JP2016105829A - 自律式カバレッジロボット - Google Patents
自律式カバレッジロボット Download PDFInfo
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Abstract
Description
130 バンパー
131 バンパーフレーム
133 バンパーハウジング
401 ワイヤコレクタ
402 コネクタ
410 近接センサ
410a 壁近接センサ
410b クリフ近接センサ
4102 第1のセンサアレイ
4104 第2のセンサアレイ
4106 第3のセンサアレイ
413 ワイヤ
414 赤外線エミッタ
416 赤外線検出器
420 接触センサ
430 光閉じ込めセンサ
Claims (27)
- 移動式ロボット(100)であって、
前方駆動方向を有するロボット本体(110)と、
床面(10)の上に前記ロボット本体(110)を支持し、前記床面(10)にわたって前記ロボット(100)を操縦するための駆動システム(120)と、
前記駆動システム(120)と通信する主回路基板(150)と、
前記ロボット本体(110)の前方周囲(115)と相補的な形状を定め、前記ロボット本体(110)によって支持されるバンパーフレーム(131)と、
前記バンパーフレーム(131)上に配置された障害物センサシステム(400)と、を備え、
前記障害物センサシステム(400)が、
非一時的メモリ(454)と、該メモリ(454)に格納された命令を実行可能なコンピュータプロセッサ(452)とを含む、前記バンパーフレーム(131)によって支持される多重化補助回路基板(450)と、
前記バンパーフレーム(131)に沿って分配され、前記補助回路基板(450)に接続された少なくとも1つのワイヤコレクタ(401)において集められた少なくとも2つのワイヤ(413)を各々が有する近接センサ(410,420)のアレイと、
前記補助回路基板(450)を前記主回路基板(150)に接続し、前記近接センサ(410,420)のアレイを前記補助回路基板(450)に接続する前記ワイヤ(413)の半分未満の数の通信ライン(480)と、
を含む、ロボット(100)。 - 少なくとも1つの前記近接センサ(410)が、一対の収束赤外線エミッタセンサ素子(414,416)、ソナーセンサ、超音波センサ、3次元点群ボリュームイメージングデバイス、又は接触センサ(420)を含む、請求項1に記載のロボット(100)。
- 前記近接センサ(410)の各々が、
放射場(415)を有する赤外線エミッタ(414)と、
検出場(417)を有する赤外線検出器(416)と、
を含み、
前記赤外線エミッタ(414)及び前記赤外線検出器(416)が、前記放射場(415)が前記検出場(417)と重なり合うように配列される、請求項1に記載のロボット(100)。 - 前記近接センサ(410)のアレイが、前記バンパーフレーム(131)の前方周囲に沿って均一に配置され且つ前記床面(10)に平行に外方に各々が向いた壁近接センサ(410a)のアレイを含む、請求項1に記載のロボット(100)。
- 前記障害物センサシステム(400)が、前記バンパーフレーム(131)に沿って分配され且つ前記駆動システム(120)のホイール(124a、124b)の前方に配置されたクリフ近接センサ(410b)のアレイを更に含み、
前記クリフ近接センサ(410b)の各々が、前記床面(10)の下降縁部(136)を検出するために前記床面(10)において下方に向き、且つ、前記補助回路基板(450)に接続された少なくとも1つのワイヤコレクタ(401)において集められた少なくとも2つのワイヤ(413)を有する、請求項1に記載のロボット(100)。 - 前記障害物センサシステム(400)が、前記バンパーフレーム(131)上に配置され、45°〜270°の間の水平視野(432)を有する少なくとも1つの光閉じ込めセンサ(430)を更に含み、
前記少なくとも1つの光閉じ込めセンサ(430)が、前記補助回路基板(450)に接続された少なくとも1つのワイヤコレクタ(401)において集められた少なくとも2つのワイヤ(413)を有する、請求項1に記載のロボット(100)。 - 前記近接センサ(410)のアレイが、少なくとも4つの別個の近接センサ(410)のアレイを含む、請求項1に記載のロボット(100)。
- 前記近接センサ(410)のアレイが、
第1のセンサタイプの3つ又はそれ以上の近接センサ(410a)を有する第1のセンサアレイ(4102,4104)と、
前記第1のセンサタイプとは異なる第2のセンサタイプの3つ又はそれ以上のセンサ(410b)を有する第2のセンサアレイ(4106)と、
を含む、請求項1に記載のロボット(100)。 - 前記第1のセンサアレイ(4102,4104)が、前記床面(10)に対して前記バンパーフレーム(131)上において前記第2のセンサアレイ(4106)よりも上に垂直に配置される、請求項8に記載のロボット(100)。
- 前記センサアレイ(4102,4104)のうちの1つが、前記バンパーフレーム(131)の前方周囲に沿って均一に配置され且つ前記床面(10)に平行に外方に各々が向いた壁近接センサ(410a)のアレイを含む、請求項8に記載のロボット(100)。
- 前記他のセンサアレイ(4106)が、前記バンパーフレーム(131)に沿って分配され且つ前記駆動システム(120)のホイール(124a、124b)の前方に配置されたクリフ近接センサ(410b)のアレイを含み、
前記クリフ近接センサ(410b)の各々が、前記床面(10)の下降縁部(136)を検出するために前記床面(10)において下方に向き、且つ、前記補助回路基板(450)に接続された少なくとも1つのワイヤコレクタ(401)において集められた少なくとも2つのワイヤ(413)を有する、請求項10に記載のロボット(100)。 - 前記補助回路基板(450)が、
前記近接センサ(410)のアレイからセンサ信号を受け取り、
前記受け取ったセンサ信号に対してセンサデータ処理を実行し、
前記処理されたセンサ信号を前記主回路基板(150)により認識可能なデータパケット(455)にパッケージ化する、請求項1に記載のロボット(100)。 - 前記センサデータ処理が、アナログ−デジタル変換、信号フィルタリング、及び信号調整のうちの少なくとも1つを含む、請求項12に記載のロボット(100)。
- 流体浸透に対して前記バンパーフレーム(131)及び前記障害物センサシステム(400)をシールするためのバンパー本体ハウジング(133)を更に備え、
前記バンパー本体ハウジング(133)が、シリアル通信ライン(480)を受け入れるようなサイズのオリフィス(485)を形成し、
前記シリアル通信ライン(480)が、前記オリフィス(485)とシール嵌合する、請求項1に記載のロボット(100)。 - 移動式ロボット(100)であって、
前記移動式ロボット(100)の前方周囲(115)に沿って分配され、少なくとも1つの赤外線エミッタ(414)及び少なくとも1つの赤外線検出器(416)を各々が含む近接センサ(410)のアレイを備え、
前記近接センサ(410)の各々が、該近接センサ(410)の前記赤外線エミッタ(414)と前記赤外線検出器(416)との間に定められたセンサ長を有し、
アレイ状の前記近接センサ(410)の各々が、前記移動式ロボット(100)の前方周囲(115)に沿った所定の近接センサ位置に対応し、
アレイ状の前記近接センサ(410)の少なくとも一部が、前記移動式ロボット(100)の前方周囲(115)に沿って互いに重なり合っている、移動式ロボット(100)。 - アレイ状の個々のセンサ長の累計が、前記移動式ロボット(100)の前方周囲(115)に沿った前記アレイの長さよりも大きい、請求項15に記載の移動式ロボット(100)。
- 少なくとも1つの前記近接センサ(410)が、一対の収束赤外エミッタセンサ素子(414,416)、ソナーセンサ、超音波センサ、3次元点群ボリュームイメージングデバイス、又は接触センサ(420)を含む、請求項15に記載の移動式ロボット(100)。
- 前記近接センサ(410)の各々が、
放射場(415)を有する赤外線エミッタ(414)と、
検出場(417)を有する赤外線検出器(416)と、
を含み、
前記赤外線エミッタ(414)及び前記赤外線検出器(416)が、前記放射場(415)が前記検出場(417)と重なり合うように配列される、請求項15に記載の移動式ロボット(100)。 - 前記近接センサ(410)のアレイが、少なくとも4つの別個の近接センサ(410)のアレイを含む、請求項15に記載の移動式ロボット(100)。
- 前記近接センサ(410)のアレイが、
第1のセンサタイプの3つ又はそれ以上の近接センサ(410a)を有する第1のセンサアレイ(4102,4104)と、
前記第1のセンサタイプとは異なる第2のセンサタイプの3つ又はそれ以上のセンサ(410b)を有する第2のセンサアレイ(4106)と、
を含む、請求項15に記載の移動式ロボット(100)。 - 前記第1のセンサアレイ(4102,4104)が、前記ロボット(100)を支持する前記床面(10)に対して前記バンパーフレーム(131)上において前記第2のセンサアレイ(4106)よりも上に垂直に配置される、請求項20に記載の移動式ロボット(100)。
- 移動式ロボット(100)であって、
前記移動式ロボット(100)の前方周囲(115)に沿って分配され、少なくとも1つの赤外線エミッタ(414)及び少なくとも1つの赤外線検出器(416)を各々が含む近接センサ(410)のアレイを備え、
前記近接センサ(410)の各々が、補助回路基板(450)に接続された少なくとも1つのワイヤコレクタ(401)において集められた少なくとも2つのワイヤ(413)を有し、
前記移動式ロボット(100)が更に、
前記補助回路基板(450)を主回路基板(150)に接続する通信ライン(480)と、
閉鎖リム(1133)に沿って嵌合し且つ前記近接センサ(410)のアレイ及び前記補助回路基板(450)を内包するように前記閉鎖リム(1133)に沿ってシールされた2つ又はそれ以上の嵌合凹状受け部(133a,133b)を含む統合容器(133)と、
を備え、
前記統合容器(133)が、単一のシールされたアパーチャ(485)を通って延びる通信ライン(480)を含む、移動式ロボット(100)。 - 前記単一のシールされたアパーチャ(485)が、前記嵌合凹状受け部(133a,133b)により形成された前記統合容器(133)の表面積の100分の1よりも小さい面積を形成する、請求項22に記載の移動式ロボット(100)。
- 前記単一のシールされたアパーチャ(485)が、1平方センチメートルよりも小さい面積を形成するオリフィス(485)である、請求項22に記載の移動式ロボット(100)。
- 前記嵌合凹状受け部(133a,133b)により形成される前記統合容器(133)が、3又はそれ以上の日本工業規格(JIS)における防水等級を有する、請求項22に記載の移動式ロボット(100)。
- 前記統合容器(133)が、赤外線透過及び可視光遮断性のプラスチックを含む、請求項22に記載の移動式ロボット(100)。
- 前記主回路基板(150)が、前記ロボット(100)の本体(110)上に配置され、前記補助回路基板(450)が、前記本体(110)に移動可能に接続されたバンパー(130)上に配置される、請求項22に記載の移動式ロボット(100)。
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US10162359B2 (en) | 2018-12-25 |
JP5886474B2 (ja) | 2016-03-16 |
US9483055B2 (en) | 2016-11-01 |
ES2654398T3 (es) | 2018-02-13 |
JP2015515922A (ja) | 2015-06-04 |
EP3351155B1 (en) | 2019-09-18 |
CN104302218B (zh) | 2016-05-11 |
EP2846671A1 (en) | 2015-03-18 |
US20170023942A1 (en) | 2017-01-26 |
CA2871723A1 (en) | 2014-07-03 |
CN105700529A (zh) | 2016-06-22 |
EP2846671A4 (en) | 2015-06-10 |
CN105700529B (zh) | 2019-11-26 |
EP2846671B1 (en) | 2016-12-14 |
AU2013368461A1 (en) | 2014-11-20 |
EP3351155A1 (en) | 2018-07-25 |
CN104302218A (zh) | 2015-01-21 |
US20140188325A1 (en) | 2014-07-03 |
AU2013368461B2 (en) | 2015-06-25 |
CA2871723C (en) | 2016-06-21 |
EP3167784B1 (en) | 2017-11-22 |
EP3167784A1 (en) | 2017-05-17 |
JP6359042B2 (ja) | 2018-07-18 |
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