JP2016076248A - 移動式ロボットの近接検知 - Google Patents
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Abstract
【解決手段】近接センサは、互いに隣接してセンサ本体上に配置される第1及び第2の構成要素を含む。第1の構成要素は、エミッタ522及びレシーバ524のうちの一方であり、第2の構成要素は、エミッタ及びレシーバのうちの他方である。第3の構成要素は、第1のセンサとは反対側で第2のセンサに隣接して配置される。第3の構成要素は、第1のセンサがエミッタである場合にはエミッタであり、第1のセンサがレシーバである場合にはレシーバである。各構成要素は、それぞれ視野を有する。第1及び第2の視野が交差して第1の体積を定め、この第1の体積が第1の閾距離内で床表面を検出する。第2及び第3の視野が交差して第2の体積を定め、この第2の体積が第2の閾距離内で床表面を検出する。
【選択図】図8D
Description
本米国特許出願は、2012年9月21日に出願された米国特許暫定出願第61/704,419号に対して米国特許法第119(e)条に基づく優先権を主張し、当該暫定出願は引用により全体が本明細書に組み込まれる。
本開示は、移動式ロボット用の近接センサに関する。
ここで、Eiはレシーバによって集められたエネルギー、giは各レシーバ524a、524bのゲイン、Lは表面により反射されるエネルギー、diはレシーバ524a、524bまでの距離である。
ここでセンサ520は、R≧Rthであるときに障害物が近くにあり、そうでなければ、床表面10が離れていることを示すことになる。
516 壁
520 段差検出近接センサ
522、524 センサ構成要素
523、525 センサの視野
Claims (20)
- 自律式ロボット(100)であって、
前方駆動方向(F)を定めるロボット本体(110)と、
前記ロボット本体(110)を支持し、床表面(10、10a、10b)上で前記ロボット(100)を操縦するよう構成された駆動システム(120)と、
前記ロボット本体(110)上に配置され、少なくとも1つの近接センサ(520、520a、520b、520c、520d、520e、520f)を含むセンサシステム(500)と、
を備え、
前記近接センサ(520、520a、520b、520c、520d、520e、520f)が、
センサ本体(514)と、
前記センサ本体(514)により収容される第1、第2、及び第3の構成要素(522、522a、522b、524、524a、524b)と、
を含み、
前記第1の構成要素(522、524)が、エミッタ(522)及びレシーバ(524)のうちの1つであり、前記第2の構成要素(522a、524a)及び前記第3の構成要素(522b、524b)の各々が、エミッタ(522a、522b)及びレシーバ(524a、524b)の残りのものであり、
前記第1の構成要素(522、524)が、第1の視野(523、525)を有し、前記第2の構成要素(522a、524a)が、第2の視野(523a、525a)を有し、前記第3の構成要素(522b、524b)が、第3の視野(523b、525b)を有し、前記第1の視野(523、525)が、前記第2の視野(523a、525a)及び前記第3の視野(523b、525b)と交差しており、
前記第1及び第2の視野(523、523a、525、525a)の交差(V1)が、第1の体積(V1)を定め、前記第1及び第3の視野(523、523b、525、525b)の交差(V2)が、第2の体積(V2)を定め、前記第1の体積(V1)が、検知基準点(P)から第1の閾距離(Ds)内で第1の表面(10、10a、10b)を検出し、前記第2の体積(V2)が、前記検知基準点から、前記第1の閾距離(Ds)よりも大きい第2の閾距離(DAC)内で第2の表面(10、10a、10b)を検出し、
前記ロボット(100)は、前記駆動システム(120)及び前記センサシステム(500)と通信状態にあり、前記センサシステム(500)から受け取ったデータを処理するコンピュータプロセッサ(202)を有するコントローラ(200)であって、前記受け取ったデータに基づいてコマンド(241)を発する前記コントローラ(200)を更に備える、ロボット(100)。 - 2又はそれ以上の近接センサ(520、520a、520b、520c、520d、520e、520f)を更に備え、前記コントローラ(200)が、無効にした1つの近接センサ(520、520a、520b、520c、520d、520e、520f)と有効にした別の近接センサ(520、520a、520b、520c、520d、520e、520f)との間の閾期間を用いて、前記近接センサ(520、520a、520b、520c、520d、520e、520f)の各々を順次的に有効及び無効にする、請求項1に記載のロボット(100)。
- 前記コントローラ(200)が、前記検知基準点(P)と検知した物体(10、10a、10b)との間の目標距離(d)を決定し、前記物体(10、10a、10b)までの前記目標距離(d)が前記第2の閾距離(DAC)内にある場合には、前記ロボット(100)の方向を前方駆動方向(F)から前方以外の駆動方向に変化させる駆動コマンド(241)を、前記駆動システム(120)に発する、請求項1に記載のロボット(100)。
- 前記センサ本体(514)が、少なくとも1つの構成要素(522、522a、522b、523、523a、523b)の視野(523、523a、523b、525、525a、525b)を定めるように配列された少なくとも2つのバッフル(516、519、521)を含む、請求項1に記載のロボット(100)。
- 前記第1の構成要素(522、524)と前記第2の構成要素(522a、524a)との間の第1の距離(S1)が、前記第2の構成要素(522a、524a)と前記第3の構成要素(522b、524b)との間の第2の距離(S2)よりも小さい、請求項1に記載のロボット(100)。
- 前記各構成要素(522、522a、522b、523、523a、523b)が、視野軸線(F523、F523a、F523b、F525、F525a、F525b)を定め、前記センサ本体(514)が、横軸線(XS)及び長手方向軸線(YS)を定め、前記構成要素(522、522a、522b、523、523a、523b)が、前記長手方向軸線(YS)に対して或る角度(θ1、θ2、θ3)で配列された視野軸線(F523、F523a、F523b、F525、F525a、F525b)と共に前記横軸線(XS)に沿って配置される、請求項1に記載のロボット(100)。
- 前記第2の構成要素(522a、523a)及び前記第3の構成要素(522b、523b)の視野軸線(F523a、F523b、F525a、F525b)が平行ではない、請求項6に記載のロボット(100)。
- 前記第2の構成要素(522a、523a)及び前記第3の構成要素(522b、523b)の視野軸線(F523a、F523b、F525a、F525b)が各々、前記ロボット本体(110)の後方部分(114)に向けて前記センサ本体(110)により定められる前記長手方向軸線(YS)に対して0〜約10度の角度(α)で配列される、請求項7に記載のロボット(100)。
- 前記第1の構成要素(522、524)の視野軸線(F523、F525)が、前記長手方向軸線(YS)に対して約5度〜約15度の角度(θ1)で配列され、前記第1のセンサ構成要素(522、524)の視野軸線(F523、F525)の角度(θ1)が、前記第2及び第3の構成要素(522a、522b、523a、523b)の視野軸線(F523a、F523b、F525a、F525b)の角度(θ2、θ3)よりも大きい、請求項6に記載のロボット(100)。
- 前記第1の閾距離(DS)が約1〜3インチであり、及び/又は、前記第2の閾距離(DAC)が3インチよりも大きい、請求項1に記載のロボット(100)。
- 自律式ロボット(100)であって、
前方駆動方向(F)を定めるロボット本体(110)と、
前記ロボット本体(110)を支持し、表面(10、10a、10b)上で前記ロボット(100)を操縦するよう構成された駆動システム(120)と、
少なくとも1つの近接センサ(520、520a、520b、520c、520d、520e、520f)と、
を備え、
前記少なくとも1つの近接センサが、
第1の視野(523、525)を有する第1の構成要素(522、524)と、
第2の視野(523a、525a)を有する第2の構成要素(522a、524a)であって、前記第1の視野(523、525)がこの第2の視野(523a、525a)と交差して第1の交差体積(V1)を形成する、前記第2の構成要素(522a、524a)と、
第3の視野(523b、525b)を有する第3の構成要素(522b、524b)であって、前記第1の視野(523、525)が前記第3の視野(523b、525b)と交差して第2の交差体積(V2)を形成し、該第2の交差体積(V2)が前記第1の交差体積(V1)よりも前記ロボット本体(110)から遠位にある、前記第3の構成要素(522b、524b)と、
を含み、
前記第1の構成要素(522、524)が、エミッタ(522)及びレシーバ(524)のうちの1つであり、前記第2の構成要素(522a、524a)及び前記第3の構成要素(522b、524b)の各々が、エミッタ(522a、522b)及びレシーバ(524a、524b)の残りのものであり、
前記ロボット(100)は、前記駆動システム(120)と通信状態にあるコントローラ(200)を更に備え、前記コントローラ(200)は、物体(10、10a、10b)が前記第1の交差体積(V1)及び前記第2の交差体積(V2)の少なくとも1つと干渉したときに生成される、前記少なくとも1つの近接センサ(520、520a、520b、520c、520d、520e、520f)からの信号に基づいて、ロボット(100)を操縦するために、駆動コマンド(241)を前記駆動システム(120)に発するよう構成されている、ロボット(100)。 - 前記コントローラ(200)が、前記第2及び第3の構成要素(522a、522b、524a、524b)の各々を順次的に有効及び無効にして、前記第2及び第3の構成要素(522a、522b、524a、524b)の1つのみが一度に作動されるようにする、請求項11に記載のロボット(100)。
- 前記コントローラ(200)は、前記物体が前記第2の交差体積(V2)と干渉した場合に、前記ロボット(100)の方向を前方駆動方向(F)から前方以外の駆動方向に変化させる駆動コマンド(241)を、前記前記駆動システム(120)に発する、請求項11に記載のロボット(100)。
- 前記少なくとも1つの近接センサ(520、520a、520b、520c、520d、520e、520f)が更に、少なくとも1つの構成要素(522、522a、522b、523、523a、523b)の視野(523、523a、523b、525、525a、525b)を定めるように配列された少なくとも2つのバッフル(516、519、521)を含む、請求項11に記載のロボット(100)。
- 前記各構成要素(522、522a、522b、523、523a、523b)が、視野軸線(F523、F523a、F523b、F525、F525a、F525b)を定め、前記センサ本体(514)が、横軸線(XS)及び長手方向軸線(YS)を定め、前記構成要素(522、522a、522b、523、523a、523b)が、前記長手方向軸線(YS)に対して或る角度(θ1、θ2、θ3)で配列された視野軸線(F523、F523a、F523b、F525、F525a、F525b)と共に前記横軸線(XS)に沿って配置される、請求項14に記載のロボット(100)。
- 前記第1の構成要素(522、524)と前記第2の構成要素(522a、524a)との間の第1の距離(S1)が、前記第2の構成要素(522a、524a)と前記第3の構成要素(522b、524b)との間の第2の距離(S2)よりも小さい、請求項14に記載のロボット(100)。
- 前記第2の構成要素(522a、523a)及び前記第3の構成要素(522b、523b)の視野軸線(F523a、F523b、F525a、F525b)が平行ではない、請求項16に記載のロボット(100)。
- 前記第2の構成要素(522a、523a)及び前記第3の構成要素(522b、523b)の視野軸線(F523a、F523b、F525a、F525b)が各々、前記ロボット本体(110)の後方部分(114)に向けて前記センサ本体(514)により定められる前記長手方向軸線(YS)に対して0〜約10度の角度(α)で配列される、請求項17に記載のロボット(100)。
- 前記第1の構成要素(522、524)の視野軸線(F523、F525)が、前記長手方向軸線(YS)に対して約5度〜約15度の角度(θ1)で配列され、前記第1のセンサ構成要素(522、524)の視野軸線(F523、F525)の角度(θ1)が、前記第2及び第3の構成要素(522a、522b、523a、523b)の視野軸線(F523a、F523b、F525a、F525b)の角度(θ2、θ3)よりも大きい、請求項16に記載のロボット(100)。
- 前記第1の交差体積(V1)が、前記ロボット本体(110)から約5cm延びており、前記第2の交差体積(V2)が、前記ロボット本体(110)から遠隔の距離に約3〜5cm延びている、請求項11に記載のロボット(100)。
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EP3287242A1 (en) | 2018-02-28 |
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JP6675373B2 (ja) | 2020-04-01 |
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AU2013317738A1 (en) | 2014-10-16 |
EP2834048B1 (en) | 2017-11-01 |
US10429851B2 (en) | 2019-10-01 |
CA2868860A1 (en) | 2014-03-27 |
CN105404298B (zh) | 2018-10-16 |
EP2834048A4 (en) | 2015-05-20 |
CN104245244A (zh) | 2014-12-24 |
JP2018028947A (ja) | 2018-02-22 |
CN104245244B (zh) | 2016-01-20 |
US9442488B2 (en) | 2016-09-13 |
ES2656899T3 (es) | 2018-02-28 |
CA2868860C (en) | 2018-04-24 |
US8862271B2 (en) | 2014-10-14 |
US20170031366A1 (en) | 2017-02-02 |
JP5885147B2 (ja) | 2016-03-15 |
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