JP2012176279A - 自律型ロボット - Google Patents
自律型ロボット Download PDFInfo
- Publication number
- JP2012176279A JP2012176279A JP2012116436A JP2012116436A JP2012176279A JP 2012176279 A JP2012176279 A JP 2012176279A JP 2012116436 A JP2012116436 A JP 2012116436A JP 2012116436 A JP2012116436 A JP 2012116436A JP 2012176279 A JP2012176279 A JP 2012176279A
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- Prior art keywords
- robot
- cleaning
- liquid
- implementations
- housing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
【解決手段】筺体と、清掃表面から廃液を吸引するように構成された真空部と、該真空部により吸引された廃液を収集するための収集容器と、真空部及び収集容器との間の液体のやりとりの少なくとも一部を妨げるために、開いた位置から閉じた位置に移動可能なシールと、を備える自律型ロボットが提供される。また、自律型ロボットのシールは、自律型ロボットが清掃表面から持ち上げられた場合に、開いた位置から閉じた位置に動くように構成されている。
【選択図】 図15B
Description
筐体100、底板200、バンパー300、ユーザインターフェース400、及びホイールモジュール500、501は、上側の面と、実質的に上側の面と平行で反対側にある下側の面を持つ、実質的に円筒形の形状をロボット10が持つように、組み合わされる。そのような実質的に円筒形の形状は、ロボット10が表面を横切る時に、ロボット10がからまったり(例えば、ひっかかる)、及び/又は、障害物の上で中断する可能性を低くすることができる。
ロボット10は、1回の清掃作業において、約150スクエアフィートの清掃表面を清掃するように構成されている。タンクの大小に応じて、これは100スクエアフィートから400スクエアフィートの範囲で変動することがある。清掃作業の持続時間は約45分間である。小さな電池、大きな電池、又は2つ以上の電池を搭載する実施において、清掃時間は、下は20分から上は2時間までの範囲を変動する。従って、ロボット10は、電源の充電のしなおし、洗浄液のたくわえに対する補充、及びロボットによって収集された廃棄物を空にすることが必要とされない、45分間以上の無人自律型清掃ができるよう構成されている(物理的に、及びプログラムされている通り)。
図8を参照すると、いくつかの実施において、液体容器600は、液体供給容器S及び廃液収集容器Wの両方として機能することができる。液体容器600は、液体が、液体供給容器Sから表面に移動して、その後、収集され廃液収集容器Wに戻るように構成されている。いくつかの実施において、供給容器Sと廃液収集容器Wは、洗浄液が塗布器から施され、そして、廃液が真空部によって収集されるにつれて、ロボット10の全体積の25パーセントが、供給容器Sの洗浄液から収集容器Wの廃液に変わる間に、横軸24に沿った、実質的に一定の重心を維持するように構成されている。
図8を参照すると、液体塗布器モジュール1400は、いくつかの実施においては、ロボット10の実質的に全幅(例えば、直径)に及ぶ、湿潤要素204の幅全域にわたって、大量の洗浄液を床に塗布する。液体塗布器モジュールは、床に直接液体を噴霧でき、液体を含んだブラシまたはローラーに噴霧することができ、又は液体を滴らせるか又は毛細管現象によって床、ブラシ、ローラ、又はパッドに塗ることができる。液体塗布器モジュール1400は、筐体100によって保持された液体容器600内の供給容器Sから洗浄液の供給を受けることができる。ポンプ240は(例えば、蠕動ポンプ)、底板200の前方部分に沿って延びる水槽202(例えば、図2参照)によって定められる1つ以上の噴射口を通して、液体塗布器モジュールを経由して、洗浄液を送りこむ。各噴射口210は、洗浄液を洗浄表面に噴霧するように方向づけられている。例えば、少なくとも噴射口210の一部分は、ロボット10の前方への移動方向に実質的に向かった方向に、洗浄液を洗浄表面に噴射するように方向づけることができる。追加的に又は代替的に、少なくとも噴射口210の一部分は、ロボット10の後方への移動方向に実質的に向かった方向に、洗浄液を洗浄表面に噴霧するように方向づけることができる。
図13を参照すると、真空モジュール1300は、廃液収集容器Wと液体をやりとりできるファン112と、床と接触するスクイージ208を含む。使用中、ファン112は、廃液収集容器Wとスクイージ208を含む、液体をやりとりする経路に沿って、圧力の低い領域を作り出すことができる。以下に更に詳述する通り、ファン112は、スクイージ208全域にわたって、圧力差を作り出し、表面から及びスクイージ208を通しての廃液の吸引を引き起こす。ファン112によって作り出された吸引力は、さらに、1つ以上の廃液吸入導管232(例えば、スクイージ208のどちらかの端に配置された導管)を通して、廃液を廃液収集容器Wの上部に向けて吸引することができる。
再度、図2−7を参照すると、表面上での輸送のため、ロボット10は輸送システム1600によって支えられる。輸送システム1600は、筐体の右側面及び左側面にそれぞれ配置された、独立したホイールモジュール500、501の対を含む。湿潤要素204及びスクイージ208は、スライド可能に表面と接触し、輸送システム1600の一部を形成する。いくつかの実施において、輸送システム1600は、ホイールモジュール500、501の実質的に前方、及び/又は、実質的に後方に置かれた脚輪を含む場合がある。ホイールモジュール500、501は、実質的にロボット10の横軸24に沿って配列されている。ホイールモジュール500、501は、表面に沿って任意の方向にロボット10を進めるために、コントローラ1000によって独立して駆動及び制御される。ホイールモジュール500、501はそれぞれモータを含み、それぞれギア部に結合されている。各ギア部からの出力は、各車輪504、505を駆動する。
コントロールモジュール1000は、双方向通信のために、複数のその他のロボットサブシステムそれぞれと、相互接続されている。ロボットサブシステムとの相互接続は、周知の通り、相互接続された電線、及び、又は、例えば、集積されたプリント回路基板等の導体素子を通して与えられる。いくつかの実施において、コントロールモジュール1000と、1つ以上のロボットサブシステムとの間の双方向通信は、ワイヤレス通信路を通して行われる。コントロールモジュール1000は、例えば、プログラムの手順、アルゴリズム、及び、又は、必要とされる場合には、数学的及び論理演算を実行するマイクロプロセッサといった、プログラム可能な、又は、前もってプログラムされた、デジタルデータ処理装置を少なくとも含む。コントロールモジュール1000は、また、プログラム手順及びその他のデジタルデータを記憶するための、データ処理装置と通信するデジタルデータメモリを含む。コントロールモジュール1000は、また、必要とされる場合にタイミング信号を生成するための、1つ以上のクロック要素を含んでいる。
ロボット10は、センサモジュール1100を含む。センサモジュール1100は、外部条件を感知するため、及び、内部条件を感知するための、筐体に取り付けられ、ロボットサブシステムと統合された、複数のセンサを含む。様々な条件を感知することに応じて、センサモジュール1100は、電気信号を生成することができ、かつ、その電気信号をコントローラ1100に送ることができる。個々のセンサは、壁及びその他の障害物の検出、表面における崖(時々、クリフと呼ばれる)の検出、表面上のごみの検出、低い電池残量の検出、洗浄液容器が空であることの検出、満載された廃液容器の検出、駆動車輪速度、走行距離、又は、滑りの測定又は検出、崖の検出、回転ブラシの停止、又は、真空システムの故障、又は、ポンプの機能不全といった、洗浄システムの問題の検出、効率の悪い洗浄、洗浄表面のタイプ、システムの状態、温度、及び多くのその他の条件の検出を含む様々な異なる機能のいずれかを実行することができるが、これに限定されるものではない。特に、センサモジュール1100のいくつかの態様及びその操作について、特に、それが外部の要素及び条件と関連する場合に、Jonesによる、Robot Obstacle Detection Systemと表題の付けられた、米国特許番号6,594,844及びCaseyその他による、2005年6月24日に出願された、Obstacle Following Sensor Scheme for a Mobile Robotと表題の付けられた、米国特許出願番号11/166,986に具体的に記述され、それらの開示全体は、それら全体を参照することによって、本明細書に組み込まれる。
図22を参照すると、ロボット10は、シグナルチャネラ401の底部に沿って配列された、全方向受信機410を含む。説明のために、図22は廃液吸入導管234及びファン吸入導管114の取り付けられていない、シグナルチャネラ402を示している。全方向センサ410及びその操作の複数の態様について、特にそれがロボットのナビゲーションと方向に関連する場合については、Ozickその他による、AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEMと表題の付けられた、米国特許出願番号11/633869に記述され、その開示全体は、その全体を参照することにより、本明細書に含まれるものとする。
埃や汚れは、部屋の角に蓄積する傾向がある。清掃の徹底及びナビゲーションを改善するため、ロボット10は壁伝いに走ることができる。追加的に、又は、代替的に、ロボット10は、ナビゲーション戦略の一環として壁伝いに走ることができる(例えば、全体を覆うことを促進する戦略)。そのような戦略を用いることで、ロボットが狭い場所に閉じ込められる傾向を少なくすることができる。そのような閉じ込めは、他の側面として、ロボットがその他の、おそらくより大きな領域を放置することを引き起こす可能性がある。
衝突センサは、ロボットが障害物に物理的に遭遇したかどうか検出するために用いることができる。衝突センサは、ロボットが障害物に遭遇したことを判定するために、電気容量又はロボット内の物理的な変位を利用することができる。
クリフセンサは、ロボットの一部(例えば、前方部分)が境界(例えば、崖)に遭遇したかどうかを検出するために用いることができる。クリフセンサは、オプションの、崖の存在を検出するためのエミッタと検出器の対を用いることができる。崖検出器からの信号の応じて、ロボットは、様々な異なる崖回避行動のいずれかを起動することができる。
静止状態センサは、ロボットが実際に動いているか、いないかを検出するために用いることができる。例えば、静止状態センサは、障害物の上でロボットが傾けられたり、又は、立ち往生する時のように、ロボットが障害物に対して引っかかっているかどうか、又は、駆動車輪が床からはなれているかどうかを検出するために用いることができる。湿式洗浄の適用において、静止状態センサは、表面に塗布された洗浄液の上で車輪が滑っているかどうかを検出することができる。そのような状況において、移動ロボットが駆動車輪に力を加えると、ロボットは動かないが、駆動車輪は空転することがある。
電源モジュール1200は、全ての主要なロボットサブシステムに対して電力を供給することができる。電源モジュール1200は、例えば、ニッケル水素電池等といった充電式電池のような、筺体100に取り外し可能に取り付けられた自己完結した電源を含む。加えて、電源は、様々な異なる再充電要素、及び/又は、再充電方法のいずれかによって再充電されるように構成されている。いくつかの実施において、電池が放電されたか、又は、使用できなくなった時に、電池は利用者によって交換できるようになっている。コントローラ1000は、また、電力の配分を制御するため、消費電力を測定するため、及び、必要に応じて電力節約モードを起動するために、電源モジュール1200と連動できるようになっている。
Claims (5)
- 筺体(100)と、
前記筺体(100)に保持され、清掃表面から廃液を吸引するように構成された真空部(1300)と、
前記筺体(100)に保持され、前記真空部(1300)により吸引された廃液(W)を収集するために前記真空部(1300)と液体をやりとりできるようにされている収集容器(W)と、
前記真空部(1300)及び前記収集容器(W)との間の液体のやりとりの少なくとも一部を妨げるために、開いた位置から閉じた位置に移動可能なシール(682;684)と、を備える自律型ロボットであって、
前記シールは、前記自律型ロボットが前記清掃表面から持ち上げられた場合に、前記開いた位置から前記閉じた位置に動くように構成されていることを特徴とする自律型ロボット。 - 前記筺体(100)と結合され、一番上の位置及び一番下の位置を有する、落下方向にバイアスされたサスペンションシステム(500;501)をさらに備え、
前記シールは、前記サスペンションシステムと連結され、前記サスペンションシステムが前記一番上から前記一番下の位置に動く場合に、前記開いた位置から前記閉じた位置に動くように構成されることを特徴とする、請求項1に記載の自律型ロボット。 - 前記筺体に保持され、前記ロボットを前記清掃表面上で動かすためのホイールモジュール(500、501)と、
前記ホイールモジュールおよび前記シールに連結された連結器と、
をさらに備え、
前記シールは、前記連結器を介して、前記ホイールモジュールの縦の動きに応じて、前記開いた位置から前記閉じた位置に動くように構成されることを特徴とする、請求項1に記載の自律型ロボット。 - 前記筺体に保持され、前記ロボットを前記清掃表面上で動かすためのホイールモジュール(500、501)と、
前記ホイールモジュールの縦方向の動きを検出する検出する検出部と、
をさらに備え、
前記シールは、前記検出部の検出結果に応じて、前記開いた位置から前記閉じた位置に動くように構成されることを特徴とする、請求項1に記載の自律型ロボット。 - 前記真空部(1300)は、ファン(112)を含み、かつ、前記シール(682;684)は、前記ファン(112)と前記収集容器(W)との間の前記液体のやりとりの少なくとも一部を妨げるように構成されている、
請求項1から4のいずれか一項に記載の自律型ロボット。
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US91706507P | 2007-05-09 | 2007-05-09 | |
US60/917,065 | 2007-05-09 | ||
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JPS5046239Y1 (ja) | 1969-08-12 | 1975-12-27 | ||
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JPS5257527Y2 (ja) | 1972-04-03 | 1977-12-27 | ||
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JPS5042076U (ja) | 1973-08-16 | 1975-04-28 | ||
JPS5046246U (ja) | 1973-08-28 | 1975-05-09 | ||
JPS5230606Y2 (ja) | 1973-09-13 | 1977-07-13 | ||
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JPS5040519Y1 (ja) | 1974-10-17 | 1975-11-19 | ||
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JPS5714726Y2 (ja) | 1976-07-10 | 1982-03-26 | ||
JPS5316183A (en) | 1976-07-28 | 1978-02-14 | Hitachi Ltd | Fluid pressure driving device |
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JPS53110257U (ja) | 1977-02-07 | 1978-09-04 | ||
JPS53110257A (en) | 1977-03-08 | 1978-09-26 | Matsushita Electric Ind Co Ltd | Automatic vacuum cleaner |
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JPS54119306A (en) | 1978-03-09 | 1979-09-17 | Kawasaki Steel Co | Method and apparatus for spraying water to blast furnace top |
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JPS595315B2 (ja) | 1978-10-31 | 1984-02-03 | 東和精工株式会社 | 下札装着装置 |
JPS6110585Y2 (ja) | 1978-12-13 | 1986-04-04 | ||
JPS5588749A (en) | 1978-12-26 | 1980-07-04 | Sumitomo Electric Industries | Percutaneous* simultaneous measuring sensor of concentration of oxygen in blood and quantity of blood flow that circulate in affected part |
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JPS5715853A (en) | 1980-07-01 | 1982-01-27 | Shinko Electric Co Ltd | Linear motor type nonmagnetic metal selector |
JPS5714726A (en) | 1980-07-01 | 1982-01-26 | Minolta Camera Co Ltd | Measuring device for quantity of light |
JPS595315Y2 (ja) | 1980-09-13 | 1984-02-17 | 講三 鈴木 | 友釣用鼻環 |
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JPS5933511Y2 (ja) | 1980-10-14 | 1984-09-18 | 日本鋼管株式会社 | ヘリカルスカムスキマ |
JPS5771968A (en) | 1980-10-21 | 1982-05-06 | Nagasawa Seisakusho | Button lock |
JPS603251Y2 (ja) | 1980-12-24 | 1985-01-29 | 株式会社岡村製作所 | 回転扉付きキヤビネツト |
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JPS57196155A (en) | 1981-05-27 | 1982-12-02 | Hitachi Koki Co Ltd | Distributor |
JPS5814730A (ja) | 1981-07-20 | 1983-01-27 | Shin Etsu Polymer Co Ltd | シリコ−ンゴム系成形体 |
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JPS58100840A (ja) | 1981-12-12 | 1983-06-15 | Canon Inc | カメラのフアインダ |
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JPS595315A (ja) | 1982-07-02 | 1984-01-12 | Hitachi Ltd | 移動型自動監視点検作業装置 |
CH656665A5 (de) | 1982-07-05 | 1986-07-15 | Sommer Schenk Ag | Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens. |
JPS5914711A (ja) | 1982-07-13 | 1984-01-25 | 株式会社クボタ | 無人走行作業車 |
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JPS5933511A (ja) | 1982-08-19 | 1984-02-23 | Fanuc Ltd | 加減速装置 |
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JPS5999308A (ja) | 1982-11-30 | 1984-06-08 | Komatsu Ltd | 測距センサ |
JPS5994005U (ja) | 1982-12-16 | 1984-06-26 | 株式会社古川製作所 | 複数の吸盤で袋を操る装置 |
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JPS5999308U (ja) | 1982-12-23 | 1984-07-05 | 三菱電機株式会社 | 照明器具カバ−用留め具 |
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JPS59131668A (ja) | 1983-01-17 | 1984-07-28 | Takeda Chem Ind Ltd | 塩化ビニル樹脂系プラスチゾル組成物 |
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JPS59120124U (ja) | 1983-02-02 | 1984-08-13 | 三菱鉛筆株式会社 | 射出成形用金型 |
JPS59131668U (ja) | 1983-02-24 | 1984-09-04 | 日本原子力研究所 | 圧電素子弁 |
JPS59164973A (ja) | 1983-03-10 | 1984-09-18 | Nippon Tsushin Gijutsu Kk | ロボツト用ペア形計測ヘツド |
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JPS59212924A (ja) | 1983-05-17 | 1984-12-01 | Mitsubishi Electric Corp | 移動体の位置検出装置 |
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JPS59226909A (ja) | 1983-06-07 | 1984-12-20 | Kobe Steel Ltd | 自走式ロボツトの位置決め方法 |
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JPS6026312U (ja) | 1983-07-29 | 1985-02-22 | キヤノン株式会社 | 止め輪 |
JPS6089213A (ja) | 1983-10-19 | 1985-05-20 | Komatsu Ltd | 無人走行車の位置および方向の検出方法 |
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JPS6089213U (ja) | 1983-11-26 | 1985-06-19 | 小畑 邦夫 | 薄膜手袋 |
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JPS60162832U (ja) | 1984-04-04 | 1985-10-29 | 楯 節男 | 排気ダクト |
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DE3413793A1 (de) | 1984-04-12 | 1985-10-24 | Brown, Boveri & Cie Ag, 6800 Mannheim | Antrieb fuer einen schalter |
JPS60217576A (ja) | 1984-04-12 | 1985-10-31 | Nippon Gakki Seizo Kk | デイスクケ−ス |
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JPS6123221A (ja) | 1984-07-11 | 1986-01-31 | Oki Electric Ind Co Ltd | 移動車の誘導方式 |
JPS6170407A (ja) | 1984-08-08 | 1986-04-11 | Canon Inc | 距離測定装置 |
JPS6190697A (ja) | 1984-10-09 | 1986-05-08 | 松下電器産業株式会社 | 衣類乾燥機 |
JPS6197711A (ja) | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | 赤外線追尾ロボツトシステム |
JPS6197712A (ja) | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | 赤外線追尾ロボツトの目標物 |
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JPS61160366A (ja) | 1984-12-30 | 1986-07-21 | Shinwa Seisakusho:Kk | 運搬車の荷台調節装置 |
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JPS61190607A (ja) | 1985-02-18 | 1986-08-25 | Toyoda Mach Works Ltd | 異常停止機能を備えた数値制御工作機械 |
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JPS6215336A (ja) | 1985-06-21 | 1987-01-23 | Murata Mach Ltd | 自動集綿排出システム |
FR2583701B1 (fr) | 1985-06-21 | 1990-03-23 | Commissariat Energie Atomique | Vehicule a chenilles a geometrie variable |
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JPS6255760A (ja) | 1985-09-04 | 1987-03-11 | Fujitsu Ltd | 為替打溜デ−タのリエンタ送信取引方式 |
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JPH0752104B2 (ja) | 1985-09-25 | 1995-06-05 | 松下電工株式会社 | 反射型光電スイッチ |
JPS6274018A (ja) | 1985-09-27 | 1987-04-04 | Kawasaki Heavy Ind Ltd | 転炉排ガス処理装置の運転方法 |
DE3534621A1 (de) | 1985-09-28 | 1987-04-02 | Interlava Ag | Staubsauger |
JPH0421069Y2 (ja) | 1985-09-30 | 1992-05-14 | ||
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JPH0319408Y2 (ja) | 1985-10-19 | 1991-04-24 | ||
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JPS62120510A (ja) | 1985-11-21 | 1987-06-01 | Hitachi Ltd | 自動掃除機の制御方法 |
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FR2591329B1 (fr) | 1985-12-10 | 1992-05-22 | Canon Kk | Appareil et procede de traitement d'informations tridimensionnelles |
JPS62154008A (ja) | 1985-12-27 | 1987-07-09 | Hitachi Ltd | 自走ロボツトの走行制御方法 |
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