JP2014193418A - 自走式ロボット - Google Patents
自走式ロボット Download PDFInfo
- Publication number
- JP2014193418A JP2014193418A JP2014137674A JP2014137674A JP2014193418A JP 2014193418 A JP2014193418 A JP 2014193418A JP 2014137674 A JP2014137674 A JP 2014137674A JP 2014137674 A JP2014137674 A JP 2014137674A JP 2014193418 A JP2014193418 A JP 2014193418A
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- robot
- housing
- self
- bumper
- collision
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Abstract
【解決手段】自走式ロボットであって、長方形の前方部と半円形の後方部とを有する筐体と、衝突に応じて、進行方向および進行方向と直角にまじわる方向に移動可能であるバンパーと、近接センサと、バンパーの移動を検出する複数の衝突センサと、駆動システムと、フリーホイールと、清掃アセンブリと、を備え、バンパーは、清掃アセンブリの3つの側面の周囲に配置され、清掃アセンブリは、ロボットの前方の場所を掃除するために、フリーホイールの前方において清掃面上で保持され、近接センサと多方向衝突センサは、それぞれ、ロボットが駆動軸周りに回転する際に、筐体の側面に平行な壁を検出する構成とした。
【選択図】 図1
Description
τ = rF(cosθ − μsin2θ)
ここで、μは壁とロボットとの間の摩擦係数である。所定のμの値に対して、トルクが釣り合う臨界角θCが存在する。θ < θC の場合、方程式の右側の第一項目が大きく、ロボットは壁とそろう傾向がある。θ > θC の場合、第二項が大きく、ロボット100は進路を壁に向ける傾向がある。
Claims (19)
- 自走式ロボットであって、
前方エッジを有する長方形の前方部と、円形の輪郭を形成する円の半径によって規定される弓形の後方部と、を有する筐体と、
前記筐体の前方エッジおよび側面に沿って延びるバンパーであって、衝突に応じて、前記ロボットの進行方向および該進行方向と直角にまじわる方向に移動可能であるバンパーと、
前記筐体の側面に沿って配置される近接センサと、
前記バンパーに接続され、それぞれ前記バンパーの前記進行方向および該進行方向と直角にまじわる方向の移動を独立して検出する、複数の衝突センサと、
前記筐体の後方部に搭載され、実質的に前記進行方向と垂直な駆動軸であって、前記円形の輪郭の中心軸上又はその後方にある駆動軸に沿って、差動駆動される右および左駆動車輪を備える駆動システムと、
前記円形の輪郭内において、前記駆動軸に平行な横軸に沿って配置されるフリーホイールと、
前記筐体の前方部に搭載され、前記筐体の前方エッジに隣接して搭載されたローラブラシを備える長方形状の清掃部と、を備え、
前記バンパーは、前記清掃部の3つの側面の周囲に配置され、
前記清掃部は、前記ロボットの前方の場所を掃除するために、前記フリーホイールの前方において前記清掃面上で保持され、
前記近接センサと前記衝突センサは、それぞれ、前記筐体の側面に平行な壁を検出するものであり、
前記ロボットは、前記近接センサによる前記筐体の側面の一つに平行な壁の検出に基づく第一の障害物追従、および前記衝突センサによる障害物の検出に基づく第二の障害物追従を実行するものであり、前記第二の障害物追従において、前記ロボットは、前記衝突センサを非検出状態とするため、および前記障害物を追従する円弧の動きを実行するように前記ロボットを位置させるために、後退およびその場での回転を組み合わせて行い、前記円弧は、前記筐体の側面が前記障害物の周りを弧を描いて動くように、前記障害物の周りを追従するものであり、
前記清掃部は、前記第一および第二の障害物追従の際に前記壁または障害物の近傍を掃除するための側面ブラシをさらに備えることを特徴とする自走式ロボット。 - 前記筐体の片側の側面に、近接センサが一つのみ設けられていることを特徴とする請求項1に記載の自走式ロボット。
- さらに、前記ロボットの前方部に配置される、崖を検出するためのクリフセンサを2つ備えることを特徴とする請求項1または2に記載の自走式ロボット。
- 前記2つのクリフセンサは、前記バンパーの左右のエッジにそれぞれ取り付けられることを特徴とする請求項3に記載の自走式ロボット。
- 前記清掃部の後方に搭載され、前記駆動システムおよび前記清掃部に電力を供給する電源をさらに備え、
前記清掃部は、前記ローラブラシを回転するためのローラブラシモータを備えることを特徴とする請求項1から4のいずれか一項に記載の自走式ロボット。 - 前記電源は、前記右および左駆動車輪の間に配置されることを特徴とする請求項5に記載の自走式ロボット。
- 前記清掃部により撹拌されたゴミを受け入れるために、該清掃部の後方にあるごみ容器をさらに備え、
前記ロボットの重心であって、前記ごみ容器内のゴミの変化する質量、ローラブラシモータの質量および電源の質量を含む重心が、前記駆動軸とフリーホイールの間に位置すること、を特徴とする請求項5または6に記載の自走式ロボット。 - 前記駆動システムは、前記右および左駆動車輪を駆動するための右および左駆動モータを備え、前記ロボットの重心は、前駆駆動軸の前方にあること、を特徴とする請求項7に記載の自走式ロボット。
- 前記駆動軸は、前記清掃部の後方9cm以内にあることを特徴とする請求項1から8のいずれか一項に記載の自走式ロボット。
- 前記駆動軸とフリーホイールの間にホイールベースが規定され、該ホイールベースは、前記円形の輪郭を規定する半径の3分の1以上であることを特徴とする請求項1から9のいずれか一項に記載の自走式ロボット。
- 前記複数の衝突センサの各々は、前記進行方向および前記進行方向と直角に交わる方向のいずれか一方の方向の前記バンパーの移動については検出せずに、他方の方向の移動を検出可能であることを特徴とする請求項1から10のいずれか一項に記載の自走式ロボット。
- 自走式ロボットであって、
前方エッジを有する長方形の前方部と、円形の輪郭を形成する円の半径によって規定される弓形の後方部と、を有する筐体と、
前記筐体の前方エッジおよび側面に沿って延びるバンパーであって、衝突に応じて移動可能であるバンパーと、
前記筐体の側面に沿って配置される近接センサと、
前記バンパーに接続され、それぞれ前記ロボットの進行方向および進行方向と直角に交わる方向の前記バンパーの移動を独立して検出する、複数の衝突センサと、
前記筐体の後方部を通る駆動軸に沿って差動駆動される右および左駆動車輪を備える駆動システムと、
前記駆動軸に平行な横軸に沿って配置されるフリーホイールと、
前記筐体の前方部に搭載され、前記バンパーの後方にあるローラブラシを備える清掃部と、を備え、
前記清掃部は、前記ロボットの前方の場所を掃除するために、前記フリーホイールの前方において前記清掃面上で保持され、前記近接センサと前記多方向衝突センサは、それぞれ前記筐体の側面に平行な壁を検出するものであり、
前記ロボットは、前記近接センサによる前記筐体の側面の一つに平行な壁の検出に基づく第一の障害物追従、および前記衝突センサによる障害物の検出に基づく第二の障害物追従を実行するものであり、前記第二の障害物追従において、前記ロボットは、前記衝突センサを非検出状態とするため、および前記障害物を追従する円弧の動きを実行するように前記ロボットを位置させるために、後退およびその場での回転を組み合わせて行い、前記円弧は、前記筐体の側面が前記障害物の周りを弧を描いて動くように、前記障害物の周りを追従するものであり、
前記清掃部は、前記第一および第二の障害物追従の際に前記壁または障害物の近傍を掃除するための側面ブラシをさらに備えること、を特徴とする自走式ロボット。 - 前記筐体の片側に、近接センサが一つのみ設けられていることを特徴とする請求項12に記載の自走式ロボット。
- さらに、前記ロボットの前方部に配置される、崖を検出するためのクリフセンサを2つ備えることを特徴とする請求項12または13に記載の自走式ロボット。
- 前記2つのクリフセンサは、前記バンパーの左右のエッジにそれぞれ取り付けられることを特徴とする請求項14に記載の自走式ロボット。
- 前記清掃部の後方に保持され、前記駆動システムおよび前記清掃部に電力を供給する電源をさらに備え、
前記清掃部は、前記ローラブラシを回転するためのローラブラシモータを備えることを特徴とする請求項12から15のいずれか一項に記載の自走式ロボット。 - 前記電源は、前記右および左駆動車輪の間に配置されることを特徴とする請求項16に記載の自走式ロボット。
- 前記バンパーは、衝突に応じて、前記進行方向および進行方向と直角に交わる方向に移動可能であることを特徴とする請求項12から17のいずれか一項に記載の自走式ロボット。
- 前記複数の衝突センサの各々は、前記進行方向および前記進行方向と直角に交わる方向のいずれか一方の方向の前記バンパーの移動については検出せずに、他方の方向の移動を検出可能であることを特徴とする請求項12から18のいずれか一項に記載の自走式ロボット。
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JP2011230659A Expired - Fee Related JP5474023B2 (ja) | 2007-05-09 | 2011-10-20 | 表面処理ロボット |
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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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JPS53110257U (ja) | 1977-02-07 | 1978-09-04 | ||
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FR2416480A1 (fr) | 1978-02-03 | 1979-08-31 | Thomson Csf | Dispositif de localisation de source rayonnante et systeme de reperage de direction comportant un tel dispositif |
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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JPS5714726A (en) | 1980-07-01 | 1982-01-26 | Minolta Camera Co Ltd | Measuring device for quantity of light |
JPS5715853A (en) | 1980-07-01 | 1982-01-27 | Shinko Electric Co Ltd | Linear motor type nonmagnetic metal selector |
JPS595315Y2 (ja) | 1980-09-13 | 1984-02-17 | 講三 鈴木 | 友釣用鼻環 |
JPS5764217A (en) | 1980-10-07 | 1982-04-19 | Canon Inc | Automatic focusing camera |
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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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 |
JPS59112311A (ja) | 1982-12-20 | 1984-06-28 | Komatsu Ltd | 無人移動体の誘導方式 |
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 |
JPS59120124A (ja) * | 1982-12-28 | 1984-07-11 | 松下電器産業株式会社 | 電気掃除機 |
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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CH646044A5 (de) | 1983-01-26 | 1984-11-15 | Gottfried Gremminger | Flaechen-reinigungsgeraet. |
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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JPS59184917A (ja) | 1983-04-05 | 1984-10-20 | Tsubakimoto Chain Co | 無人搬送車の誘導方法 |
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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 |
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JPS6089213U (ja) | 1983-11-26 | 1985-06-19 | 小畑 邦夫 | 薄膜手袋 |
JPS60118912U (ja) * | 1984-01-18 | 1985-08-12 | アルプス電気株式会社 | 反射型光学式ロ−タリエンコ−ダのコ−ドホイ−ル |
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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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JPS60171252U (ja) * | 1984-04-20 | 1985-11-13 | 三洋電機株式会社 | 電気掃除機 |
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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 |
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 |
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 |
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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 |
GB8502506D0 (en) | 1985-01-31 | 1985-03-06 | Emi Ltd | Smoke detector |
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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DE3676221D1 (de) | 1985-05-01 | 1991-01-31 | Nippon Denso Co | Optische staubnachweisvorrichtung. |
USD292223S (en) | 1985-05-17 | 1987-10-06 | Showscan Film Corporation | Toy robot or the like |
FR2583701B1 (fr) | 1985-06-21 | 1990-03-23 | Commissariat Energie Atomique | Vehicule a chenilles a geometrie variable |
JPS6215336A (ja) | 1985-06-21 | 1987-01-23 | Murata Mach Ltd | 自動集綿排出システム |
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JPH026312Y2 (ja) | 1985-08-30 | 1990-02-15 | ||
EP0269632B1 (en) * | 1985-08-31 | 1992-01-02 | Morningfield Limited | Cleaning vehicles |
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 | ||
NO864109L (no) | 1985-10-17 | 1987-04-21 | Knepper Hans Reinhard | Fremgangsmaate for automatisk foering av selvgaaende gulvrengjoeringsmaskiner samt gulvrengjoeringsmaskin for utfoerelse av fremgangsmaaten. |
JPH0319408Y2 (ja) | 1985-10-19 | 1991-04-24 | ||
JPS6270709U (ja) | 1985-10-22 | 1987-05-06 | ||
JPS62120510A (ja) | 1985-11-21 | 1987-06-01 | Hitachi Ltd | 自動掃除機の制御方法 |
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DE3642051A1 (de) | 1985-12-10 | 1987-06-11 | Canon Kk | Verfahren zur dreidimensionalen informationsverarbeitung und vorrichtung zum erhalten einer dreidimensionalen information ueber ein objekt |
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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EP0231419A1 (de) | 1986-02-05 | 1987-08-12 | Interlava AG | Optische Anzeige- und Funktionskontrolleinheit für Staubsauger |
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