JP2016517554A - 小型統合制御装置 - Google Patents
小型統合制御装置 Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/18—Packaging or power distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J19/022—Optical sensing devices using lasers
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/28—Supervision thereof, e.g. detecting power-supply failure by out of limits supervision
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
- G06F11/3013—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system is an embedded system, i.e. a combination of hardware and software dedicated to perform a certain function in mobile devices, printers, automotive or aircraft systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3058—Monitoring arrangements for monitoring environmental properties or parameters of the computing system or of the computing system component, e.g. monitoring of power, currents, temperature, humidity, position, vibrations
-
- 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
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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Abstract
Description
Reset Button 1202
Speaker connector 1203
Microphone 1 1204
USB 1:Keyboard 1206
USB 2:Mouse 1206
USB 3:Tethering 1206
USB 4:SPAN-CPT 1206
USB 5:Light-Bar 1 1206
USB 6:Light-Bar 2 1206
USB 7:Spare 1206
GbE 1:Switch B 1207
GbE 2:Switch C 1207
GbE 3:Spare (3D LADAR) 1207
GbE 4:Spare 1207
GbE 5:MCU (Cortex M4) 1208
FireWire 2:Front Stereo Camera L 1209
FireWire 3:Rear Stereo Camera R 1209
FireWire 4:Rear Stereo Camera L 1209
Serial 2:Spare (RS232) 1210
Serial 3:MCU (Cortex M4) 1211
PCIe 1212
Mode button 1402:LCD画面モード変更
選択 button 1403:LCD画面メニュー入力
遅延 out 1404:4CHのリレーポート
RC PWM 1405:RC受信機入力8CH、5V出力
近接センサ1406:近接センサ入力
エンコーダ4CH1407:motor encoder入力
CAN1 1408:車両VCU連結
CAN2 1409:OBD−II連結
RS485 1410:モータコントロール参考
RS232 1411:デバッギング&制御
mini−USB 1412:デバッギングポート
無線Wi−Fiアンテナ1413):無線インターネット接続アンテナ
イーサネット(登録商標)1422:メイン(Xeon)ボードと連結
12Vパワー2:走行カメラ電源1510
12Vパワー3:走行カメラ電源1510
12Vパワー4:走行カメラ電源1510
12Vパワー5:走行カメラサーバ電源1510
12Vパワー6:ステレオカメラサーバ電源1510
12Vパワー7:SPAN−CPT電源1510
12Vパワー8:PTZカメラ電源1510
12Vパワー9:Spare 1510
24Vパワー1:Front Stereo Camera R電源1520
24Vパワー2:Front Stereo Camera L電源1520
24Vパワー3:rear stereo camera R電源1520
24Vパワー4:rear stereo camera L電源1520
24Vパワー5:spare(Monitor)1520
24Vパワー6:spare 1520
LMS 24Vパワー1:LMS151電源1530
LMS 24Vパワー2:LMS151電源1530
LMS 24Vパワー3:LMS151電源1530
LMS 24Vパワー4:LMS511電源1530
LMS 24Vパワー5:LD−MRS電源1530
LMS 24Vパワー6:Spare 1530
210 GbEスイッチ(gigabit Ethernet(登録商標) switch)
220 第1制御部
230 第2制御部
240 マイクロ制御部
250 電源部
Claims (12)
- 自律走行用ロボット駆動時に生成される大容量センサデータを受信し、大容量の演算を並列処理する第1制御部と、
前記第1制御部と連結され、前記大容量の演算を、前記第1制御部と並列して処理する第2制御部と、
前記ロボットの電源状態モニタリング、前記ロボットと近接した位置にある障害物モニタリング、前記ロボットのモータ制御、前記ロボットのリレー制御、及び前記第1制御部との通信を行うマイクロ制御部と、
前記ロボットが利用するセンサ、前記第1制御部、前記第2制御部及び前記マイクロ制御部への電源供給を制御する電源部と、を含むことを特徴とする小型統合制御装置。 - 前記第1制御部は、
GbE(gigabit Ethernet(登録商標))スイッチから、前記大容量センサデータを入力されることを特徴とする請求項1に記載の小型統合制御装置。 - 前記前記マイクロ制御部は、
前記第1制御部とイーサネット(登録商標)通信を行い、前記イーサネット(登録商標)通信に損傷が発生する場合、前記第1制御部とRS232通信を行うことを特徴とする請求項1に記載の小型統合制御装置。 - 前記第1制御部は、
前記ロボットが自ら道を選択して障害物を避け、目的地に移動するために、前記大容量センサデータから獲得した前記ロボットの位置データ、及び前記ロボットと近接した位置にある障害物に係わるデータを基に、自律走行のための移動経路を算出することを特徴とする請求項1に記載の小型統合制御装置。 - 前記第2制御部は、
前記大容量の演算のうち、環境認識と係わる演算を処理し、前記環境認識と係わる演算は、カメラ及びレーザスキャナを含むセンサのデータを処理する演算を含むことを特徴とする請求項1に記載の小型統合制御装置。 - 前記マイクロ制御部は、
前記ロボットの電源状態モニタリング、前記ロボットと近接した位置にある障害物モニタリング、前記ロボットのモータ制御、前記ロボットのリレー制御、及び前記第1制御部との通信状態をLCDにディスプレイすることを特徴とする請求項1に記載の小型統合制御装置。 - 前記第1制御部は、
16coreを構成するように具現が可能であり、hyper−threadingを使用する場合、総32coreで運用が可能であることを特徴とする請求項1に記載の小型統合制御装置。 - 前記第1制御部は、ボード(board)状に具現され、
前記ボードの背面パネル側は、前記第1制御部と前記第2制御部とを連結するPCIe通信ライン、前記マイクロ制御部と連結されるserial通信ライン及びイーサネット(登録商標)通信ラインが配置され、
前記ボードの前面パネル側は、power LED、reset button、speaker connector、microphone、VGAまたはHDMI(登録商標)、少なくとも一つ以上のUSB、少なくとも一つ以上のGbEスイッチ、少なくとも一つ以上のFirewire、少なくとも一つ以上のserial通信ラインが配置されることを特徴とする請求項1に記載の小型統合制御装置。 - 前記自律走行用ロボットは、
早い速度で自ら経路を選択して障害物を避け、目的地に移動が可能であることを特徴とする請求項1に記載の小型統合制御装置。 - 自律走行用ロボット駆動時に生成される大容量センサデータを受信し、大容量の演算を並列処理する第1制御部と、
前記ロボットの電源状態モニタリング、前記ロボットと近接した位置にある障害物モニタリング、前記ロボットのモータ制御、前記ロボットのリレー制御、及び前記第1制御部との通信を行うマイクロ制御部と、
前記ロボットが利用するセンサ、第1制御部及び前記マイクロ制御部への電源供給を制御する電源部と、を含むことを特徴とする小型統合制御装置。 - 前記第1制御部は、
GbEスイッチから、前記大容量センサデータを入力されることを特徴とする請求項10に記載の小型統合制御装置。 - 前記自律走行用ロボットは、
走行速度は遅いが、自ら経路を選択して障害物を避け、目的地に移動する機能を有したことを特徴とする請求項11に記載の小型統合制御装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2013-0022459 | 2013-02-28 | ||
KR1020130022459A KR101883475B1 (ko) | 2013-02-28 | 2013-02-28 | 소형통합제어장치 |
PCT/KR2013/010766 WO2014133246A1 (en) | 2013-02-28 | 2013-11-26 | Mini integrated control device |
Publications (1)
Publication Number | Publication Date |
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JP2016517554A true JP2016517554A (ja) | 2016-06-16 |
Family
ID=51428480
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2015560085A Pending JP2016517554A (ja) | 2013-02-28 | 2013-11-26 | 小型統合制御装置 |
Country Status (5)
Country | Link |
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US (1) | US9802321B2 (ja) |
JP (1) | JP2016517554A (ja) |
KR (1) | KR101883475B1 (ja) |
DE (1) | DE112013006744T5 (ja) |
WO (1) | WO2014133246A1 (ja) |
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JP2018081678A (ja) * | 2016-11-16 | 2018-05-24 | バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーBaidu USA LLC | 自律走行車を制御及び操作するための装置 |
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US10780880B2 (en) | 2017-08-03 | 2020-09-22 | Uatc, Llc | Multi-model switching on a collision mitigation system |
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JP2020109619A (ja) * | 2018-12-31 | 2020-07-16 | バイドゥ ユーエスエー エルエルシーBaidu USA LLC | 柔軟なホスト及びクライアント構成を備える自動運転コンピューティング及びストレージ拡張デバイス |
Also Published As
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DE112013006744T5 (de) | 2015-11-12 |
US20160008985A1 (en) | 2016-01-14 |
KR101883475B1 (ko) | 2018-07-31 |
US9802321B2 (en) | 2017-10-31 |
KR20140108036A (ko) | 2014-09-05 |
WO2014133246A1 (en) | 2014-09-04 |
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