JP2016052515A - 移動式ロボット - Google Patents
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- JP2016052515A JP2016052515A JP2015172833A JP2015172833A JP2016052515A JP 2016052515 A JP2016052515 A JP 2016052515A JP 2015172833 A JP2015172833 A JP 2015172833A JP 2015172833 A JP2015172833 A JP 2015172833A JP 2016052515 A JP2016052515 A JP 2016052515A
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- 238000005286 illumination Methods 0.000 claims abstract description 56
- 238000001514 detection method Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 17
- 238000013459 approach Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
【解決手段】移動式ロボットは、カメラ、及び、移動式ロボットを囲んでいる領域に所定の照明レベルを提供するように配置されている2つ以上の光源を備えている視覚システムを備えており、2つ以上の光源が、カメラによってキャプチャーされた画像の異なる区画に対応する、移動式ロボットを囲んでいる独立した領域を照明するように配置されており、光源それぞれによって提供される照明レベルが、独立して調整可能とされる。
【選択図】図5
Description
2 視覚システム
3 カメラ
4 光源
5 PSD(光位置センサ)
6 物理的接触センサ
8 制御システム
9 特徴部検出ユニット
10 マッピングユニット
11 巡回ユニット
12 照明制御ユニット
14 駆動システム
15 左舷側(LHS)トラクションユニット
16 右舷側(RHS)トラクションユニット
20 本体
21 分離器
22 トラクションユニット
23 掃除機ヘッド
24 カメラ
25 ハンドル
27 排出口
28 センサカバー
31 光錐
32 光錐
40 部屋
41 テーブル
42 テーブル
43 窓
44 額縁
50 360°画像
Claims (15)
- 移動式ロボットであって、
カメラ、及び、前記移動式ロボットを囲んでいる領域に所定の照明レベルを提供するように配置されている2つ以上の光源とを備えている視覚システムを備えている前記移動式ロボットにおいて、
2つ以上の前記光源が、前記カメラによってキャプチャーされた画像の異なる区画に対応する、前記移動式ロボットを囲んでいる独立した領域を照明するように配置されており、
前記光源それぞれによって提供される前記照明レベルが、独立して調整可能とされることを特徴とする移動式ロボット。 - 前記移動式ロボットが、制御システムを備えており、
前記制御システムが、前記視覚システムによってキャプチャーされた画像から特徴部を検出するための特徴部検出ユニットを備えており、
2つ以上の前記光源それぞれによって提供される照明レベルが、前記特徴部検出ユニットによって前記カメラがキャプチャーした画像から検出された前記特徴部の数量に応じて独立して調整されることを特徴とする請求項1に記載の移動式ロボット。 - 前記光源それぞれによって提供される前記照明レベルが、前記特徴部検出ユニットによって前記光源それぞれが照明した画像の対応する区画から検出された前記特徴部の数量に応じて、独立して調整されることを特徴とする請求項2に記載の移動式ロボット。
- 2つ以上の前記光源が、前記カメラによってキャプチャーされた画像の全体の四分の一から四分の三に対応する結合領域を照明するように配置されていることを特徴とする請求項1〜3のいずれか一項に記載の移動式ロボット。
- 2つ以上の前記光源が、前記光源が前記移動式ロボットの側部側それぞれに位置する領域を照明するように、前記移動式ロボットに配置されていることを特徴とする請求項1〜4のいずれか一項に記載の移動式ロボット。
- 前記視覚システムが、2つの前記光源を備えており、
前記光源それぞれが、他方の前記光源とは反対方向に光を放射するように、前記移動式ロボットの側部それぞれに配置されていることを特徴とする請求項1〜5のいずれか一項に記載の移動式ロボット。 - 前記視覚システムが、少なくとも4つの前記光源を備えていることを特徴とする請求項1〜5のいずれか一項に記載の移動式ロボット。
- 少なくとも4つの前記光源が、前記移動式ロボットを囲んでいる異なる四分円領域を照明するように配置されていることを特徴とする請求項7に記載の移動式ロボット。
- 前記光源それぞれによって提供される前記照明レベルが、前記光源それぞれに供給される電力を増減させることによって調整されることを特徴とする請求項1〜8のいずれか一項に記載の移動式ロボット。
- 前記光源それぞれによって提供される前記照明レベルが、制御システムを介して前記視覚システムに送信される制御信号に応答して独立して調整されることを特徴とする請求項1〜9のいずれか一項に記載の移動式ロボット。
- 前記制御システムが、同時位置決め地図作成(SLAM)ユニットを備えていることを特徴とする請求項10記載の移動式ロボット。
- 前記カメラが、パノラマ環状レンズ(PAL)カメラとされることを特徴とする請求項1〜11のいずれか一項に記載の移動式ロボット。
- 前記光源が、発光ダイオード(LED)とされることを特徴とする請求項1〜12のいずれか一項に記載の移動式ロボット。
- 前記光源が、可視赤外線(IR)光を放射することを特徴とする請求項1〜13のいずれか一項に記載の移動式ロボット。
- 前記光源が、前記移動式ロボットに設けられているハンドル部分の内側に位置決めされていることを特徴とする請求項1〜14のいずれか一項に記載の移動式ロボット。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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GB1415605.3 | 2014-09-03 | ||
GB1415605.3A GB2529847B (en) | 2014-09-03 | 2014-09-03 | A mobile Robot with Independently Adjustable Light Sources |
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JP2016052515A true JP2016052515A (ja) | 2016-04-14 |
JP6144305B2 JP6144305B2 (ja) | 2017-06-07 |
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JP2015172833A Active JP6144305B2 (ja) | 2014-09-03 | 2015-09-02 | 移動式ロボット |
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US (1) | US10144342B2 (ja) |
EP (1) | EP3189386A1 (ja) |
JP (1) | JP6144305B2 (ja) |
KR (2) | KR102153115B1 (ja) |
CN (1) | CN105380562B (ja) |
AU (2) | AU2015310723B2 (ja) |
GB (1) | GB2529847B (ja) |
WO (1) | WO2016034844A1 (ja) |
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AU2015310723A1 (en) | 2017-03-09 |
GB201415605D0 (en) | 2014-10-15 |
US10144342B2 (en) | 2018-12-04 |
WO2016034844A1 (en) | 2016-03-10 |
KR20170047382A (ko) | 2017-05-04 |
JP6144305B2 (ja) | 2017-06-07 |
CN105380562B (zh) | 2019-04-02 |
AU2019202299A1 (en) | 2019-05-02 |
CN105380562A (zh) | 2016-03-09 |
EP3189386A1 (en) | 2017-07-12 |
KR20190091572A (ko) | 2019-08-06 |
AU2015310723B2 (en) | 2019-01-03 |
US20160059770A1 (en) | 2016-03-03 |
KR102006928B1 (ko) | 2019-08-02 |
GB2529847A (en) | 2016-03-09 |
GB2529847B (en) | 2018-12-19 |
KR102153115B1 (ko) | 2020-09-07 |
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