz directions, that is, six degrees of freedom. That is, forward / backward, left / right, up / down, and rotation around these directions.

  Among these, the movement to the left and right can be performed by combining the rotation in the θz direction and the movement in the front-rear direction. Therefore, here, a method for realizing each of the translational movement in the front-rear direction, that is, the x-axis direction, the translational operation in the up-down direction, that is, the z-axis direction, and the rotational movement around the x-axis, y-axis, and z-axis will be described. .

(Operation)
(1) Operation in the vertical direction (z-axis direction) As the wing moves, the force that the wing receives from the fluid depends on the moving speed of the wing, so the upward fluid force exerted on the wing is increased (decreased). Is
A: Increase (decrease) the amplitude of the stroke angle θ B: Increase (decrease) the flapping frequency. By this, the flapping apparatus can be raised (lowered). However, the fluid force includes a negative value.

  In addition, according to these methods, since the fluid force itself that the wing receives from the fluid is increased, the wing receives the fluid force from other than the vertical direction, so that the force other than the vertical direction from the wing is exerted on the mechanical fulcrum of the wing. When it is done, it is accompanied by an increase in the force applied to this fulcrum in that direction as it rises. For example, when the flapping frequency is increased while performing a substantially constant linear motion forward, the flapping apparatus rises with an increase in speed. As described above, depending on the way of flapping at the present time, such other movements are accompanied by secondary movements. Hereinafter, control from a stationary state will be described unless otherwise specified.

  The levitation force can also be changed by changing the wing twist angle β to change the volume of the space in which the wing moves. For example, by giving β such that the volume of the space in which the wing moves at launch is larger, or the volume of the space in which the wing moves at lowering is smaller, the upward fluid force acting on the wing The time average becomes smaller.

  Actually, since the wing is not a rigid body and is deformed, the volume of the space in which the wing moves is changed by the same β, but in the first principle, β perpendicular to the direction in which the wing moves is the largest. Gives the volume of space in which the wing moves. Further, β parallel to the direction in which the wing moves moves gives the volume of the space in which the wing moves.

  In this case, since the fluid force acts also in the direction perpendicular to the flapping in this case, it is necessary to add a movement of the wing to counteract this when it is at a level that causes an increase in control. Most simply, it can be realized by changing the deflection angle α.

  Further, it is possible to perform the operation in the z-axis direction by changing the rotational angular velocity of the wing in the step S2 or step S4. For example, if the rotational angular velocity (−dβ / dt) of the wing is increased in step S2, the downward flow velocity of the fluid generated by this rotation increases, so the upward fluid force acting on the wing increases due to this reaction.

  In this case, the torque about the main axis of the wing, which is applied to the flapping apparatus, changes secondary. Therefore, it is desirable to perform this rotational angular velocity change within a range in which this change is within a range that does not hinder control.

  Further, in this case, the force in the front-rear direction exerted on the flapping apparatus also changes secondary. Therefore, when this change hinders control, it is desirable to simultaneously control the force in the front-rear direction described later as (2).

(2) Operation in the front-rear direction (x-axis direction) In the above-described flapping method, a fluid force in the direction of the x direction acts on the wing mainly in steps S2 and S4. Therefore, in this way of moving the wing, it rises with advancement.

  Further, when the deflection angle α is increased and the wing is moved forward, a backward fluid force acts on the wing. Accordingly, the downward fluid force acting on the wing in step S1 is controlled to be larger than the forward fluid force mainly in steps S2 and S4 by controlling the deflection angle α in step S1, that is, in the down stroke. If you do it, you can move backward, and if you make it smaller, you can move forward. Further, if the two legs are substantially balanced, the two legs can be stopped in the front-rear direction.

  In particular, the hovering state can be realized if the flapping apparatus is stationary in the front-rear direction, the left and right wings move substantially symmetrically, and the gravity and the flying force of the flapping apparatus are balanced.

  In addition, since the vertical direction component of the fluid force exerted on the wing changes secondaryly with the change of the deflection angle α, if this is at a level causing trouble in control, the movement of the wing that cancels this is added. There is a need. This is easy to perform mainly by the above-described vertical movement of (1).

  Further, if the angular velocity of the wing rotation operation is increased in steps S2 and S4 described above, the forward fluid force increases, and if it is decreased, it decreases. This also makes it possible to change the operation in the front-rear direction.

  Further, a method using the x-axis direction component of the secondary fluid force accompanying the change of the wing twist angle β described in (1) is also possible. In other words, when β> 0 at the time of downstroke, a forward force is applied, and when β <0, a backward force is applied.

  Note that the relationship between β, α, and θ at the time of launch is restricted to some extent, but the above fluid force control is also possible in step S3.

(3) Rotation operation with the z axis as the rotation axis The control in the front-rear direction described in (2) is performed separately for the left wing and the right wing, and the torque can be given to the flapping apparatus by making this different. it can.

  That is, if the forward hydrodynamic force of the right wing is increased relative to that of the left wing, the flapping apparatus is directed leftward in the positive direction of the x-axis, and if it is lowered, the flapping device is directed rightward.

(4) Rotation operation with the x axis as the rotation axis As in (3), if the upward fluid force of the right wing is increased relative to that of the left wing, the right side will be lifted, and if it is decreased, the left side will be lifted. As a result, a rotation operation with the x axis as the rotation axis can be performed.

(5) Rotation operation with the y-axis as the rotation axis The torque around the y-axis applied to the flapping apparatus can be changed by changing the angular velocity of the wing twist angle β described in (2). As a result, a rotation operation with the y axis as the rotation axis can be performed. For example, if the rotational angular velocity of the twist angle β in step S1 is increased, the flapping apparatus lowers the nose, and conversely if it is decreased, the nose is raised.

(6) Hovering (stop flying)
FIG. 15 is a graph showing the values of the stroke angle θ, the declination angle α, and the torsion angle β as a function of time when the flapping apparatus is stopped. However, in FIG. 15, the ratio of the vertical axis of each angle is different.

In the experiment conducted by the present inventors, θ ₀ is 60 °, for example. β ₀ is, for example, −10 °. α ₁ is, for example, 30 °. β ₁ is, for example, −100 °. β2 is, for example, −60 °.

  FIG. 41 shows the motion of the left wing at each step and the acceleration and angular acceleration generated thereby at the mechanical fulcrum A2 of the left wing. However, the rotation operations with the x-axis and z-axis as the rotation axes in (3) and (4) are omitted. These are caused by the asymmetry of the movements of the left and right wings as described above.

(Control method decision method)
The current flying state is obtained using a value obtained by appropriately changing the value acquired by the acceleration sensor 51 or the angular acceleration sensor 52 mounted on the flapping apparatus. For example, the speed can be obtained by giving an initial value of the speed to a value obtained by integrating the acceleration with time. The position can be obtained by giving an initial position value to a value obtained by integrating the speed over time. Note that a method of including the time history of the rising state in the rising state is also possible.

  The control device 4 determines the operation of the flapping apparatus from the current flying state obtained from the acceleration sensor 51 and the angular acceleration sensor 52 and the target flying state. This control can be performed by a conventional control method except that it is performed in three dimensions.

  The operation of the flapping apparatus is converted by the control device 4 into driving of the actuator. For this conversion, it is fast to use a table reference or its complement. For example, as shown in FIG. 39, a combination of a basic operation and an actuator drive for realizing the basic operation is prepared in advance. The left end column in FIG. 42 is the intended operation, and A and B in the flapping are: A is the way of flapping when moving forward, B is the way of flapping when stopping, and more specifically, FIG. 14 and FIG. The time history of α, β, θ shown in the graph is discretized in terms of time. The control device 4 calculates this drive or its complement from this table from the operation of the flapping apparatus.

  Here, for the sake of explanation, the method of calculating the operation of the flapping apparatus once and converting it to the driving of the actuator is used. However, a method of directly selecting the driving of the actuator from the floating state is also possible.

  For example, when performing the localization control, a method of directly calculating one of the above-described actuator driving or a driving complementing the driving based on the difference between the current position and the target position is also possible.

  Of course, the physical quantity representing the flying state of the flapping apparatus is not limited to the position, speed, acceleration, and the like shown here.

Of course, the method for determining the drive of the actuator is not limited to this mode.
(Weight possible)
Next, the conditions under which the robot 90 can fly with the configuration of the robot 90 in the present embodiment will be described with reference to FIG.

  In the experiment environment of the present inventors, a traveling wave actuator was used as the actuator. According to this traveling wave actuator, since the stator 210 is equivalent to the ultrasonic motor 23, the torque for the flapping in the θ direction is 1.0 gf · cm.

  Therefore, the present inventors calculated the fluid force when flapping with this torque by simulation.

  The wing is a rectangle having a long side in the direction away from the actuator, a long side of 4 cm, and a short side of 1 cm, and the deformation of the wing is ignored. Further, since the wings of a dragonfly having a width of 8 mm and a length of 33 mm were about 2 mg, the wing mass was set to 3 mg.

Further, since the ultrasonic motor drives the rotor disk in the circumferential direction by accumulating minute elliptical motions at the tip of the protrusion, the actual driving torque rises and falls in the periodic order of diamond, that is, 10 ⁵ hertz. However, it is assumed that it is ± 250 gf · c / sec due to the stability of calculation. That is, the torque increases by 1 gf · cm in 0.004 seconds.

  FIG. 16 shows the result of calculating the reaction force applied to the wing by fixing the wing with one short side leaving only the degree of freedom of rotation with this side as the axis of rotation, giving torque to the degree of freedom of rotation. However, the declination angle α = 0 (degrees) and the secondary angle β = 0 (degrees) as defined above.

  At time 0, the wing is horizontal, that is, the stroke angle θ = 0 (degrees). From here to 0.004 seconds, the torque is linearly increased to 1 gf · cm, and 1 gf · cm is maintained from 0.004 seconds to 0.01 seconds. Then, the torque is linearly changed from 0.01 gf · cm to −1 gf · cm from 0.01 second to 0.018 second, and is kept at −1 gf · cm from 0.018 second to 0.03 second. From 0.03 seconds to 0.038 seconds, it linearly changes to 1 gf · cm again.

  The contact reaction force thus obtained was about 0.29 gf when averaged from the time 0.014 seconds to 0.034 seconds, which is the time during which the torque is negative, that is, the time during which the torque is negative.

  Since the above simulation is the result of flapping one free end, the action of the fluid force at the time of launch is unknown. However, since the resistance of the fluid is reduced compared to the cross-sectional area, the downward starting point reaction force acting at the time of launch is small, and it is possible to launch with the same torque as at the time of launch, so the time required for launch is Much shorter than the time it takes to get down. That is, since the time during which the force at the time of launching acts is short and the levitation force can be further obtained by using the rotation of the wings in addition to the downstroke, an actuator with a torque of 1 gf · cm is used. It can be said that a mass of about 29 g can be levitated. That is, if the mass of the entire flapping apparatus in the embodiment is 0.58 g or less, it is possible to float. In the following, the weight of the entire flapping device will be examined.

  First, the mass of the stator 210 is 0.054 g because the electrode and the piezoelectric element are thin, which is equivalent to a disk having a specific gravity of 2.7, a thickness of 0.4 mm, and a radius of 4 mm. The weight of the auxiliary stator is 0.019 g because the stator diameter is 0.7 times.

  All of the three bearings are donut-shaped ball bearings having an outer diameter of 4.2 mm, an inner diameter of 3.8 mm, and a thickness of 0.4 mm. Since the material is titanium with a specific gravity of 4.8 and there is a gap of about 30%, the mass of the bearing is about 0.013 g. The rotor 219 is made of aluminum, has a wall center radius of 3 mm, and a thickness of 0.2 mm.

  From the sum of these, the mass of the actuator 21 is 0.192 g. The wing 31 is 0.003 g as described above. Since there are two left and right systems as described above, the weight is 0.390 g.

  Further, since the support structure 1 shown in FIG. 1 adopted by the present inventors is a sphere having a diameter of 1 cm, a specific gravity of 0.9, and a thickness of 0.1 mm, the mass is about 0.028 g.

  In addition, the control device 4, the communication device 7, the acceleration sensor 51, the angular acceleration sensor 52, and the pyroelectric infrared sensor 53 employed by the present inventors are each 5 mm × 4 mm semiconductor bare chips, and each is about 0.008 g. That is, the total sum of these masses is 0.04 g. The weight of the power source 6 adopted by the present inventors is 0.13 g.

  As described above, the total weight of all the components is 0.579 g. Since a levitating force of 0.58 gf is obtained with a pair of wings, it is possible to ascend with this configuration.

(Communication device)
Next, the communication device 7 will be described.

  The communication device 7 has a transmission function and transmits measurement values of various sensors. Thereby, the base station 91 can obtain the information of the robot 90.

  Information obtained by the base station 91 is the physical quantity of the robot 90 or its surroundings. More specifically, as an example of the former, the acceleration information of the robot 90 obtained from the acceleration sensor, or the angular acceleration information of the robot 90 obtained from the angular acceleration sensor 52, and as an example of the latter, a pyroelectric type This is infrared amount information obtained from the infrared sensor 53.

  Further, the communication device 7 has a reception function and receives a control signal. As a result, the base station 91 can control the robot 90.

  The control signal transmitted from the base station 91 is a control signal for the floating state of the robot 90 and a control signal for changing the physical quantity given to the surroundings of the robot 90. More specifically, an example of the former is a signal designating an acceleration and an angular acceleration to be given to the robot 90, and an example of the latter is a signal designating an amount of light of the light emitting diode 8.

  In the present embodiment, the following description will be made assuming that the information exemplified here is transmitted and received.

  Of course, the information to be transmitted / received is not limited to that shown here. For example, information such as a response signal for confirming whether or not the robot 90 has correctly received the control signal issued from the base station 91 can be transmitted and received.

(Control device)
Next, the control device 4 will be described with reference to FIGS.

As shown in FIG. 1, the control device 4 includes an arithmetic device 41 and a memory 42.
The arithmetic device 41 has a function of transmitting information obtained by various sensors in the robot 90 via the communication device 7. The arithmetic device 41 has a function of controlling the operation of each component based on a control signal obtained through the communication device 7. The memory 42 has a function of holding these transmitted and received data.

  More specifically, in the present embodiment, the computing device 41 calculates the acceleration and angular acceleration of the robot 90 based on information from the acceleration sensor 51 and the angular acceleration sensor 52, and sends this to the base station 91 via the communication device 7. Send information. The base station 91 transmits information on acceleration that should be given to the robot 90 and information on angular acceleration. These pieces of information are received via the communication device 7, and the arithmetic unit 41 has a function of determining the operation parameters of each actuator based on the received acceleration and angular acceleration.

  More specifically, the computing device 41 has α, β, θ time series values corresponding to combinations of typical accelerations and angular accelerations to be given to the robot 90 as a table. The value or its interpolation value is used as an operation parameter for each actuator. Note that the time series values of α, β, and θ are values obtained by discretizing the values shown in the graph of FIG. 15 in the case of hovering in which both acceleration and angular acceleration are 0, for example.

  Of course, α, β, and θ listed here are examples of control parameters, and for the sake of simplicity of description, it has been described on the assumption that the actuator is driven by specifying these parameters. It is efficient to use a drive voltage or control voltage converted to each actuator that realizes these. However, since these are not particularly different from existing actuator control systems, only α, β, and θ are listed as typical parameters, and the parameters are not limited to these.

  Taking another function as a specific example, the arithmetic unit 41 has a function of transmitting information transmitted from the pyroelectric infrared sensor 53 via the communication device 7.

  As a result, the base station 91 can acquire infrared information in the infrared information detection area 531 in the pyroelectric infrared sensor 53 mounted on the robot 90.

  The computing device 41 has a function of receiving the light emission control signal of the light emitting diode 8 transmitted from the base station 91 via the communication device 7 and controlling the current flowing through the light emitting diode 8 according to the control signal. Thereby, the base station 91 can control the light emission of the light emitting diode 8. The function of the control device 4 is not limited to that shown here.

  Since flight control is coordinated in time, it is also possible to store the wing movement time history in the memory 42 of the control device 4 and correct the control signal from the base station 91 by this time history information. It is.

  In addition, when priority is given to the rising movement of the robot 90, data that cannot be transmitted from the communication band may be generated. Moreover, the case where communication is interrupted is also considered. Including these, it is effective to mount the memory 42 if the increase in weight is within a range that does not hinder the rising movement. Conversely, except for the type of registers in the arithmetic unit 41, some functions of the robot 90 are not explicitly essential.

(Drive energy source)
Next, the drive energy source, that is, the power source 6 will be described.

  Power for driving the left and right actuators 21 and 22, the control device 4, and the sensors 51 to 53 is supplied by a power source 6.

  Since the power source 6 uses lithium ion polymer as an electrolyte, it may be sealed by the support structure 1. Thereby, an extra structure for preventing liquid leakage is unnecessary, and the substantial energy density can be increased.

  Note that the general mass energy density of a lithium ion secondary battery currently on the market is 150 Wh / kg, and in this embodiment, the current consumption in the actuator is 40 mA at maximum, so the electrolyte weight of the power source 6 is about Assuming 0.1 g, flight in this embodiment is possible for about 7.5 minutes. Further, the maximum current consumption of the actuator in the present embodiment is a total of 40 mA on the left and right.

  The power supply voltage is 3V. Since the electrolyte weight is 0.1 g, realization of the power source 6 having a weight power density of 0.12 W / g, that is, 1200 W / kg is required. The weight power density of the lithium ion polymer secondary battery realized as a commercial product is about 600 W / kg, which is a product of 10 g or more used for information equipment such as a mobile phone. In general, since the ratio of the electrode area to the mass of the electrolyte is inversely proportional to positive and negative, the power source 6 in the embodiment has an electrode area ratio that is 10 times or more that of the secondary battery used for the information device described above. A mass power density of about 10 times can be achieved, and the output power density at the beginning can be sufficiently achieved.

  A method of supplying the driving energy of the actuator from the outside is also possible. For example, a medium for supplying electric energy from the outside includes a temperature difference, an electromagnetic wave, and the like, and a mechanism for converting this into driving energy includes a thermoelectric element and a coil, respectively. Further, a fuel cell or the like may be used as a power source.

  Of course, a method of mixing different types of energy sources is also possible. When an energy source other than electric power is used, it is basically considered that the control uses an electrical signal from the control device 4.

Sensors (physical quantity input part)
Next, the sensor will be described.

  The acceleration sensor 51 detects the three-degree-of-freedom translational acceleration of the support structure 1, the angular acceleration sensor 52 detects the three-degree-of-freedom rotational acceleration of the support structure 1, and the pyroelectric infrared sensor 53 detects the amount of infrared rays in the pyroelectric infrared sensor detection region 531. To do. The detection results of these sensors 51 to 53 are sent to the control device 4.

  The acceleration sensor used by the present inventor has a bandwidth of 40 Hz. The acceleration sensor 51 and the angular acceleration sensor 52 can be controlled more precisely in time as the band is higher. However, the change in the flying state of the robot 90 is considered to occur as a result of one or more flappings. Therefore, even a sensor with a band currently on the market of about several tens of Hz can be put into practical use.

  In the present embodiment, the position and orientation of the robot 90 are detected by the acceleration sensor and the angular acceleration sensor. However, whether the position and orientation of the robot 90 can be measured is not limited to the above sensor. For example, at least two acceleration sensors that can measure acceleration in three axis directions orthogonal to each other are arranged at different positions on the support structure 1 and the posture of the robot 90 is calculated based on acceleration information obtained from the angular acceleration sensor. Is also possible.

  A method is also possible in which a ground wave is explicitly incorporated in the work space 92 and the robot 90 detects the ground wave and calculates the position and orientation. For example, a method of calculating the position and orientation of the robot 90 by providing a magnetic field distribution in the work space 92 and detecting the magnetic field distribution by a magnetic sensor is also possible. A method using a GPS sensor or the like is also conceivable.

  A method of directly detecting the position and posture of the robot 90 other than the robot 90, such as a base station 91 described later, is also conceivable. For example, a method in which the base station 91 has a camera and the position of the robot 90 is calculated by image processing is also possible. In contrast to the detection method using the ground wave, a method in which the base station 91 or the like calculates the position of the robot 90 from the intensity of the radio wave emitted by the robot 90 or the like may be used. In this case, the acceleration sensor 51 and the like in the robot 90 are not essential.

  In addition, the sensors including the acceleration sensor 51 and the angular acceleration sensor 52 are expressed as separate parts from the control device 4, but from the viewpoint of weight reduction, the same silicon is integrally formed with the control device 4 by micromachining technology. You may form on a board | substrate.

  Naturally, the sensor in the present embodiment is a minimum component that achieves the purpose of application, that is, security, and the type, number, and configuration of the sensor are not limited to those shown here.

  For example, although the control without feedback is used for driving the wing in the robot 90, a wing angle sensor is provided at the base of the wing, and feedback is performed based on the angle information obtained from the wing angle sensor, thereby driving the wing more accurately. A method is also possible.

  On the other hand, if the airflow in the rising area is known and can be localized at the target position only by a predetermined way of flapping, it is not necessary to detect the flying state of the robot 90, so that the acceleration sensor 51 and the angular acceleration sensor 52 are not essential.

  Human body detection can be performed using the pyroelectric infrared sensor 53 in the same manner as that employed in conventional robots.

  Although the intruder 93 also becomes an obstacle to movement with respect to the robot 90, by arranging the pyroelectric infrared sensor detection area 531 below the robot 90, the intruder can be detected even if the robot 90 flies intruder information. Since it is possible to detect, the intruder 93 can be detected without causing the intruder 93 to be a failure.

  In addition, a pyroelectric infrared sensor that is currently widely used at low cost is given as an example of the human body detection sensor. However, this is not limited to this as long as the function of detecting a human body is achieved.

Light emitting diode (physical quantity output unit)
Next, the light emitting diode 8 will be described.

  The light emitting diode 8 has a visible light irradiation region that substantially includes the pyroelectric infrared sensor detection region 531 in the pyroelectric infrared sensor 53. The operation of the light emitting diode 8 is controlled by the control device 4. This control is performed when an intruder is detected by a method described later.

  With the above configuration, if it is determined that the infrared radiation source detected in the pyroelectric infrared sensor detection region 531 is the intruder 93, a warning operation can be performed by irradiating visible light thereto. .

  Naturally, it is an example of a component that fulfills the function as a warning device in an application called a security device shown as the light-emitting diode 8. That is, a physical quantity to be changed and a component that causes the change are determined by a specific application. Note that this component is not limited to that shown in the present embodiment.

  In determining the above-described constituent elements, in order not to impair the mobility of the robot 90, it is desirable that the weight is light within a range that does not impair the functions of the constituent elements.

  For example, in the above-described security robot, a person who enters a residence or the like for the purpose of theft or the like is most alert to light and sound. Therefore, the light-emitting diode 8 which is small and lightweight does not impair the mobility of the robot 90. And it is a warning device which can perform warning effectively. In order to further enhance the warning effect, a method such as blinking is also possible.

  Apart from this, the action of the robot 90 itself also changes the surrounding physical quantity, so if the function required by the application is satisfied, the change in the physical quantity brought about by the robot 90 can be used for the purpose of the application. is there. For example, as a warning method for an intruder in this embodiment, a method of warning the intruder by using a behavioral pattern such as drawing a circle centering on the intruder or approaching and colliding with the intruder is also possible. It is. In addition, sound generated by flapping, wind pressure, and the like can be used.

(Description of base station)
(Main configuration and main functions)
First, the main configuration and functions of the base station 91 will be described with reference to FIG. However, since the main purpose of the base station is to acquire information from the robot 90 and to control the robot 90 based on the information, FIG. 17 is merely an example embodying this, and the appearance, shape, and incidental components The presence or absence of is not limited as long as it does not impair the above-mentioned purpose.

  As illustrated in FIG. 17, the base station 91 includes an arithmetic device 911, a memory 912, and a communication device 917.

  The communication device 917 has a function of receiving a signal transmitted from the robot 90. Further, it has a function of transmitting a signal to the robot 90.

  The base station 91 determines the action of the robot 90 from the map data of the work space 92 stored in the memory 912 and various information including the acceleration information of the robot 90 received from the robot 90 via the communication device 917. It has the function to do. Further, it has a function of transmitting this action to the robot 90 via the communication device 917.

  The base station 91 can control the robot 90 via the communication function based on the robot 90 itself or its surrounding environment information by the reception function, action determination function, and transmission function described above.

  The upper surface of the base station 91 is used as a take-off and landing table for the robot 90. In other words, the charger 913 is provided on the upper surface of the base station 91, and the electrode 61 in the robot 90 is coupled to the charging hole 914 so that it is electrically connected to the power source 6 and can be charged. In this embodiment, for power saving, the charger 913 is controlled by the arithmetic device 911 and operates even when the robot 90 is coupled to the base station 91 to perform charging.

  The charging hole 914 also serves as a positioning hole. Furthermore, the base station 91 is provided with an electromagnet 915, which attracts the robot 90 as necessary. That is, the relative position of the robot 90 before take-off with respect to the base station 91 is fixed by operating the electromagnet 915, and the relative speed is zero.

(Operation instruction)
In this embodiment, the base station 91 includes an arithmetic device 911, a memory 912, and a communication device 917. The map 90 of the work space 92 stored in the memory 912 and a robot 90 that achieves a preset purpose. , The acceleration and angular acceleration to be given to the robot 90 from various information including the acceleration information of the robot 90 received from the robot 90 are transmitted to the robot 90 via the communication device 917. It has a function.

  For example, the posture of the robot 90 can be calculated by integrating the angular acceleration information of the robot 90 twice. Further, the position of the robot 90 can be calculated by integrating twice the acceleration information in the absolute coordinate system obtained by rotationally transforming this and the acceleration information of the robot 90 in the forward posture. These integral constants are known at any time because both the speed before takeoff and the angular velocity are 0, and the position and orientation are fixed to the charging hole 914 with respect to the base station 91. In this way, the arithmetic device 911 can calculate the position and orientation of the robot 90 and can give control instructions to the robot 90 described above.

  With the above function, the base station 91 can be controlled to make the robot 90 circulate in the work space 92.

  In addition, the base station 91 determines whether there is an intruder based on information such as infrared amount information in the pyroelectric infrared sensor 53 mounted on the robot 90 received from the robot 90. A control signal for the light-emitting diode 8 serving as a warning action for the person 93 is transmitted to the robot 90 via the communication device 917.

  With the above function, the base station 91 can control the robot 90 to issue a warning to the intruder based on the infrared information detected by the robot 90.

  These functions can also be correlated with each other. For example, the position of the infrared detection area 531 in the pyroelectric infrared sensor 53 in the work space 92 can be calculated from the acceleration information and the angular acceleration information in the robot 90 described above. It is also possible to calculate the position, shape, operation, etc. of the infrared radiation source by mapping this position and the amount of infrared radiation, and issue a warning toward the vicinity of the center of gravity of the infrared radiation source. Note that these variations are diverse, and an optimum one is designed according to the application, and is not limited to the form shown here.

(Patrol method)
The patrol method in the robot 90 can be constructed by adding a degree of freedom in the height direction to the patrol method that has been conventionally used for a robot that moves on the floor surface with wheels or the like.

  For example, first, a tour at a substantially constant height is performed, and after this is completed, the height of the tour on the two-dimensional plane is changed by changing the altitude of the robot 90 and performing a tour at another height. A method of adding a degree of freedom in the direction and moving around the three-dimensional space is realized.

  In addition, depending on the detection distance of the pyroelectric infrared sensor 53, it may be possible to detect an intruder in the entire work space 92 by traveling around a certain height. In this case, the patrol can be performed only by a conventionally proposed algorithm for patrol on a two-dimensional plane.

  For these cyclic routes, a predetermined route may be prepared in the memory 912 in advance, or a method in which the arithmetic device 911 calculates based on certain information from map data in the memory 912 is also possible. For example, a method may be considered in which the importance level for monitoring in the work space 92 is designated, and the circulation frequency is set high according to the importance level.

  The route can be changed even during the patrol. For example, when an intruder is detected, a change such as hovering at a position where the intruder is detected can be considered.

  The above is a simple example of the patrol method of the work space 92 of the robot 90, and is not limited to this. Since the mass of the base station 91 does not affect the flying of the robot 90, it is easy to make these patrol routes and methods highly complicated.

(Takeoff and landing assistance)
At the start or end of flapping, that is, when the robot 90 takes off and landing, the airflow caused by flapping increases or decreases rapidly and is unstable, so it is difficult to control the position and posture of the robot 90. In the present embodiment, the electromagnet 915 provided in the base station 91 attracts the robot 90 at the stage before takeoff. At the time of take-off, stable take-off is possible by a method such as operating the electromagnet 915 until the airflow caused by flapping is stabilized and stopping the adsorption by the electromagnet 915 when the airflow is stabilized.

  In landing, the robot 90 is moved so that the electrode 61 is roughly positioned above the charging hole 914, the electromagnet 915 is operated in this state, and the robot 90 is attracted to the base station 91. If flapping is stopped thereafter, the position and posture at the time of landing can be stabilized in a state where the airflow is unstable. In order to facilitate localization, it is desirable that at least one of the electrode 61 or the charging hole 914 is tapered.

  If the weight allows, a configuration in which the robot 90 includes an electromagnet 915 is also possible. Also, with this configuration, the robot 90 can stably take off and land not only on the base station 91 but also on all materials composed of ferromagnetic or soft magnetic materials.

  In order to take off with a smaller acceleration, a technique is also possible in which a force sensor is arranged on the electromagnet 915 and the attractive force of the electromagnet 915 is controlled by the force applied to the force sensor.

  In addition, what is shown here is only an example of a technique for preventing the unstable flying of the robot 90 due to airflow instability during takeoff and landing, and other means are possible as long as it is a mechanism that temporarily holds the robot 90 during takeoff and landing. It is. For example, a method of using air instead of the electromagnet 915 is also possible. Further, a technique such as taking off and landing along a guide mechanism such as a rail is also possible.

(System operation)
The robot 90 circulates in the work space 92 according to an instruction from the base station 91 and detects an intruder. A more specific example of this will be described with reference to FIGS. 18 and 19. FIG. Note that the following description is an example and does not limit the scope of the claims of the present application.

(Still state)
Before the operation of the robot 90 starts, the robot 90 is fixed with the electrode 61 connected to the charging hole 914 in the base station 91. Further, the power source 6 is charged as necessary. It is assumed that the arithmetic device 911 and the memory 912 in the base station 91 are already operating. It is assumed that the traveling route of the robot 90 has already been calculated by the arithmetic device 911. It is assumed that the warning operation of the robot 90 when an intruder is detected has already been calculated by the arithmetic device 911. It is desirable to store the patrol route and the warning operation in the memory 912.

(Take off, rise)
The electromagnet 915 in the base station 91 operates, and the robot 90 is attracted to the base station 91. In this state, the robot 90 starts flapping motion for ascending in the vertical direction. By the time the electromagnet 915 releases the suction at the latest, the acceleration sensor 51, the angular acceleration sensor 52, the control device 4, and the communication device 7 in the robot 90 have started to operate. At this time, it is necessary that the communication device 917 also starts operating in the base station 91 and has reached a state in which the arithmetic device 911 can detect the floating state of the robot 90.

  The electromagnet 915 stops attracting the robot 90 when the airflow caused by flapping is stabilized. When the attraction force of the electromagnet 915 is further weakened from the point where the attraction force of the electromagnet 915 and the buoyancy of the robot 90 are balanced, the robot 90 starts to rise.

  In addition, at least before the robot 90 starts to fly, the arithmetic device 911 in the base station 91 needs to start a calculation for obtaining the position and posture of the robot 90.

  The robot 90 moves up while transmitting acceleration information and angular acceleration information to the base station 91. The base station 91 calculates the acceleration to be given to the robot 90 from the position and posture of the robot 90 calculated from this information and the target route, and instructs the robot 90. When the robot 90 reaches a position designated in advance, the robot 90 starts patrol at this height according to an instruction from the base station 91.

(Patrol)
The power saving infrared sensor 53 is operated before the patrol starts. This infrared information is sent to the arithmetic unit 911 by communication. The patrol is performed by the base station 91 monitoring the infrared information while instructing the movement of the robot 90 and determining the presence or absence of an infrared transmission source, that is, a heat generation source. In order to avoid obstacles, the robot patrols a height higher than that of a general intruder, for example, about 2 m. Further, the robot 90 circulates all over the work area 92 using, for example, a method of reciprocating while shifting by about 60% of the width of the infrared information detection area 531.

(Intrusion detection, judgment)
If a heat generation source is detected, the arithmetic device 911 refers to the map information in the memory 912. The map information includes information on an infrared radiation source, that is, a heat source in the work space 92 that is known in advance, and the arithmetic unit 911 refers to this information to determine whether the detected heat source is known. Determine whether or not. More specifically, the position of the infrared information detection region 531 in the work space 92 is calculated based on the position and orientation of the robot 90, and if a known heat source exists at the calculated position, it can be determined that the person is not an intruder.

  In addition, pyroelectric infrared sensors generally have a directivity of about 45 degrees, and in order to more accurately specify the position, infrared information is detected continuously or with multiple movements. It is desirable to calculate the position and size of the heat source more accurately by combining the data obtained from the measurement results at one or more locations by the method.

  More specifically, the base station 91 interrupts the above-described patrol operation of the robot 90 and reduces the amount of infrared rays while moving more closely around the position where the heat source is detected. For example, the position and size of the heat source can be calculated more accurately by a technique such as mapping a region where the amount of infrared rays is ½ of the maximum value. In some cases, it may be possible to change the altitude and calculate the size and position in the height direction. In this way, if there is no known infrared radiation source corresponding to the position and size on the map data for the identified infrared radiation source, the base station determines that the infrared radiation source is an intruder, and the robot 90 Instruct the warning action.

(Warning action)
In the case of entering the warning operation, the base station 91 interrupts the above-described patrol operation of the robot 90 or the operation for specifying the infrared radiation source so that the robot 90 performs the action of issuing a warning to the intruder 93. Determine action.

  More specifically, the intruder 93 is informed that the intruder 93 is detected by moving the light-emitting diode 8 so as to surround the intruder 93 while blinking the light emitting diode 8.

(landing)
After the end of patrol, the pyroelectric infrared sensor 53 in the robot 90 stops operating. At the end of patrol, the base station 91 controls the robot 90 so that the robot 90 descends while maintaining the position and posture so that the electrode 61 in the robot 90 is positioned vertically above the charging hole 914 in the base station 91. When it is determined that the robot 90 is positioned at a position where the electromagnet 915 can attract the robot 90, the electromagnet 915 is operated to fix the robot 90 to the base station 91.

  After the robot 90 is fixed to the base station 91, the acceleration sensor 51 and the angular acceleration sensor 52 in the robot 90 stop operating. After the robot 90 is fixed to the base station 91, the base station 91 instructs the robot 90 to stop flapping. Thereafter, the communication device 7, the control device 4, etc. may be stopped.

(flowchart)
The flow of each information in the present embodiment is shown in FIG. A flowchart of the above operation is shown in FIG. Of course, these are only examples, and the operation of the robot 90 that satisfies the application of the security robot in the present embodiment is not limited to this, and when used in an application so far, this operation may naturally be different.

(About avoiding recognition during patrols)
Next, a technique for avoiding recognition when the robot system according to the present embodiment is visited will be described.

  In actual security activities, since the intruder 93 recognizes the presence of the robot 90 and acts by avoiding the pyroelectric infrared sensor detection area 531 of the pyroelectric infrared sensor 53 in the robot 90, the robot system operates as an intruder. There is a danger that 93 cannot be detected. For this reason, the structure which makes the robot 90 difficult to be recognized by the intruder 93 is required.

  As a method of avoiding recognition, it is conceivable to first suppress the wing noise generated by flapping. The simplest technique is to reduce the flapping frequency in order to keep the wing sound from reaching the audible range of the human ear. The fundamental frequency of flapping in this embodiment is about 32 Hz. This is low compared with 100 Hz of a general radio control helicopter. According to the Loudres curve shown in FIG. 20, the sound of 32 Hz is lower in sensitivity of the human ear by about 30 dB, that is, 30 times or more, than the sound of 100 Hz, so that the frequency of the sound generated with the rising is low. Is very advantageous to avoid being recognized by intruders. It should be noted that the sensitivity of the human ear is also extremely low for frequencies exceeding 20000 Hz, and the same conditions as described above can be achieved even by a method of flapping at a frequency in this band.

  The flapping apparatus according to the present embodiment can fly at a low flapping frequency while utilizing the drag force. For example, the dragonfly can float by flapping about 30 Hz. At this time, the main component of the sound generated by flapping is naturally about 30 Hz. On the other hand, in the case of a helicopter that uses lift, the main rotor needs to have a speed of a certain level or more, so a general small radio control helicopter generates a sound mainly having a frequency of 100 rpm or more, that is, a frequency of 100 Hz or more. Will occur.

  According to the Robinson and Dudson Loudres curve shown in FIG. 20, the minimum audible sound pressure at 100 Hz is about 26 dB, about 43 dB at 50 Hz, and about 58 dB at 30 Hz. Is significantly reduced. For this reason, the sound generated by flapping is harder to hear by the intruder 93 and the like, and it is difficult to recognize the presence of the security robot. This is very advantageous for security purposes.

  Also, if the size is small, the ratio of drag to lift increases, so flapping flight is advantageous for downsizing compared to helicopters that fly with lift. That is, it is easy to construct a small robot 90 that is suitable for security purposes and difficult to be noticed by the intruder 93.

  According to the flapping apparatus having such characteristics, it is possible to avoid recognition by specifically configuring as follows.

In the robot 90 according to the present embodiment, the distance between the robot 90 and the intruder when the robot 90 should avoid being recognized by the intruder due to the feather sound of the robot 90 during the patrol behavior is L and the distance L0 from the robot. Pc (f)> P0 × (L0 / L) where P0 is the sound pressure at P, f is the flapping frequency of the robot 90, and Pc (f) is the minimum human audible sound pressure due to the frequency in the robot operating environment. It is set to flutter at a frequency f in the range of ² . Thereby, it is possible to prevent the intruder 93 from recognizing the robot 90 due to the sound.

  Further, the robot 90 according to the present embodiment is set so as to obtain levitation force by moving the wings perpendicularly to the film surfaces of the wings 31 and 32. Accordingly, the generation of Karman vortices at the ends of the wings 31 and 32 can be suppressed, and the wind noise is reduced. Therefore, the robot 90 can be prevented from being recognized by the intruder 93 due to the flapping sound.

  Also, if the flow velocity in the direction parallel to the films of the wings 31 and 32 is large, Karman vortices are generated at the ends of the wings, and a high wind noise is generated. Therefore, as shown in this embodiment, the wing film It is desirable to flutter in the direction perpendicular to the plane formed by the surface and to ascend by drag instead of lift.

  Since the audible area of the human ear varies depending on the work space 92 and the intruder 93 and its mental state, FIG. 20 is not an absolute method but an example showing the audible area. Is not limited to what is shown here, but may be changed by the application.

  Further, in the flapping apparatus according to the present embodiment, at least some of the wings have a protective color or a transparent color. This makes it more difficult to find the flapping device (robot 90) that the intruder 93 guards, making it difficult to avoid the robot 90 guarded by the intruder. Therefore, the frequency with which the guarding robot 90 fails to detect the intruder can be reduced. Note that the color suitable for the protective color varies depending on the environment desired by the guard. For example, dark gray is desirable if the entire office is guarded at night when there is no light. Conversely, it is also effective that the wings 31 and 32 are transparent.

(communication)
A communication method according to the present embodiment will be described with reference to FIGS.

  Here, explanations are mainly given for data to be communicated. For example, there are various methods for communication methods such as communication protocol and handshake timing. Any method can be used as long as it can exchange data described here.

(Static state, takeoff)
First, the communication operation from the stationary state to takeoff will be described with reference to FIG.

  First, the arithmetic device 911, the communication device 917 of the base station 91, the control device 4 of the robot 90, and the communication device 7 are operated to establish a connection between the robot 90 and the base station 91. Then, the electromagnet 915 in the base station 91 is operated to attract the robot 90 and prevent the robot 90 from being overturned by an unstable air flow at takeoff.

  Since the acceleration sensor 51 and the angular acceleration sensor 52 in the robot 90 need to operate before the robot flies, that is, the acceleration or angular acceleration becomes zero, in order to correctly grasp the position and posture of the robot 90, Start sensing before it starts.

  The base station 91 instructs the robot 90 to flapping for flying. In the present embodiment, an instruction for acceleration and angular acceleration is given to the robot 90 so as to perform flapping that floats vertically upward.

  In the robot 90, a time series pattern of α, β, and θ for ascending vertically upward is selected from a control table prepared in advance, and the left and right actuators 21 and 22 are driven in order to start flapping according to this pattern. To do.

  The base station 91 waits until the airflow caused by the flapping of the robot is stabilized by a method such as detecting the passage of a certain time with a timer, and then reduces the attracting force of the electromagnet 915.

  Meanwhile, the robot 90 transmits its own acceleration information and angular acceleration information to the base station 91 by communication. When the attracting force of the electromagnet 915 falls below the buoyancy, the robot rises. This is detected when the speed of the robot 90 is not zero. When the ascent is completed, an ascent completion signal is transmitted from the base station 91 to the robot 90, and the patrol mode is entered.

(Patrol, warning action)
Next, communication operation during patrol will be described with reference to FIG.

  First, the robot 90 operates the infrared sensor (not shown) before shifting to the patrol mode.

  Next, the robot 90 acquires information of various sensors. Then, the acquired sensor information is transmitted to the base station via communication.

  The base station 91 calculates the position and orientation of the robot 90 from the acceleration information and the angular acceleration information among the received sensor information of the robot 90. Further, the infrared radiation distribution in the work area 92 is obtained by mapping the infrared information from the above-described sensor in accordance with the position and posture of the above-described robot 90. It is assumed that these position, orientation calculation processing, and infrared mapping processing are continuously performed during the patrol action.

  If an infrared radiation source that does not exist in the map data in the memory 912 is confirmed as a result of the obtained infrared mapping, it is regarded as an intruder and a warning operation is performed. If not, continue the patrol. The base station 91 determines these next actions, and transmits the acceleration and angular acceleration to be given to the robot 90 to the robot 90 as instruction information.

  The robot 90 calculates the drive of the left and right actuators from the control table prepared in advance based on the acceleration instruction and the angular acceleration instruction in the received instruction information, and drives it. If a warning operation instruction is given, the LED is driven according to this. Also in the warning operation, the communication mode is the same as the cyclic operation except for the LED driving.

  When the base station 91 determines that the robot 90 has reached the patrol end, it transmits a patrol end signal to the robot 90 and shifts to the landing mode.

(landing)
Next, communication in landing will be described with reference to FIG.

The robot 90 stops the operation of the pyroelectric infrared sensor 53 after the patrol is completed.
The base station 91 guides the robot 90 directly above the landing point, more specifically, to an area where the robot 90 can be attracted to the initial position by the electromagnet 915. This guidance is performed using the position and orientation of the robot 90 calculated from the acceleration information received from the robot 90 and the angular acceleration information, similarly to the control at the time of patrol. That is, it is performed by the same communication mode as the cyclic operation.

  When the robot 90 comes directly above the landing point, the electromagnet 915 is operated to attract the robot 90 to the base station 91. Thereafter, if it is not necessary to continue the operation, the base station 91 instructs the robot 90 to end the operation. As a result, the robot 90 ends the flapping operation, the communication operation, and the sensing.

  Note that the communication form is an example, and the base station 91 is not limited to the one described here as long as the base station 91 instructs the action of the robot 90 based on the sensor information of the robot 90.

  In the embodiment, the sensor operates continuously. However, the sensor operation from the base station 91 is performed only when the sensor information request signal is received by the base station 91. A method of intermittently performing according to an instruction is also possible.

(Function sharing)
The function sharing of information processing in the control device 4 in the robot 90 and the base station 91 in the present embodiment will be described below.

  Since the robot 90 and the base station 91 can exchange information through a communication path, each function can take various forms. For example, as in the above embodiment, a so-called stand-alone type in which all the functions of the base station 91 are accommodated in the robot 90 and the base station 91 is eliminated is possible. However, if an excessive mass is mounted on the robot 90, it becomes difficult to ascend. In addition, the lighter robot 90 can move more quickly, and the system operation efficiency can be increased. That is, generally, it is desirable that most of the information processing is performed at the base station 91 and the robot 90 is designed to be lightweight. In particular, the map data in the work space 92 increases depending on the size of the work space and the number of obstacles. For this reason, it is desirable that a memory 912 that does not increase the weight of the robot 90 is prepared. If the position of the infrared radiation source shown in the previous section is also determined by the arithmetic unit 911 in the base station 91, a simple device can be used for the control unit 4 in the robot 90, so that the weight can be reduced. It is.

  In addition to the above discussion, it is necessary to consider that the communication speed increases the weight of the control device 4 in the robot 90 and the information processing function sharing in the base station 91.

  For example, in the case of communication using radio waves, if the communication speed becomes high, power consumption increases because high-frequency radio waves with high energy as a carrier must be used. For this reason, it leads to the weight increase of the power supply 6. FIG. In addition, the signal quality must be improved using a compensation circuit or the like, and the number of components increases, leading to an increase in the weight of the communication function. Overall, it is necessary to design the actual function sharing in consideration of these trade-offs.

  For example, considering the details of flapping, that is, the case where the base station 91 also indicates the wing angles α, β, θ, since the frequency after flapping is generally several tens Hz or more, the control frequencies of α, β, θ The band is on the order of kHz. In this case, assuming that the data of α, β, and θ are 8 bits each, to control at 1 kHz each, 8 (bit) × 1 (kHz) × 3 × 2 (number of actuators) in a single communication path A communication speed of = 48 (kbps) is required. This is a transmission-only speed, and actually requires a band for reception. Since communication overhead and data from sensors such as the power-saving infrared sensor 53 are added to this, a communication method having a communication speed of about 100 kbps is required.

  By the way, with respect to basic operations such as forward and backward movement and left and right turn in the robot 90, it is possible to prepare a way of flapping with a certain pattern corresponding to each operation. Therefore, these basic motions and the flapping pattern that brings them in are included in the robot 90, the base station 91 calculates the basic motion suitable for the planned route, and instructs the robot 90. The robot 90 starts from the instructed basic motion. The robot 90 can be caused to fly along a desired route even by using a method such as selecting a flapping pattern included therein.

  As described above, the robot 90 is in charge of control in a high frequency band typified by flapping control itself, and the base station 91 is in charge of control in a low frequency band typified by path control. From the viewpoint of reducing traffic on the communication path. It is desirable to prepare these basic operations and flapping patterns that bring them as a table in the control device 4 from the viewpoint of processing speed and reduction in the amount of calculation in the control device 4.

  In particular, it is expected that the computing power and communication speed of the arithmetic device represented by the control device 4 will be greatly improved in the future. Therefore, the information processing mode in the robot 90 and the base station 91 described here is the current situation. The basic idea is illustrated as an example, and the specific function sharing is not limited to what is described here.

(Advanced control)
In the present embodiment, it is possible to easily move to a different floor by advanced control. That is, if the height information is included in the map data, it is possible to change the height of the patrol route only by adding control in the height direction to the conventional floor surface mobile robot control method. That is, according to the map data of the stairs, for example, the ascending and descending of the stairs can be easily realized by rising and moving while changing the height by an algorithm such as maintaining a substantially constant vertical distance from the vertical lower surface of the stairs.

  Naturally, the use of stairs for the movement of different floors described above is an example of a technique for moving between different floors, and is not limited thereto. For example, it is possible to use a vent or a blowout.

(About multiple tours)
In the present embodiment, only a single tour is illustrated, but the tour mode is not limited to this. It is also possible to repeatedly perform a patrol action as exemplified in the present embodiment.

It is also possible to perform a new patrol with such a patrol method.
Further, in the present embodiment, the behavior form returning to the base station after completion of the tour is shown as an example, but this is an example, and this is not restrictive. For example, a method of arranging a plurality of base stations in the work space 92 and circulating between them is also possible.

(About energy replenishment mechanism)
Of course, the charging method and form of the power source 6 are only examples of energy replenishment generally used to achieve both weight reduction and continuous use. The aspect of the charging mechanism is not limited to that exemplified here.

  For example, a method of charging a power source 6 by forming a coil on a wing by sputtering a metal thin film, applying a radio wave from the outside, converting this into electric power by the coil, and rectifying it is also possible.

  In addition, for example, there is a charging station only for charging other than the base station 91, and charging can be performed there.

  Moreover, when energy other than electric power is used, an energy replenishment method suitable for this is required. Of course, the shapes of the electrode 61 and the charging hole 914 are not limited to those shown in this embodiment mode. In addition, it is not essential to have a role of positioning as shown in the present embodiment.

(About communication)
In this embodiment, the base station 91 always obtains and controls the information of the robot 90. However, the base station 91 always controls the robot 90 when the robot 90 can operate autonomously. It is not always necessary to do.

  Further, by temporarily storing information in the memory 42, the frequency of communication between the base station 91 and the robot 90 can be reduced. This is effective when there is a need to reduce traffic on the communication path, such as when there are a plurality of robots and base stations described later.

  It is desirable to design the connection between the robot 90 and the base station 91 on the assumption that there is a possibility of interruption. Here, if an action form in the case where the communication path is interrupted is incorporated in the robot 90 in advance, adverse effects caused by the communication interruption when the connection is resumed can be minimized.

  As an example, if the communication path is interrupted, the robot 90 has a function of keeping the flying state constant by performing hovering, so that the possibility of colliding with an obstacle is smaller than when the robot 90 continues to move without hovering. Become.

  In addition, by buffering the motion model ahead to some extent in the memory 42, the robot 90 can continue to fly even when the communication path is interrupted. Conversely, the information detected by the sensor is buffered in the memory 42. In addition, when the communication path is restored, the base station 91 can do this so that the base station can obtain sensor information while the communication path is interrupted.

  Conversely, by using such buffering, the robot system functions can be achieved with weaker radio waves even in environments where there are many obstacles and radio waves are easily interrupted. Since the power supply 6 is reduced in weight, the mobility of the robot 90 can be improved.

(Regarding environmental changes)
In the present embodiment, for simplicity of explanation, the environment in the work space 92 is not changed. However, the environment changes in actual use. The major environmental changes include the generation of airflow and changes in obstacles. If these environmental changes exist, it is necessary to prepare correction means.

  Since the airflow is affected in the same manner as a general aircraft even in a flapping flight, a method used for general aircraft route planning can be applied to this correction as it is.

  For the change of the obstacle, the method adopted for the conventional remote control robot system can be applied as it is. For example, a method may be considered in which obstacle detection means such as an optical sensor is provided in the robot 90, the obstacle detection database is transmitted to the base station 91, and the base station 91 updates the map data from the information.

(About workspace and application)
Although it is conceivable that the work space 92 is divided into a plurality of regions, the robot in the present embodiment is approximately 10 cm across, so that a hole having a diameter of 10 cm or more can be sufficiently passed. By the way, since intruders cannot pass through holes of this size, for example, even if the office partition is recut, there is almost no need to change the system, or a new security area is added, or It is possible to change.

  In addition, in this embodiment, intruder detection is assumed indoors, but the present invention is not limited to this, and can be used for outdoor rental detection. Moreover, it can be applied to general applications involving infrared radiation detection, that is, temperature detection, such as indoor and outdoor fire detection by adjusting the sensor.

(System configuration (number of units))
In this embodiment, one base station is used for ease of explanation, but the robot 90 may be controlled by a plurality of base stations. As an example, when the work space 92 is wider than the communicable range of the base station 91 and the robot 90, a method of providing a plurality of base stations so as to cover the work space 92 and spatially sharing the control of the robot 90 is given. It is done. In this embodiment, the control function of the robot 90, the take-off and landing assist function, and the energy replenishment function, that is, the charging function are integrated into the base station 91. However, it is essential that these functions are integrated into the base station 91. is not. For example, when the cruising flight distance, that is, the distance that can continue to fly without replenishing drive energy from the outside is shorter than the communicable range, other energy supplements are within the communication range covered by one base station. A form in which a station exists can be considered.

  Conversely, the robot 90 does not need to be single, and the search efficiency of the work space 92 can be improved by using a plurality of robots. For example, in the case of the security purpose shown in this embodiment, if the time T1 (seconds) required for the robot 90A to search the work space 92 once is T1 (seconds), T1 / 2 (seconds) after the robot 90A starts the search. If the robot 90B starts searching later, the search frequency of a certain position in the work space 92 is 2 / T1 (times) per second, and the search is performed twice as frequently, so that the probability of finding an intruder increases.

  Further, it is also possible to make a communication between the robots 90 and secure a wider work range with a plurality of robots. Also, a technique for sharing information processing between robots is possible. For example, a robot that mediates information processing from the base station 91 is also conceivable.

  It is also possible to incorporate the behavior of the robot as a whole or a system including the base station 91 into the robot, such as performing a tour in a group based on a group behavior based on the migration of a school of fish.

  The warning operation is not necessarily performed by the robot 90. For example, the base station 91 may operate another security device not shown in the system. For example, since a general building is equipped with a fire alarm, it is easy for the base station 91 to operate it via a relay or the like.

  Needless to say, all the functions of the base station 91 can be included in the robot 90 and the robot 90 alone can be used as a stand-alone type as long as it has a weight capable of floating. On the contrary, the base station 91 is responsible for most of the information processing, and the robot 90 can be controlled only by the actuator.

  According to the robot system of the present embodiment, since the robot can move away from the ground by obtaining buoyancy, various objects such as furniture are placed, and the position of such an object is temporally changed. In a changing room, it is possible to move while avoiding such obstacles, and it is possible to perform predetermined operations such as grasping the state of each room. In addition, outdoors, for example, it is possible to move without being affected by obstacles in a disaster area, topography in a general field, etc., so that operations such as information collection can be easily performed. Moreover, the introduction into the existing work space can be realized easily at low cost.

  According to the robot system of the present embodiment, the robot having the physical quantity acquisition unit and the communication unit, and the base station capable of obtaining information from the robot or controlling the robot through communication with the robot As a result, the information processing in the robot can be performed with components that do not affect the ascent, and the amount of information processing can be increased without impairing the starting force of the robot.

  In addition, according to the security robot system of the present embodiment, the security robot system that is small and light is excellent in mobility, has a small turn, and is capable of crossing a large step while being small and light, an existing office This can be achieved with almost no modification. In addition, since it is possible to easily move to different floors through stairs, vents, blowouts, etc., it is possible to easily guard the different floors without modifying the conventional facilities. In addition, it is possible to fly in altitudes where there are no obstacles that change functions, such as chairs, and to detect intruders, so such obstacles in office environments such as office rooms, which were impossible in the past, are possible. A security robot that can move without restriction is realized.

(Features and effects of the robot system of the present embodiment)
The robot system in the present embodiment includes a robot including a wing part for flapping a space in which a fluid exists, a driving part for flapping the wings, and a control part for controlling the driving part. The flapping motion of this robot is controlled by information obtained from an external physical quantity acquisition mechanism.

  In addition, the robot system according to the present embodiment preferably controls the physical quantity acquisition mechanism, the wing part for flapping the space where the fluid exists, the driving part for flapping the wing, and the driving part. And a robot that controls the flapping motion based on the information obtained from the physical distribution acquisition mechanism.

  By doing so, the robot has a floating function, so it can climb over obstacles without having any grounding point on the floor, so the trade-off between the ability to get over the step and the ability to get through the gap is eliminated. The In addition, flapping flight can be given an independent acceleration in a desired direction and a quick temporal response. It is also possible to stop. Accordingly, for example, even a gap bent at a right angle can pass through without falling. Similarly, these controls in a helicopter that can stop are only the additional speed control in the front-rear direction by the elevation angle control of the main rotor having rotational inertia, and the posture control in the left-right direction by the auxiliary rotor that cancels the torque of the main rotor. The flapping flight, which can change the direction of the force received from the fluid directly by changing the flapping method, has higher mobility than the helicopter, that is, the acceleration and angular acceleration that can be achieved by the robot.

  Similarly, in the case of airships that can stop, the flying force relies on buoyancy and it is difficult to reduce the size, so flapping flight has a higher ability to pass through the gaps than these airships. Note that the robot in the present embodiment refers to a robot that performs an operation of changing or acquiring a physical quantity in itself or in the vicinity thereof for some purpose. More generally, some work is done for the purpose specified by the human.

  The physical quantity is a quantity that can be measured physically such as temperature, humidity, electromagnetic wave, atmospheric pressure, fluid velocity, potential, fluid concentration, and the like. The physical quantity acquisition mechanism refers to these sensors, such as a temperature sensor and a power saving infrared sensor. The quantity change mechanism is a mechanism that outputs the above-described physical quantity, and includes, for example, an actuator, a light emitting diode, or a transmitter.

  The robot system refers to all devices that allow the robot to perform these purposes. Even when the robot alone performs work, the robot itself is referred to as a robot system. That is, by having these physical quantity acquisition mechanism and physical quantity change mechanism, it becomes possible to operate as a robot system.

  In addition, the air suspension described in the present embodiment refers to a state in which the vehicle is substantially stopped. For example, when performing certain sensing in a stationary state, if the robot is flying at a certain speed or more, the accuracy of sensing may be affected. In this case, assuming that the sensor accuracy x and the sensor sensing area radius D [m], if the position shift is approximately x'D [m] or more, the sensing error due to the position shift exceeds the sensor accuracy, and the sensing result. Will be affected.

  That is, assuming that the time required for sensing is T [sec] and the speed of the robot is x′D / T [m / sec] or more, the sensing result includes an error caused by the positional deviation more than the error of the sensor. The sensing results will be different due to the positional deviation. As in this case, when the speed of the robot is equal to or higher than x′D / T [m / sec] in terms of sensing accuracy, the robot is not stationary. That is, in order to stop, it is necessary to be below this speed.

  In addition, the robot system in the present embodiment has a gravitational acceleration position measurement mechanism in the robot, and the robot has a levitation mechanism that can change the position in the gravitational acceleration direction. It can be controlled. This makes it possible to move while changing the flying height of the robot.

  Also, the robot system in the present embodiment has information on the arrangement of obstacles in the work space in advance, and by performing altitude control of the robot, the robot moves to a height at which these obstacles can be avoided. The robot moves up and down while selecting an altitude at which obstacles can be avoided, thereby realizing the function of overcoming steps.

  In the robot system according to the present embodiment, the physical quantity acquisition region in the physical quantity acquisition mechanism is located below the robot, and when acquiring the physical quantity, the robot is positioned above the physical quantity acquisition target. As a result, even when the physical quantity acquisition target of the robot itself becomes an obstacle, the robot moves over the obstacle, so that it is possible to fly in a region with few obstacles.

  Further, the robot system in the present embodiment may include an energy replenishment mechanism for the robot. Thereby, the mass of energy mounted on the robot body can be reduced, and the robot body can be reduced in size and weight. This leads to a reduction of the inertial mass and the moment of inertia, and can further increase the mobility of the robot.

  Further, the robot system according to the present embodiment performs physical quantity acquisition a plurality of times or continuously with the flapping flight. Thereby, a physical quantity can be acquired more widely. For example, a physical quantity distribution in two dimensions or three dimensions can be acquired by operating a two-dimensional sensor with flapping flight.

  In addition, the robot system according to the present embodiment is set so as to change the quantity of objects a plurality of times or continuously with the flapping flight. Thereby, the quantity can be changed more quickly. For example, it is possible to irradiate LED light in two dimensions or three dimensions by operating an almost point light source such as an LED with flapping flight.

  The robot system in the present embodiment includes a robot provided with a communication device, and a base station (or other robot) having a function of performing a part of information processing by communicating with the communication device. .

  By letting a device that does not behave continuously with a floating robot to perform a part of the work, even if the same work is performed, the floating robot can be reduced in size and weight, thus increasing the mobility of the robot be able to. Also, increasing the amount of work does not lead to an increase in the gravity of the robot body.

  In addition, the robot system according to the present embodiment has a buffering function. As a result, work can be performed even when communication between the robot and the base station is interrupted. For this reason, it is not necessary to always communicate with radio waves with a strength sufficient to establish communication, and the power used for this can be reduced. Therefore, the mass of the power supply mounted on the robot body can be reduced, and the robot Mobility can be increased.

  In the robot system according to the present embodiment, the position or posture of the robot is determined by the base station (or another robot), and the manner of flapping that realizes the determined position or posture is determined in the robot. Yes.

  This is due to the following reason. For example, it is necessary to globally determine the position and posture required for the robot. A large amount of data is required to calculate the movement of the global robot, and this data causes an increase in the mass mounted on the robot, thereby reducing the mobility of the robot. In addition, since it is necessary to collect information at a longer distance, the amount of information processing increases, and the size of the arithmetic circuit and memory increases accordingly, which also increases the mass of the robot and increases the mobility of the robot. Reduce. For this reason, it is desirable for the base station to determine the path and posture of the robot.

  Further, the determination of how to flutter the robot for realizing the above-described position and posture needs to be performed at high speed, but this determination does not require a high degree of intelligence. Therefore, the traffic in communication can be reduced by performing this inside the robot. Thereby, since the electric power used for communication can be reduced, the mass of the power supply mounted on the robot body can be reduced, and the mobility of the robot can be further increased.

  The robot system according to the present embodiment uses a robot system including a robot having human body detection means and interpersonal warning means, the robot performs human body detection, and the robot issues interpersonal warning. This realizes a security robot system that can easily move over a space with many obstacles and perform security.

  In the robot system according to the present embodiment, the base station (or other robot) has map data of the work space. By having global map data, more efficient security reflecting the map data can be performed.

  In addition, the robot system according to the present embodiment is set to perform human body detection a plurality of times or continuously with flapping flight. In this way, sensing is performed with the movement of the robot, so that a wider area than the sensing area of the sensor can be sensed. For this reason, it is not necessary to use a sensor having a wide sensing area, so that a security robot system can be realized simply and inexpensively. In addition, the robot can be reduced in size and weight, and the mobility of the robot can be improved.

  Also, the robot system in the present embodiment performs human body detection using mapping of human body detection values by human body detection means. As a result, it is possible to easily determine human body detection.

  The robot system according to the present embodiment performs interpersonal warnings a plurality of times or continuously with the flapping flight. As a result, the warning can be performed more widely than when the warning operation is performed while the robot is stationary, and the effect of the warning operation can be enhanced.

  In addition, the robot system according to the present embodiment is set to issue an interpersonal warning while moving within a recognizable range for an intruder. For example, the warning can be performed more effectively by using the floating manner of the other interpersonal warning means and the robot in a form such as moving while emitting light. Further, since the robot makes wind pressure and sound by flapping, it can warn the intruder without using any special technique.

  In addition, the robot system according to the present embodiment may include a robot having a size that can pass through a gap through which an intruder cannot pass. This facilitates introduction into the existence space. For example, if the size of the robot is about 10 cm, if such a hole is made in the door, the robot can go around each space through the hole even if the door is closed. Moreover, since the intruder cannot enter or exit through the 10 cm hole, safety is maintained.

  Further, in the robot system according to the present embodiment, the robot may move through an air passage or an atmosphere passage in a room similar to that. Ventilation holes and the like are arranged in the existing office from the construction stage, so this can be used to introduce the security robot system without processing any existing space.

  In addition, the robot system according to the present embodiment is even set so that the robot moves up in a region higher than the chair. In many cases, the tallest moving body in the office is a chair, so if it rises above this area, it can move efficiently in a space where there are almost no obstacles other than known obstacles.

  Further, the robot system in the present embodiment includes a floor surface in the human body detection area in the human body detection means. Since the intruder exists above the floor surface, it is possible to detect the human body in all of the spaces.

  In the robot system according to the present embodiment, two or more robots may exist. Thereby, work can be performed by a plurality of robots, and work efficiency is improved.

  In the robot system according to the present embodiment, two or more base stations may exist. As a result, even if the communication range of the robot is narrow, the robot can work in a wide work area.

  The robot system according to the present embodiment may be as follows. The robot system of the present invention has a left wing and a right wing for a flapping robot to flapping, a left drive for driving the left wing, and a right wing for driving the right wing. The flapping flight control device may be configured to be able to control the left drive unit and the right drive independently of each other.

  In the robot system of the present invention, the flapping flight control device changes the flapping mode by controlling at least one of the flapping frequency, stroke angle, declination angle, and twist angle between the left wing portion and the right wing portion. It may be.

  In the robot system of the present invention, the flapping flight device may control the left-right movement of the flapping robot by making the flapping aspect of the left wing different from the flapping aspect of the right wing.

  In the robot system of the present invention, the flapping flight device may control the movement of the flapping robot in the front-rear direction by changing the deflection angle of the left wing portion and the deflection angle of the right wing portion.

  In the robot system according to the present embodiment, the flapping apparatus may control the vertical movement of the flapping robot by changing the stroke angle and flapping frequency of the wing portion and the right wing portion.

  Further, the flapping flight control device includes flapping flight time series mode storage means for storing time series values of predetermined stroke angle, declination angle and twist angle of the wing portion, and is stored in the flapping flight time series mode storage means. The flapping mode of the flapping robot may be determined with reference to the stroke angle, declination angle, and twist angle.

  Further, the flapping robot includes wing motion time series storage means for storing the wing motion, and the flapping flight control means uses the wing motion time series storage stored in the wing motion time series storage means, The flapping mode control command may be corrected.

Next, another embodiment of the robot will be described.
(Another embodiment)
The robot system of the present embodiment is substantially the same as that of the above-described embodiment, but only the structure of the flapping robot as the flapping apparatus is different. That is, the flapping robot of this embodiment is used in the robot system of the above-described embodiment, and the relationship between the base station and the communication control is used in the same relationship. Furthermore, in the present embodiment, only the flapping flight of the flapping robot will be described, but the flapping robot is provided with a sensor similar to that of the above-described embodiment as a sensor for detecting a human body. As a means, it is assumed that warning means such as a light emitting diode similar to the above-described embodiment is provided.

  A flapping apparatus according to another embodiment will be described. 24 (a) and 24 (b) are diagrams showing a flapping apparatus having two wing shafts as wing parts. 24A shows the front front part of the flapping apparatus, and FIG. 24B shows the left side part toward the front front of the flapping apparatus.

  24 (a) and 24 (b) show only the left wing toward the front front of the flapping apparatus, but in reality, the right wing is also symmetrical with respect to the center axis of the body portion 105. Is formed. For simplicity, it is assumed that an axis (body axis 801) along the direction in which the body part 105 extends is in a horizontal plane, and a center axis 802 passing through the center of gravity is maintained in the vertical direction.

  24 (a) and 24 (b), the body portion 105 of the flapping apparatus includes a front wing shaft 103 and a rear wing shaft 104, and a space between the front wing shaft 103 and the rear wing shaft 104. A wing (left wing) having a wing film 106 provided so as to pass is formed.

  In addition, a rotary actuator 101 for driving the front wing shaft 103 and a rotary actuator 102 for driving the rear wing shaft 104 are mounted on the body portion 105. The arrangement of the actuators 101 and 102 and the shape of the wing including the front wing shaft 103, the rear wing shaft 104, and the wing film 106 are not limited to this as long as the flight performance is not impaired.

  Furthermore, in the case of this flapping device, if the cross-sectional shape of the wings is convex upward, not only drag but also lift is generated when flying in the horizontal direction, and a greater levitation force can be obtained. Become.

  Further, the position of the center of gravity of the flapping apparatus is set to be lower than the position of the acting point on the actuator of the force that the wing receives by the surrounding fluid in order to emphasize the stability of the flapping apparatus. On the other hand, from the viewpoint of easily changing the posture of the flapping device, it is desirable to make the center of gravity and its action point substantially coincide with each other, and in this case, the difference in force that the left and right wings required for posture control receive from the fluid The posture of the flapping device can be easily changed by reducing the size.

  The two rotary actuators 101 and 102 share the rotation axis 800 with each other. The rotation shaft 800 forms a predetermined angle (90 ° −θ) with the body shaft. The front (rear) wing shafts 103 and 104 reciprocate in a plane orthogonal to the rotation shaft 800 with the actuators 101 and 102 as fulcrums. The angle formed by the plane perpendicular to the rotation axis 800 and the body axis 801 is the elevation angle θ.

  The body portion 105 is preferably formed of a cylindrical shape of polyethylene terephthalate (PET) or the like in order to ensure mechanical strength and achieve sufficient weight reduction, but is limited to such materials and shapes. It is not a thing.

  As the actuators 101 and 102, it is desirable to use an ultrasonic traveling wave actuator using a piezoelectric element (piezo) because the starting torque is large, the reciprocating motion can be easily realized, and the structure is simple. There are two types, a rotary actuator and a linear actuator. In FIG. 24A and FIG. 24B, a rotary actuator is used.

  Here, the method of directly driving a wing by an ultrasonic element using a traveling wave will be mainly described, but the mechanism for driving the wing and the type of actuator used therefor are particularly shown in this embodiment. It is not limited to things.

  As the rotary actuator, in addition to the rotary actuators 101 and 102 shown in FIGS. 24A and 24B, for example, a rotary actuator 401 shown in FIG. 34 may be used.

  In the flapping apparatus shown in FIG. 34, a wing 403 is attached to a rotary actuator 401 mounted on a body portion 404. The wing 403 reciprocates around the rotation axis 402 of the rotary actuator 401.

  Further, as a mechanism for driving the wings, a mechanism combining an exoskeleton structure and a linear actuator as described in JP-A-5-1695675 is applied, for example, as shown in FIG. 35 or FIG. Such a flapping apparatus may be configured.

  In the flapping apparatus shown in FIG. 35, a front wing shaft or a rear wing shaft 503 is connected to one end of a linear actuator 501. The movement of the linear actuator 501 is transmitted to the front wing shaft or the rear wing shaft 503 through the hinge 502 attached to the body portion 504, whereby the flapping motion is performed. This flapping movement is inspired by the flapping movement of a dragonfly that directly drives its wings with muscles.

  In the flapping apparatus shown in FIG. 36, the body part is divided into an upper body part 603 and a lower body part 604. The movement of the linear actuator 601 fixed to the lower body part 604 is transmitted to the upper body part 603. Then, the movement of the upper body part 603 is transmitted to the front wing shaft or the rear wing shaft 603 via the hinge 602, whereby the flapping motion is performed. This flapping movement is inspired by the flapping movement used by bees other than dragonflies.

  In the case of the flapping apparatus shown in FIG. 36, since the left and right wing shafts 603 are simultaneously driven by one actuator 601, the left and right wing shafts cannot be driven separately, and detailed flight control cannot be performed. The number of actuators can be reduced, and the weight can be reduced and the power consumption can be reduced.

  Now, in the flapping apparatus shown in FIGS. 24A and 24B, the front wing shaft 103 and the rear wing shaft 104 are connected to the rotary actuators 101 and 102, respectively. A wing film 106 is stretched between the front wing shaft 103 and the rear wing shaft 104. The wing film 106 has a spontaneous tension in the direction of contraction in the plane thereof, and functions to increase the rigidity of the entire wing.

  For weight reduction, the front wing shaft 103 and the rear wing shaft 104 have a hollow structure and are each formed of carbon graphite. For this reason, the front wing shaft 103 and the rear wing shaft 104 are elastic, and the front wing shaft 103 and the rear wing shaft 104 can be deformed by the tension of the wing film 106.

  FIG. 37 shows the overall structure of the flapping apparatus. Note that the left wing is omitted in the forward direction (upward in the drawing).

  An ultrasonic sensor 701, an infrared sensor 702, an acceleration sensor 703, and an angular acceleration sensor 704 are disposed on the body 700. The detection results by these sensors are sent to the flapping control unit 705. The flapping control unit 705 processes information such as the distance between the flapping apparatus and the surrounding obstacles and humans from the results detected by the ultrasonic sensor 701 and the infrared sensor 702. In addition, information such as the flying state, the target position, or the posture of the flapping apparatus is processed from the results detected by the acceleration sensor 703 and the angular acceleration sensor 704, and the drive control of the left and right actuators 706 and the center of gravity control unit 707 is determined. Is done.

  Here, an ultrasonic sensor 701 and an infrared sensor 702 are used as means for detecting an obstacle existing around the flapping apparatus, and an acceleration sensor 703 and an angular acceleration sensor are used as means for detecting the position and posture of the flapping apparatus. Although 704 is used, the sensor is not limited to the above as long as the sensor can measure the surrounding environment, position, and orientation of the flapping apparatus.

  For example, the posture of the flapping apparatus can be calculated from acceleration information obtained by arranging two acceleration sensors capable of measuring accelerations in three orthogonal directions at different positions on the body 700. It is also possible to calculate the position and orientation of the flapping apparatus by providing a magnetic field distribution in the space in which the flapping apparatus moves and detecting the magnetic field distribution with a magnetic sensor.

  In FIG. 37, sensors such as the acceleration sensor 703 and the angular acceleration sensor 704 are shown as separate components from the flapping control unit 705. From the viewpoint of weight reduction, for example, flapping control is performed by a micromachining technique. It may be formed on the same substrate integrally with the portion 705.

  In this flapping apparatus, the wing is driven by open loop control, but it is also possible to provide a wing angle sensor at the base of the wing and perform closed loop control based on angle information obtained from the angle sensor.

  Note that the sensors listed here are not essential if the flow of the fluid in the rising space is known and can float by a predetermined flapping method.

  The flapping control unit 705 is connected to the memory unit 708 and can read existing data necessary for flapping control from the memory unit 708. In addition, information obtained by the sensors 701 to 704 can be sent to the memory unit 708, and the information in the memory unit 708 can be rewritten as necessary, so that a flapping apparatus can be provided with a learning function.

  In addition, as long as the information obtained by the sensors 701 to 704 is only stored in the memory unit 708, the memory unit 708 and the sensors 701 to 704 may be directly connected without using the flapping control unit 705. . The flapping control unit 705 is connected to the communication control unit 709 and can input / output data to / from the communication control unit 709. The communication control unit 709 transmits and receives data to and from an external device (such as another flapping device or a base station) via the antenna unit 710.

  With such a communication function, data acquired by the flapping apparatus and stored in the memory unit 708 can be quickly transferred to an external apparatus. In addition, information that cannot be obtained by the flapping apparatus is received from an external apparatus, and such information is stored in the memory unit 708 so that it can be used for flapping control. For example, it is possible to obtain map information in a necessary range from a base station or the like at any time without storing all of the large map information in the flapping apparatus.

  In FIG. 37, the antenna portion 710 is shown as a rod-like member protruding from the end of the body portion 700. However, the shape and arrangement of the antenna portion 710 are not limited to this as long as they have an antenna function. For example, a loop antenna may be formed on the wing using the front wing shaft 712 and the rear wing shaft 713. Moreover, the form which incorporated the antenna in the trunk | drum 700, or the form which integrated the antenna and the communication control part 709 may be sufficient.

  The ultrasonic sensor 701, infrared sensor 702, acceleration sensor 703, angular acceleration sensor 704, flapping control unit 705, left and right actuator 706, center of gravity control unit 707, memory unit 708, communication control unit 709, antenna unit 710, etc. It is driven by the current supplied by 711.

  Here, electric power is used as drive energy, but an internal combustion engine can also be used. It is also possible to use an actuator using a physiological redox reaction as seen in insect muscles. Alternatively, a method of acquiring the driving energy of the actuator from the outside can also be adopted. For example, for electric power, thermoelectric elements, electromagnetic waves and the like can be mentioned.

(Floating method)
For simplicity of explanation, it is assumed that the external force acting on the flapping apparatus is only the fluid force that the wing receives from the fluid and the gravity acting on the flapping apparatus (the product of the mass of the flapping apparatus and the gravitational acceleration). In order for the flapping apparatus to surface constantly, in the time average during one flapping operation,
(Vertical fluid force acting on the wing)> (Gravity acting on the flapping device)
It is necessary to meet. One flapping operation refers to an operation of lowering a wing and then raising the wing.

In addition, in order to raise the fluid force upward vertically,
(Vertical upward fluid force acting on the wing in the down motion)> (Vertical downward fluid force acting on the wing in the launch motion)
It is necessary to become.

  Here, the vertical upward fluid force acting on the wing during the down motion (hereinafter referred to as “the fluid force during the down motion”) is applied to the wing during the launch operation, using a simplified method of flapping the insects. A method of increasing the vertical downward fluid force (hereinafter referred to as “fluid force at launch”) will be described.

  For simplicity of explanation, the behavior of the fluid or the force exerted by the fluid on the wing will be described with reference to its main components. Further, the levitation force obtained by this flapping method and the magnitude of gravity (hereinafter referred to as “weight”) acting on the flapping apparatus will be described later.

  In order to make the fluid force at the time of downstroke greater than the fluid force at the time of launch, the fluid force may be lowered so that the volume of the space in which the wing film 106 moves during the downstroke is maximized. For this purpose, the wing film 106 may be pushed down substantially in parallel with the horizontal plane, whereby a substantially maximum fluid force can be obtained.

  On the other hand, the launch may be performed so that the volume of the space in which the feather film 106 moves is minimized. For this purpose, the wing film 106 may be launched at an angle close to a substantially right angle with respect to the horizontal plane, so that the fluid force exerted on the wing is substantially minimized.

  Therefore, when the rotary shafts 101 and 102 are reciprocated around the rotary shaft 800 by the rotary actuators 101 and 102, the upper and lower sides are respectively centered on the positions where the blade shafts 103 and 104 substantially coincide with the horizontal plane. Let it be reciprocated by an angle γ. Further, as shown in FIG. 25, the reciprocating motion of the rear wing shaft 104 is delayed by an appropriate phase φ with respect to the reciprocating motion of the front wing shaft 103.

  Accordingly, in the reciprocating motion of the wing shown in FIGS. 26 to 33 (illustrated as φ = 20 ° here), it is at a higher position when it is downed as shown in FIGS. Since the front wing shaft 303 of the rotary actuator 301 is pushed down first, the tips of the front wing shaft 303 and the rear wing shaft 304 and the wing film 306 approach the horizontal.

  On the other hand, at the time of launch shown in FIGS. 30 to 33, the difference in height between the tips of both wing shafts 103 and 104 is enlarged, and the wing film 306 also approaches the vertical. As a result, the wing film 106 stretched between the front wing shaft 303 and the rear wing shaft 304 pushes down the fluid, or a difference occurs in the amount pushed up. In the case of this flapping apparatus, the fluid force at the time of the downstroke is reduced. Becomes larger than the fluid force at the time of launch, and a levitation force is obtained.

  The levitation force vector is tilted back and forth by changing the phase difference φ. If you tilt it forward, you will get a propulsion movement, if you tilt it backward, you will move backward, and if you point it straight up, you will be in a hovering state. In actual flight, it is possible to control the flapping frequency f and the flapping angle γ in addition to the phase difference φ. Further, in this flapping apparatus, the flapping elevation angle θ is fixed, but a function for changing this may be added to increase the degree of freedom.

(Flapping control)
The actual flapping control will be described in more detail. In the above-described flapping device, the twist angle α formed by the tip of the wing during the down or up operation is the length of the wing (the length along the front and rear wing axes of the wing membrane). l, wing width (interval between the front and rear wing axes), w flapping angle γ, flapping motion phase τ (0 ° for the most up-swing and 180 ° for the most down-swinging) If the phase difference between the front wing shaft and the rear wing shaft is φ (see FIGS. 26, 31 and 32), it is approximately expressed by the following equation.

tan α = (w / l) · [sin (γ · cos τ) −sin {γ · cos (τ + φ)}]
Actually, since the front wing shaft and the rear wing shaft are elastic and can be deformed, the twist angle α takes a slightly different value. In addition, this angle is smaller at the base of the wing shaft. However, in the following discussion, for convenience, explanation will be made using α in the above formula.

The vertical component F of the fluid force acting on the untwisted wing is approximately F = (4/3) · π ² ρwγ ² f ² , where ρ is the fluid density, γ is the flapping angle, and f is the flapping frequency. l ³ · sin ² τ · cos (γ · cos τ)
It becomes. The horizontal component of the fluid force acting on the wings cancels each other if the left and right wings make the same movement.

  When the twist angle α is given to the wing, the component L perpendicular to the flapping motion plane of the component F and the horizontal component D are as follows.

L = F ・ cosα ・ sinα
D = F · cos ² α
In consideration of the flapping elevation angle θ, the vertical component A to be balanced with the weight and the horizontal component J that is the thrust of the longitudinal motion are as follows:
A ↓ = -L · cos θ + D · sin θ
J ↓ = -L · sinθ-D · cosθ
At launch,
A ↑ = L ・ cos θ−D ・ sin θ
J ↑ = L · sinθ + D · cosθ
It becomes. The actual buoyancy and propulsive force are obtained by integrating one cycle of flapping motion.

  From the above, as an example of this flight control, the wing length l = 4 cm, the wing width w = 1 cm, the flapping elevation angle θ = 30 °, the flapping angle γ = 60 °, the flapping frequency f = 50 Hz, and the downswing. FIG. 38 shows temporal changes of the vertical direction component A and the horizontal direction component B together with the temporal change of each angle when the phase difference φ ↓ = 4 ° at the time and the phase difference φ ↑ = 16 ° at the launch.

  The horizontal axis represents the time for one period as the phase τ. The first half is down, and the second half is up. The curves in each graph show the temporal changes of the flapping angle γf of the front wing shaft, the flapping angle γb of the rear wing shaft, the wing twist angle (α + θ) from the horizontal plane, the vertical component A and the horizontal component J of the fluid force, respectively. ing.

  In this example, in the vertical direction component A of the fluid force per unit time, the downward force is greater than the launch time, so an average upward fluid force of about 500 dyn per cycle can be obtained with one wing. It is done. Therefore, if the weight of the flapping device is about 1 g or less, the two wings can float. In addition, since the horizontal component J of the fluid force per unit time is almost canceled during one cycle, a flapping apparatus having a weight of about 1 g can be hovered.

  Here, it is possible to move forward by increasing the phase difference φ ↓ at the time of downstroke or by reducing the phase difference φ ↑ at the time of launch. At this time, in order to advance horizontally, it is desirable to slightly reduce the frequency f. On the contrary, it is possible to move backward by reducing the phase difference φ ↓ at the time of downstroke or by increasing the phase difference φ ↑ at the time of launch. At this time, in order to move backward horizontally, it is desirable to slightly increase the frequency f.

  In this flapping apparatus, for example, the phase difference φ ↓ at the time of launch is increased to 7 ° while the phase difference φ ↑ at the time of launch is kept at 16 °, or the phase difference φ ↓ at the time of launch is kept at 4 °. If the phase difference φ ↑ during launching is reduced to 11 ° and lowered to a flapping frequency f = 48 Hz, it can move forward at a speed of approximately 1 m in the first second.

  In addition, for example, the phase difference φ ↓ at the time of launch is kept at 16 ° while the phase difference φ ↓ at the time of launch is reduced to 1 °, or the phase difference φ ↓ at the time of launch is kept at 4 °. By increasing the time phase difference φ ↑ to 24 ° and raising the flapping frequency f to 54 Hz, it is possible to move backward horizontally at a speed of approximately 1 m in the first second.

  In order to raise or lower the flapping apparatus in the hovering state, the frequency f may be increased or decreased. Even during level flight, ascent and descent can be controlled mainly by the frequency f. Increasing the frequency f raises the flapping apparatus, and lowering the frequency lowers the flapping apparatus.

  In this example, the torsion angle α of the wing is slowly changed during the launching operation or the downing operation, in order to reduce the load on the actuator. As a flapping motion to obtain buoyancy, set the torsion angle α of the wing to a constant value during the launching operation or downing operation, and from the downing operation to the launching operation, or from the launching operation to the downing operation You may make it change the twist angle (alpha) rapidly in a change point.

  FIG. 39 shows temporal changes of the vertical direction component A and the horizontal direction component B together with the temporal change of each angle when the flapping elevation angle θ = 0 °. In this case, it is a flapping movement inspired by hummingbird hovering. In the case of steering to the left and right, if the flapping motion of the left and right wings can be controlled separately, it is only necessary to give a difference in the thrust by each wing. For example, to turn right while flying forward, the flapping angle γ of the right wing is made smaller than that of the left wing, or the phase difference between the front and rear wing axes of the right wing is made larger than that of the left wing. If the flapping elevation angle θ can be controlled, control is performed such that θ of the right wing is made smaller than that of the left wing. As a result, the right wing propulsive force is relatively lower than the left wing propulsive force, and the vehicle can turn right. When the flapping apparatus is turned to the left, the opposite control may be performed.

  On the other hand, when the left and right wings cannot be controlled separately as in the flapping apparatus shown in FIG. 36, the center-of-gravity control unit 707 installed in the flapping apparatus shown in FIG. Can be turned to the left and right by shifting the center of gravity of the flapping apparatus to the left and right.

  For example, the flapping device can be turned to the right by shifting the center of gravity to the right, tilting the right wing downward and the left wing upward, and increasing the frequency f. Similarly, the flapping device can be turned to the left by shifting the center of gravity to the left and increasing the frequency f. This method can also be applied to the case where the two wings can be controlled separately. In any flapping apparatus, it is desirable to set the left and right flapping frequencies f to the same value in order to keep the posture stable.

  Finally, the configuration and effects of the flapping apparatus used in the robot system of the present embodiment will be described together.

  The flapping apparatus according to the present embodiment includes a floating main body portion including a wing portion, a driving portion, and a trunk portion for flapping a space in which a fluid exists. The drive unit performs a down operation for lowering the wing part from above to below and a launch operation for raising the wing part from below to above. A wing part is attached to the body part, and a drive part is mounted. Then, in a time average between a series of the down-motion operation and the up-motion operation, a vertically upward force among the forces received by the wing portion from the fluid is larger than the gravity acting on the floating main body portion.

  According to this structure, in the time average between the down-motion operation and the up-motion operation in the flapping operation of the wing portion, the vertically upward force out of the force that the wing portion receives from the fluid is larger than the gravity acting on the floating main body portion. Thus, buoyancy is given to the floating main body. As a result, the levitating main body can move without touching the ground.

  In order to give buoyancy to the levitation body, it is desirable that the volume of the space in which the wing moves during the down motion is larger than the volume of the space in which the wing moves during the launch operation, for example, By balancing the buoyancy and the gravity acting on the levitation body, it is also possible to make a flying flight (hovering) that stays in the space away from the ground.

  Such a floating main body is preferably used as a moving means for performing a predetermined work indoors or as a moving means for performing a predetermined work outdoors.

  The levitation body part can move away from the ground with buoyancy, so that various objects such as furniture are placed, and such an object is placed indoors where the position of such objects changes over time. It is possible to move while avoiding obstacles, and it is possible to easily perform predetermined work such as grasping the situation of each room. In addition, outdoors, for example, it is possible to move without being affected by obstacles in a disaster area, topography in a general field, etc., and a predetermined operation such as information collection can be easily performed.

  Specifically, the wing portion has a wing body portion and a wing shaft portion that supports the wing body portion, and the driving portion drives the wing shaft portion to drive the tip portion of the wing body portion and a virtual predetermined reference plane. It is desirable to change the torsion angle between

  Thereby, the magnitude | size and direction of the fluid force which a wing | blade part floats from a fluid change, and a floating main-body part can be raised, descended, advanced, or retracted.

  In order to make the volume of the space in which the wings move during the down motion larger than the volume of the space in which the wings move during the launch operation, the drive unit has a twist angle and the launch in the down motion. It is necessary to vary the twist angle in the operation.

Furthermore, it is desirable for the drive unit to change the twist angle with time.
In this case, the posture of the wing portion can be changed smoothly, and it is possible to suppress the sudden application of fluid force to the wing portion.

  The wing shaft portion includes one wing shaft portion and the other wing shaft portion, and the wing body portion includes a film portion formed so as to pass between the one wing shaft portion and the other wing shaft portion. The drive unit preferably drives the one side wing shaft part and the other side wing shaft part individually.

  In this case, the twist angle can be easily changed by individually driving the one-side wing shaft portion and the other-side wing shaft portion.

  The wing shaft portion reciprocates on a virtual plane with the driving portion as a fulcrum, the trunk portion extends in one direction, and the elevation angle formed by the direction in which the trunk portion extends and the virtual plane can be changed. desirable.

  In this case, the degree of freedom of the flapping motion increases, and a more complex flapping motion can be realized. Further, by increasing the elevation angle and controlling the twist angle, higher-speed flight can be performed. Furthermore, by making this elevation angle substantially 0 °, it is excellent in mobility and can perform hovering like a hummingbird.

  More specifically, the wing portion has a main shaft portion and a wing main body portion formed in a direction substantially orthogonal to the direction in which the main shaft portion extends from the main shaft portion, and the drive portion drives the main shaft portion to drive the wing main body portion. It is desirable to change the torsion angle between a virtual plane in contact with the virtual predetermined reference plane including the main shaft portion.

  Thereby, the magnitude | size and direction of the fluid force which a wing | blade part floats from a fluid change, and a floating main-body part can be raised, descended, advanced, or retracted.

  In order to change the posture of the wing part in such a main shaft part, it is desirable that the drive part includes an actuator having at least three degrees of freedom.

  In addition, the wing part is formed on one side and the other side, respectively, across the approximate center of the body part, and the drive part individually drives the wing part formed on one side and the wing part formed on the other side. It is desirable.

  In this case, the postures of the wings formed on one side and the wings formed on the other side can be individually changed, and the orientation of the floating main body can be easily changed.

  Furthermore, it is desirable to include a sensor unit for grasping the surrounding situation, a memory unit for storing information, or a communication unit for transmitting and receiving information.

  By providing the sensor unit, it is possible to obtain environmental information such as the position, posture and speed of the levitation main body unit, the position and moving speed of surrounding obstacles, temperature and brightness, and perform more appropriate flapping control. Further, by providing the memory unit, the obtained environmental information can be accumulated, and the levitating body unit can have a learning function. Furthermore, by providing a communication unit, information can be exchanged between a plurality of levitating main body units and a base station, and cooperative actions between a plurality of levitating main body units by exchanging acquired information Can be easily performed.

(About claims)
The application shown in this embodiment is an example, and the scope of claims in this application is shown in the claims. For example, by changing the detection temperature range of the infrared sensor, an application that detects a fire by detecting a fire by using a fire can be considered. An application that uses this system outdoors to conduct human body investigations is also conceivable. In the embodiment described above, the flapping device has been mainly described. However, the security by the robot system can be realized by using a floating moving device such as a radio control helicopter or a balloon in addition to the flapping device.

  The robot system (robot control method) according to the present embodiment acquires a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion (step 1), and flapping-related physical quantities related to flapping flight modes of the flapping apparatus. Flapping related physical quantity acquisition means for performing (step 2) and flapping flight control device for controlling the flapping flight mode of the flapping apparatus (step 3), wherein the flapping flight control apparatus is obtained by the flapping related physical quantity acquisition means. The mode of flapping flight is controlled using the flapping-related physical quantity information (step 4).

  According to the above configuration, if a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion is used for the robot, the robot can be moved without being restricted by the obstacle even in an environment with many obstacles. be able to.

  The robot system according to the present embodiment may be a remote control device in which the flapping flight control device is provided outside the flapping device and remotely controls the flapping device. According to such a configuration, the weight of the flapping apparatus can be reduced.

  In the robot system of the present embodiment, flapping related physical quantity acquisition means may be provided in the flapping apparatus. According to such a configuration, the flapping-related physical quantity can be acquired regardless of where the flapping device is located.

  In the robot system according to the present embodiment, flapping-related physical quantity acquisition means may be provided outside the flapping device and the flapping flight control device.

  According to the configuration described above, the weight of the flapping apparatus can be reduced, and the flapping related physical quantity can be acquired even at a position where the flapping control apparatus cannot monitor the flapping apparatus.

  In the robot system according to the present embodiment, flapping related quantity acquisition means may be provided in the flapping flight control device. According to such a configuration, the weight of the flapping device can be reduced, and the system can be configured only by the flapping flight control device and the flapping device.

  The robot system according to the present embodiment more preferably includes physical quantity changing means for controlling the flapping apparatus so that the flapping flight control apparatus changes the flapping-related physical quantity. With this configuration, the flapping-related physical quantity can be directly controlled by the flapping flight control device.

  More preferably, the robot system according to the present embodiment further includes peripheral physical quantity acquisition means for acquiring a physical quantity around the flapping apparatus in addition to the flapping related physical quantity, and the flapping flight control device is obtained by the peripheral physical quantity acquisition means. The flapping apparatus is controlled using the information on the obtained physical quantity. By adopting such a configuration, it is possible to acquire a physical quantity around the flight path of the flapping apparatus and take a countermeasure based thereon.

  In the robot system according to the present embodiment, peripheral physical quantity acquisition means may be provided in the flapping apparatus. According to such a configuration, the peripheral physical quantity can be acquired regardless of where the flapping apparatus is located.

  In the robot system according to the present embodiment, the peripheral physical quantity acquisition means may be provided outside the flapping device and the flapping flight control device. According to such a configuration, the weight of the flapping apparatus can be reduced, and the flapping-related physical quantity can be acquired even at a position where the flapping control apparatus cannot monitor the flapping apparatus.

  In the robot system of the present embodiment, the peripheral physical quantity acquisition means may be provided in the flapping flight control device. According to such a configuration, the weight of the flapping device can be reduced, and the peripheral physical quantity can be acquired only by the flapping flight control device and the flapping device.

  In the robot system according to the present embodiment, more preferably, the peripheral physical quantity detection means includes human body detection means capable of detecting a human body, and the human body detection means is set to detect a human body during flapping flight. By adopting such a configuration, human body detection can be performed in all the flying spaces.

  More preferably, the robot system of the present embodiment is configured such that the human body detection means can detect a human body near the floor surface. With this configuration, human body detection can be performed more reliably.

  More preferably, in the robot system according to the present embodiment, the flapping apparatus includes warning means that can warn the human body, and the flapping apparatus itself is in a position where the human body can be detected using the human body detecting means. As it exists, it is set so that the interpersonal warning means performs the interpersonal warning while flapping and flying with the movement of the human body detected by the human body detecting means. With this configuration, interpersonal warning can be performed more effectively.

In the robot system according to the present embodiment, more preferably, the distance between the flapping apparatus and the human body when avoiding the human flapping apparatus from being recognized by the flapping sound is L, and the sound pressure at the distance L0 from the flapping apparatus is Is P0, the flapping motion frequency of the flapping device is f, and the minimum human audible sound pressure due to the flapping motion frequency of the flapping device is Pc (f), Pc (f)> P0 × (L0 / L) ² The flapping apparatus is set to perform flapping motion at a frequency f in a range of By comprising in this way, it can suppress that a person notices by the flapping sound.

  In the robot system according to the present embodiment, more preferably, the flapping apparatus includes a wing that performs flapping motion, and at least a part of the wing is a protective color or transparent. By configuring in this way, it is possible to make it difficult for people to find as much as possible.

  More preferably, the robot system of the present embodiment is configured such that the flapping apparatus includes a wing portion that performs flapping motion, and obtains a floating force by moving the wing perpendicular to the membrane surface of the wing portion. Thereby, since the generation of Karman vortex generated at the tip of the wing portion can be suppressed, the wind noise is reduced, and it is possible to flutter quietly without being noticed by a person.

  More preferably, the robot system of the present embodiment includes position information calculation means for calculating position information of the flapping apparatus in a predetermined work space, and the flapping flight control apparatus calculates the flapping calculated by the position information calculating means. Using the position information of the apparatus, position change control is performed to change the actual position of the flapping apparatus. By adopting such a configuration, it is possible to fly along a route determined more reliably in the work space.

  The robot system according to the present embodiment includes an obstacle recording information storage unit that stores information about an obstacle in a specific space, and the flapping flight control device uses the information about the obstacle stored in the obstacle information storage unit. Thus, avoidance control for moving the flapping apparatus to a position where an obstacle can be avoided is possible. By adopting such a configuration, an obstacle in a specific space known in advance can be avoided more reliably.

  In the robot system according to the present embodiment, the physical quantity acquisition region in which the physical quantity acquisition unit can acquire the physical quantity is located on the lower side in the vertical direction of the flapping apparatus. With this configuration, a physical quantity can be acquired from the sky in an area where there are many obstacles near the floor.

  The robot system according to the present embodiment is set so that the flapping-related physical quantity acquisition unit acquires flapping-related physical quantities while flapping. With such a configuration, flapping-related physical quantities can be acquired in all the flying spaces.

  More preferably, in the robot system according to the present embodiment, the flapping apparatus includes a flight model operation information storage unit that stores in advance information on the model operation of the flapping flight, and control by the flapping flight control unit is disabled. The flapping flight is continued by using the model motion information stored in the flight model motion information storage means. By adopting such a configuration, even when control by the flapping flight control means becomes impossible, it is possible to fly without falling.

  More preferably, in the robot system according to the present embodiment, the flapping apparatus stores flapping-related physical quantities that store flapping-related physical quantities in an uncontrollable state when the flapping apparatus is in an uncontrollable state in which flapping flight control by the flapping flight control apparatus is disabled. The flapping related physical quantity stored in the flapping related physical quantity storage means is transmitted to the flapping flight control apparatus when the control returns to the controllable state that can be controlled by the flapping flight control apparatus from the uncontrollable state. With such a configuration, the flapping flight control device can also grasp the flapping-related physical quantity in the uncontrollable state.

  More preferably, the robot system according to the present embodiment includes a peripheral physical quantity storage unit that stores peripheral physical quantities in an uncontrollable state when the flapping apparatus is in an uncontrollable state where the flapping flight control by the flapping flight control apparatus is disabled. In addition, the peripheral physical quantity stored in the peripheral physical quantity storage means is transmitted to the flapping flight control apparatus when the control returns to the controllable state that can be controlled by the flapping flight control apparatus from the uncontrollable state. With such a configuration, it is possible to grasp the peripheral physical quantity in the uncontrollable state with the flapping flight control device.

  More preferably, in the robot system according to the present embodiment, the flapping flight control device determines at least one of the position and posture of the flapping device, and the flapping device determined by the position and posture determining means. Position and orientation information transmitting means for transmitting at least one of the position information and the posture information to the flapping apparatus, and the flapping apparatus transmits the position information of the flapping apparatus transmitted from the position and orientation information transmitting means, and Flapping flight motion determining means for determining a flapping flight motion for realizing at least one of the determined position and the determined posture based on at least one of the posture information is included. According to such a configuration, since the flapping apparatus only needs to determine the flapping flight operation, the control burden of the flapping apparatus can be reduced.

  More preferably, the robot system according to the present embodiment further includes map data storage means for storing in advance map data relating to an object in a work space where the flapping flight is performed. According to such a configuration, it is possible to perform a flapping flight corresponding to the map data related to the object in the work space where the flapping flight is performed.

  The robot system according to the present embodiment more preferably includes map data storage means outside the flapping apparatus. With such a configuration, the weight of the flapping device can be reduced.

  More preferably, the robot system of the present embodiment is a mapping means for mapping an object in a flapping working space, and a mapping data storage means for storing mapping data mapped by the mapping means. The object is detected by comparing the map data stored in advance in the map data storage means and the mapping data stored in the mapping data storage means during the flapping flight. By adopting such a configuration, it is possible to easily detect an object.

  More preferably, the robot system according to the present embodiment is configured to have a size that allows the flapping apparatus to pass through a gap that is determined in advance so that a human body cannot pass. By adopting such a configuration, the system can function effectively when it is necessary to flutter through a gap where the human body seems to be unable to pass.

  More preferably, the robot system according to the present embodiment is set so that the flapping apparatus flutters along a predetermined route when a person does not use the path. By adopting such a configuration, the system can function effectively when it is necessary to fly on a route that a person does not consider as a passage.

  The robot system according to the present embodiment is more preferably set so that the flapping apparatus flutters in a space higher than a predetermined reference value. By adopting such a configuration, it is possible to reduce the possibility of contact with an obstacle by avoiding flapping in a low position below a height that is considered to have many obstacles in the work space.

  More preferably, the robot system according to the present embodiment is provided with a plurality of flapping apparatuses, and each of the plurality of flapping apparatuses is set to perform work while sharing a predetermined work space. By adopting such a configuration, the entire work space can be caused to flapping and flying efficiently.

  More preferably, the robot system of the present embodiment is provided with a plurality of flapping flight control devices, and each of the plurality of flapping flight control devices divides the work space in which the flapping device works in advance, and each divided work It is set to control the flapping device in space. With such a configuration, even when the maximum communication distance between the flapping flight control device and the flapping device is short, it is possible to flutter over a wide range of work space.

  More preferably, the robot system according to the present embodiment further includes an energy replenishing unit capable of replenishing energy necessary for driving the flapping apparatus outside the flapping apparatus. By adopting such a configuration, the flapping apparatus can reduce the energy storage means, so that the weight of the flapping apparatus can be reduced.

  The flapping apparatus of the present embodiment is a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion, and flapping related physical quantity acquisition means for acquiring flapping related physical quantities related to the flapping flight mode of the flapping apparatus And a flapping flight control device for performing flapping flight control for controlling flapping flight mode of the flapping device. The flapping flight control device is provided outside the flapping device, and the flapping device is remotely connected. It is a remote control device for controlling, and the flutter-related physical quantity information obtained by the flapping-related physical quantity acquisition means is used by the remote control apparatus to control the flapping flight mode.

  According to the above configuration, if a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion is used for the robot, the robot can be moved without being restricted by the obstacle even in an environment with many obstacles. be able to.

  The flapping flight control device of the present embodiment is a flapping flight control device that controls the flapping flight mode of the flapping device for flapping flight in a space where fluid exists by flapping motion, and the flapping flight mode of the flapping device Used in a robot system equipped with flapping-related physical quantity acquisition means for acquiring flapping-related physical quantities related to the flapping apparatus, provided outside the flapping apparatus, functioning as a remote control device for remotely controlling the flapping apparatus, and acquiring flapping-related physical quantities The flapping flight mode of the flapping apparatus is controlled using the flapping-related physical quantity information obtained by the means.

  According to the above configuration, if a flapping apparatus for flapping and flying in a space where fluid exists by flapping motion is used for the robot, the robot can be moved without being restricted by the obstacle even in an environment with many obstacles. be able to.

  The robot system according to the present embodiment includes a rising and moving device capable of rising and moving in space, a rising and moving related physical quantity acquisition unit for acquiring a rising and moving related physical quantity related to a rising movement mode of the rising and moving apparatus, and a rising A rising movement control device for controlling the rising movement of the moving device, and the rising movement control device uses the information of the rising movement related physical quantity obtained by the rising movement related physical quantity acquisition means to change the rising movement mode. Control.

  According to the configuration as described above, if a rising and moving apparatus capable of rising and moving in a space and stopping at a predetermined position and altitude in the space is used for the robot, the robot can be an obstacle. It can be moved without being restricted by obstacles even in an environment with a lot of people.

  Further, the rising and moving apparatus is more preferably able to stop at a predetermined position in the space and at an altitude.

  Further, it is desirable that the rising movement control apparatus is provided outside the rising movement apparatus and configured to be able to artificially control the rising movement of the rising movement apparatus.

  Note that each program for causing the computer to operate the above-described robot system, flapping apparatus, and flapping flight control apparatus is executed, and the robot system, flapping apparatus, and flapping flight control apparatus function. Note that this program recorded on a computer-readable recording medium such as a CD-ROM may be read into the robot system, the flapping apparatus, and the flapping flight control apparatus, respectively, and information such as the Internet. It may be installed from the transmission network and read into each of the robot system, the flapping apparatus, and the flapping flight control apparatus.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

(The invention's effect)
ADVANTAGE OF THE INVENTION According to this invention, the robot system provided with the flapping apparatus which can be surfaced quietly, the flapping apparatus used for it, and the flapping flight control apparatus can be provided.

It is the schematic which shows the structure of the system of the robot of embodiment. It is a front view which shows the structure of the robot of embodiment. It is an expansion perspective view which shows the wing | blade of the robot of embodiment. It is a figure which shows the stroke angle (theta) and deflection angle (alpha) of the wing | wing of the robot of embodiment. It is a figure which shows the twist angle | corner (beta) of the wing | blade of the robot of embodiment. It is a figure for demonstrating the stator part of the actuator used for flapping of the robot of embodiment. It is a figure for demonstrating the actuator comprised using the stator used for flapping of the robot of embodiment. It is a figure which shows the down operation | movement in the flapping operation | movement of the robot of embodiment. It is a figure which shows the launch operation | movement in the flapping operation | movement of the robot of embodiment. It is a figure which shows the 1st state in the flapping operation | movement of the robot of embodiment. It is a figure which shows the 2nd state in the flapping operation | movement of the robot of embodiment. It is a figure which shows the 3rd state in the flapping operation | movement of the robot of embodiment. It is a figure which shows the 4th state in the flapping operation | movement of the robot of embodiment. It is a 1st graph which shows the time dependence of the drive of the wing | wing in the flapping operation | movement of the robot of embodiment. It is a 2nd graph which shows the time dependence of the drive of the wing | wing in the flapping operation | movement of the robot of embodiment. It is a graph which shows the simulation result of the torque of an actuator at the time of driving the wing of the robot of an embodiment, and the starting point reaction force. It is a conceptual diagram which shows the structure of the base station of the robot system of embodiment. It is explanatory drawing which shows the relationship of each component of the robot system of embodiment. It is a flowchart which shows an example of operation | movement of the robot system of embodiment. It is a figure which shows the Robinless curve of Robinson and Dudson. It is a flowchart showing the information processing in the takeoff process of the robot of an embodiment. It is a flowchart showing the information processing in the patrol process of the robot of an embodiment. It is a flowchart which shows the information processing in the landing process of the robot of embodiment. It is a figure which shows the flapping apparatus which concerns on another embodiment, (a) is the partial front view, (b) is the partial side view. In another embodiment, it is a graph which shows the relationship between flapping motion and the phase of flapping motion. In another embodiment, it is a figure which shows the 1st state of the flapping operation | movement in the flapping apparatus. In another embodiment, it is a figure which shows the 2nd state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 3rd state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 4th state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 5th state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 6th state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 7th state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a figure which shows the 8th state of the flapping operation | movement in a flapping apparatus. In another embodiment, it is a front schematic diagram which shows the flapping apparatus which concerns on one modification. In another embodiment, it is a front schematic diagram which shows the flapping apparatus which concerns on another modification. In another embodiment, it is a front schematic diagram which shows the flapping apparatus which concerns on another modification. In another embodiment, it is a plane schematic diagram which shows the structure of the flapping apparatus shown in FIG. In another embodiment, it is the 1st graph which shows the change with respect to the phase of each flapping motion of the force which acts on a wing | wing, and each angle. In another embodiment, it is the 2nd graph which shows the change with respect to the phase of each flapping motion of the force which acts on a wing | wing, and each angle. It is explanatory drawing for demonstrating the control function of flapping levitation control. It is a figure which shows the response | compatibility which matched the change of how to flutter a left wing, and the change of the floating state which arises in connection with it. It is a figure which shows the response | compatibility which showed the pattern of the way of flapping for implement | achieving the basic motion of flapping and floating.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Support structure, 21 Right actuator, 22 Left actuator, 31 Right wing, 32 Left wing 4 Control apparatus, 51 Acceleration sensor, 52 Angular acceleration sensor, 53 Pyroelectric infrared sensor, 531 Pyroelectric infrared sensor detection area, 6 Power supply, 61 electrode, 7 communication device, 8 light emitting diode, 90 robot, 91 base station, 911 arithmetic device, 912 memory, 913 charging device, 914 charging hole, 915 electromagnet, 917 communication device, 92 workspace, 93 intruder.

Claims (3)

A flapping device for flapping and flying in a space where fluid exists by flapping motion,
Flapping-related physical quantity acquisition means for acquiring flapping-related physical quantities related to the flapping flight mode of the flapping apparatus;
A flapping flight control device for controlling the flapping flight mode of the flapping device,
The flapping flight control device uses flapping related physical quantity information obtained by the flapping related physical quantity acquisition means to control the flapping flight mode,
The flapping apparatus is a robot system capable of flapping at a frequency of 32 Hz or less. A flapping apparatus for flapping and flying in a space where fluid exists by flapping motion,
Flapping-related physical quantity acquisition means for acquiring flapping-related physical quantities related to flapping flight modes of the flapping apparatus, and flapping flight control devices that execute flapping flight control for controlling the flapping flight mode of the flapping apparatus. Used in robot systems,
The flapping flight control device is provided outside the flapping device, and is a remote control device for remotely controlling the flapping device,
The flapping-related physical quantity information obtained by the flapping-related physical quantity acquisition means is used by the remote control device to control the flapping flight mode.
Flapping device that can flapping at a flapping frequency of 32 Hz or less. A flapping flight control device for controlling a flapping flight mode of a flapping device for flapping and flying in a space where fluid exists by flapping motion,
Used in a robot system provided with flapping-related physical quantity acquisition means for acquiring flapping-related physical quantities related to flapping flight modes of the flapping apparatus,
Provided outside the flapping apparatus, functioning as a remote control device for remotely controlling the flapping apparatus,
Using the flapping-related physical quantity information obtained by the flapping-related physical quantity acquisition means to control the flapping flight mode of the flapping apparatus,
A flapping flight control device capable of performing control of flapping the flapping device at a flapping frequency of 32 Hz or less.

Images