JP2933052B2 - Micro robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wirelessly controllable micro robot.

[0002]

2. Description of the Related Art Conventionally, when a robot is wirelessly controlled, control called radio control is performed, and a control method using radio waves has been used. Also,
In order to control the direction, steering was performed by superimposing a control signal on radio waves. Further, in order to autonomously direct a desired direction, an antenna having directivity is used, or a visual sensor or the like is used together. The running part used wheels to reduce running resistance. In addition, the terminal for charging was formed of a rigid contact and was formed in a recess of the frame.

[0003]

However, since the above-mentioned robot control system uses radio waves, a large number of electric elements are required on both the transmitting side and the receiving side, and a mechanism for steering is required. It was not suitable for miniaturization. Further, for example, in order to make the system autonomously move in the direction in which radio waves are transmitted, it is necessary to add the above-mentioned antenna and sensor, and this point is not suitable for miniaturization. Further, when a portion other than the driving portion is supported by wheels, if the wheels are small, it is not possible to get over large irregularities. Conversely, if the wheels are large, it is difficult to reduce the size. The charging terminal could not be reduced in handling, which hindered miniaturization.

[0004] The present invention has been made under such circumstances, and has a small size, which can be wirelessly controlled, and which can alternately perform sensing and light emission at the position of the eyes of the robot. The purpose is to provide a robot.

[0005]

(1) A microrobot according to one aspect of the present invention has at least two sensors whose detection areas partially overlap each other and generate an output corresponding to a detection amount; A driving unit that drives independently of each other based on the output of the sensor, a control unit that includes the CPU, and controls the driving unit based on the output of the sensor, and a rechargeable battery, the sensor, the driving unit, and the control unit And a light-emitting diode housed in the same package as the sensor, wherein the sensor and the light-emitting diode are arranged on the front part, and the control unit controls the microrobot. Lighting of the light emitting diode is controlled in accordance with the state, thereby transmitting control state information to the outside. (2) In the microrobot according to another aspect of the present invention, in the microrobot according to (1), the control unit enables one of the sensor and the light emitting diode to operate. (3) In the microrobot according to another aspect of the present invention, in the microrobot according to (1) or (2), at least two sensors are first sensors located on the left and right sides, respectively, with respect to the traveling direction. And a second sensor,
The driving unit has a first driving device and a second driving device located on the left side and the right side with respect to the traveling direction, respectively, and the control unit controls the second driving device based on an output of the first sensor. The first drive device is controlled based on the outputs of the two sensors. (4) The micro robot according to another aspect of the present invention is the micro robot according to the above (3), wherein the control unit is a first robot.
When the output of the sensor is equal to or more than a predetermined value and the output of the second sensor is less than the predetermined value, the first driving device is stopped while driving the second driving device, and the output of the second sensor is changed to the predetermined value. In the above case, when the output of the first sensor is less than the predetermined value, the second driving device is stopped while driving the first driving device.

[0006]

1 is a side view of a micro robot according to an embodiment of the present invention, and FIG. 2 is a top view thereof. The robot body 10 has a size of about 1 cubic centimeter, and a pair of sensors 12 and 14 are provided on the front part thereof as shown in the figure. The sensors 12 and 14 include, for example, an optical sensor including a photodiode, a phototransistor, or the like,
An ultrasonic sensor or the like that converts a sound wave into a voltage by a piezoelectric element is used. In this embodiment, a phototransistor is used. The sensor 12 has a field of view A1 as a detection area, and the sensor 14 also has a field of view A2 as a detection area. The two fields of view A1 and A2 overlap at the center thereof. Have overlapping fields of view A3. Therefore, the light from the light source is
When it is at 3, both sensors 12, 14 will detect that light. Note that the sensor 12 is
Since the sensor 14 is disposed on the right side of the robot body 10, it is described as an L sensor in the flow charts of the drawings described later.

FIG. 3 is a bottom view of FIG. A power supply unit 16 is disposed at a central portion, and is composed of, for example, an electric double layer capacitor, a nickel cadmium battery, or the like, and is configured to be chargeable via a haptic unit 18 and a tail 20 provided for charging and a balancer. ing. A circuit section 22 is provided near the power supply section 16. The circuit section 22 includes a CPU-IC 24 mounted on a circuit board 23, a chip resistor 26 for pull-down, and the like, the details of which will be described later. The drive units 28 and 30 each include a step motor and a speed reduction mechanism, and are controlled by the circuit unit 22. The output shafts 32 and 3 are controlled via the step motor and the speed reduction mechanism.
The wheels 36 and 38 fitted with 4 are driven to rotate. Wheel 3
Rubbers 6 and 38 are attached to the outer periphery. Note that the shape of the wheels 36 and 38 is not limited to a circle, and may take various shapes such as a triangle and a square depending on the use.

The spacer 39 supports the power supply section 16, the circuit section 22, and the drive sections 28 and 30 with respect to the frame body 39a. The power supply unit 16 and the circuit unit 22 include a pair of driving units 28, 3
0, and both are arranged so as to overlap.
Therefore, the power supply unit 16 and the circuit unit 22 can have a large area for the whole volume. For this reason, the internal resistance of the capacitor and the secondary battery can be reduced in the power supply section 16 so that a large current can be efficiently taken out, and the circuit section 22 is advantageous for mounting a large-sized IC chip having a complicated function. Further, since the driving units 28 and 30 are arranged at positions separated from each other, there is no magnetic interference or the like.

FIG. 4 is a block diagram showing details of the CPU-IC 24. The CPU core 40 including an ALU, various registers, and the like stores an R in which a program is stored.
OM 42, an address decoder 44 of the ROM 42, a RAM 46 for storing various data, and the RAM 46
Are connected. The crystal oscillator 50 is connected to an oscillator 52, and an oscillation signal of the oscillator 52 is supplied to the CPU core 40 as a clock signal. The outputs of the sensors 12, 14 are input to the input / output control circuit 54,
It is output to the CPU core 40. The voltage regulator 56 stabilizes the voltage of the power supply unit 16 to a low voltage and
It is for supplying to. Motor drive control circuit 58
Sends and receives control signals to and from the CPU core 40, and outputs step motors 64, 6 via motor drive circuits 60, 62.
6 is controlled. The power supply voltage of each circuit described above is
Supplied from

The stepping motor 64 is built in the driving section 30 and is disposed on the right side of the robot body 10.
A motor is described, and the step motor 66 is
8 and is located on the left side of the robot body 10, so it is similarly described as an L motor.

FIG. 5 is a circuit diagram of the sensor 12. The sensor 12 includes a phototransistor 12a, and a pull-down resistor 26 is connected in series to the emitter of the phototransistor 12a. Phototransistor 12b
The light-receiving output is taken out from the emitter of the CPU, and the light-receiving output is shaped by the input / output control circuit 54 and output to the CPU core 40. This circuit diagram is an example of the sensor 12, but the sensor 14 also has exactly the same configuration.

FIG. 6 is a plan view of the drive unit 30, and FIG. 7 is a developed view thereof. The stepping motor 64 has the exciting coil 6
8 and a rotor 70 composed of a magnet, and an electromagnetic two-pole step motor used in an electronic timepiece is used in this embodiment. The rotor 70 drives the pinion 72, the pinion 72 drives the pinion 74 via a gear, and the pinion 74 drives the pinion 7 via a gear.
6 is driven, and the pinion 76 thus decelerated drives the wheel 38 to rotate. 6 and 7 apply the mechanism of the electronic timepiece. The mechanism of the drive unit 28 is the same as the mechanism shown in FIGS. As shown in FIGS. 6 and 7, the step motors 64 and 66 are configured to reduce the size of the driving units 30 and 28 by rotating the wheels rotated at a high speed and rotating the wheels. Further, since the exciting coil 68 is provided at a position distant from the rotor 70, the driving units 30, 2 are also provided at this point.
8 is made thinner and smaller.

FIG. 8 is a timing chart showing a basic operation example of the robot according to the above embodiment. Sensor 12,1
The output is 0 V when no light is incident on 4, but when it is incident, a voltage corresponding to the light amount is output. The voltage is shaped into a desired threshold voltage in the input / output control circuit 54 and input to the CPU core 40. The motor drive control circuit 58 alternately forwards and reverses the current to the step motors 64 and 66 via the drive circuits 64 and 66. Is supplied with a drive pulse. Therefore, in the section S1 in which the sensor 12 receives light, the step motor 64 is driven, and the wheels 38 are driven to rotate. In the section S2 where the sensor 14 receives light, the step motor 66 is driven, and the wheels 36 are rotationally driven. Both sensors 12,
In the section W in which the stepping motor 14 receives light, the stepping motors 64, 6
6 is driven, and the wheels 38, 36 are rotationally driven.

Accordingly, as the simplest driving example, when light from the light source is present in the field of view A1 (except for the field of view A3), the optical sensor 12 receives the light, and the step motor 64 responds to the output of the received light. Rotate 38 to. At this time,
Since the wheels 36 are stopped, the robot body 1
A value of 0 means that the entire object turns to the left. When light from the light source is in the field of view A2 (except for the field of view A3), the optical sensor 14 receives the light, and the step motor 66 rotates the wheels 36 according to the received light output. At this time, since the wheels 38 are in a stopped state,
The whole robot body 10 turns to the right. Further, when the light from the light source is in the field of view A3, the optical sensors 12 and 14 receive it and
The wheels 4 and 66 rotate the wheels 38 and 36 according to the received light output, and the robot body 10 moves straight. The robot body 10 moves toward the light source by being controlled in this manner.

In the above description of the operation, an example has been described in which the drive is performed at a constant speed when the light receiving sensors 12, 14 receive light. However, when the drive is started, the drive force is increased by driving with acceleration. FIG. 9 is a flowchart showing a basic operation when acceleration control is performed at the start of driving. First, the CPU core 40 includes a step motor 64.
Set the clock frequency Rc of the driving pulse to 16 Hz.
(S1) Next, the value Rc of the counter that counts the driving pulse
Is reset (S2). Next, it is determined whether or not there is a light receiving output from the sensor 12 (S3). If there is a light receiving output, one drive pulse of the clock frequency Rc is supplied to drive the step motor 64, The pulses at that time are counted (S4). The count value Rn is equal to a predetermined value, for example, “1”.
It is determined whether it is "5" (S5), and if it is not "15", the above processing (S3) and (S4) are repeated.

When driving is performed for 15 pulses with a drive pulse having a clock frequency Rc (= 16 Hz), it is next determined whether or not the clock frequency Rc of the drive pulse has reached 128 Hz (maximum value). in case of,
The clock frequency Rc of the drive pulse is set to, for example, 32 Hz (S7), and the above processing is repeated in the same manner. Then, the clock frequency Rc of the drive pulse is 128 Hz (maximum value).
Is reached (S6), and thereafter, driving is performed with a driving pulse of that frequency. When the light receiving output from the sensor 12 disappears (S3), the step motor 64 is stopped (S8). This flowchart shows the relationship between the sensor 12 (L sensor) and the step motor 64 (R motor).
The relationship between the sensor) and the step motor 66 (L motor) is exactly the same.

Although the flow chart of FIG. 9 does not describe the relationship between the sensor 12 and the sensor 14 for easy understanding, for example, when the sensor 14 is in the light receiving state, the step motor 66 is driven, and the robot body 10 Is directed toward the light source, the sensor 12 is also in a light receiving state. In this case, the driving state of the step motor 64 driven by the sensor 12 needs to match the driving state of the step motor 66. If the driving state is not positioned as described above, the robot cannot move linearly when the robot body 10 faces the light source. That is, the transition from the turning movement to the linear movement is not performed smoothly.

FIG. 10 is a flowchart of the control in consideration of the above points. As described above, the CPU core 40
Is the clock frequency R of the drive pulse of the step motor 64
c is set to 16 Hz (S1), and the counter value Rc for counting the number of the driving pulses is reset (S2). next,
It is determined whether there is a light receiving output of the sensor 14 on the other side (S2a). When there is a light receiving output of the sensor 14, the clock frequency Lc of the drive pulse of the control system on the sensor 14 side and the value Ln of the counter are initialized as the clock frequency Rc of the drive pulse on the sensor 12 side and the value Rn of the counter. (S2b). After setting in this way,
The processing is performed in the same manner as in the flowchart of FIG. Although this flowchart shows the operation of the control system of the sensor 12, the same applies to the control system of the sensor 14.

That is, when the control system of another sensor is in a driving state at the start of driving, the state is taken as an initial value and the engine is started. Therefore, when only one sensor receives light, the direction is accelerated and the direction is increased. Then, when both sensors receive light, both control systems are brought into the same driving state at that moment to go straight. Therefore, the transition from the turning movement to the linear movement is performed smoothly, and the response to light is improved.

By the way, this microrobot has the CPU core 40 built-in as described above, and requires an appropriate reset circuit. FIG. 11 is a circuit diagram in which a reset circuit built in the CPU core 40 is extracted. 8 in the figure
0, 82, 84 and 86 are analog transmission gates (hereinafter referred to as gates), 88, 90 and 92 are inverters, and 94 is an I / O with a built-in arithmetic element such as a CPU.
C, and C1 and C2 are low-capacitance capacitors. At the time of starting the circuit, the IC 86 is in a state where its built-in oscillator has not yet oscillated and has not generated a clock signal. Therefore, the potentials of the capacitors C1 and C2 are at the ground potential. In this state, the voltage VH from the power supply unit 16 and the voltage VL (VH
> VL), the potential of the capacitor C2 is the ground potential and the input of the inverter 90 is L, so the output of the inverter 90 becomes H, which is supplied to the gate 82 and the gate 82 is opened to open the voltage. VH is supplied to IC94. The output of the inverter 90 is also supplied to the reset terminal of the IC 94, and the IC 94 is reset. The input of the inverter 92 is L because no clock signal has been input, and thus its output goes H, opening the gate 86. When the gate 86 is opened, the voltage VH is applied to the gate 86.
Is applied to the capacitor C1, and the capacitor C1 is charged.

When the voltage VH is supplied to the IC 94 and the built-in oscillation circuit starts oscillating, a clock signal is output, and the gate signal is opened by the clock signal. The gate 86 is closed by the inverter 92. Accordingly, the electric charge of the capacitor C1 is supplied to the capacitor C2 via the gate 84, and when the potential of the capacitor C2 rises, the output of the inverter 90 becomes L, and IC
The reset of 94 is released, the gate 82 is closed, and the supply of the voltage VH is stopped. At this time, the output of the inverter 90 is supplied to the gate via the inverter 88, and the gate 80 opens. When the gate 80 is opened, the voltage V
L is supplied to the IC 94. In this way, a high voltage is supplied and a reset signal is supplied when the device is started, and a low voltage is supplied and the reset signal is released when the clock signal is output, so that stable operation is obtained. Have been.

FIGS. 12 to 16 are circuit diagrams showing other examples of the configuration of the reset circuit. The reset circuit in FIG. 12 is an example in which a photo sensor 96 is connected. When the photo sensor 96 receives light, a reset signal is supplied to the IC 94 to reset the IC 94. The photo sensor 96 is attached to, for example, the back side of the robot main body, and resets the robot main body in a non-contact manner by, for example, emitting light during driving by the operator. The reset circuit in FIG. 13 is an example in which an induction coil 98 is connected. When the induction coil 98 receives electromagnetic induction, a reset signal is supplied to the IC 94 to reset the IC 94. The reset circuit in FIG. 14 is an example in which the thermistor 100 is connected. When the thermistor 100 receives some thermal energy and its resistance becomes small, it supplies a reset signal to the IC 94 based on the change in resistance to reset the IC 94. The reset circuit in FIG. 15 is an example in which a solar cell 102 is connected. When the solar cell 102 receives light and generates an electromotive force, a reset signal is supplied to the IC 94 based on the electromotive force to reset the IC 94. The reset circuit of FIG. 16 is an example in which a ball element 104 is connected. Hall element 1
When the electromagnet 04 receives the magnetism and generates an electromotive force, it supplies a reset signal to the IC 94 based on the electromotive force to reset the IC 94.

As described above, the case where the reset operation of the micro robot is performed in a non-contact manner has been described, but it is desired to automatically avoid the obstacle even if there is an obstacle on the path along which the robot body moves. FIG. 17 is a top view of the robot body 10 in consideration of this point. A tactile part 106 that swings right and left in the figure is attached to the head of the robot body 10. FIG. 18 is a block diagram showing details of the circuit unit. In this embodiment, the linear tactile portion 1
A step motor 67 for driving the drive motor 06 and a drive circuit 63 for controlling the step motor 67 are provided. The drive circuit 63 is controlled by a motor drive control circuit 58.

FIG. 19 is a flowchart showing the operation of the micro robot shown in FIGS. First, it is assumed that the R motor 64 and the L motor 66 are being driven, and the robot body 10 is moving forward. In this state, the step motor 67 is rotated clockwise to swing the haptic unit 106 rightward (S11). Then, it is detected whether or not the step motor 67 has rotated (S12). Here, the detection of the presence or absence of the rotation utilizes the fact that the voltage induced in the excitation coil is large when the step motor 67 rotates, but small when the step motor 67 is not rotating. For example, when the rotor rotates after the drive pulse is applied when the stepping motor 67 is in a rotating state, an induced voltage is induced in the exciting coil with the rotation of the rotor, and an induced current flows. By detecting the magnitude of the induced current by, for example, a comparator, the rotation state can be grasped. When the stepping motor is not in a rotating state, the rotor does not rotate after the drive pulse is applied, so that no induced voltage is induced in the exciting coil and no induced current flows. Thereby, it can be grasped that the vehicle is not rotating.

Therefore, the induced voltage of the motor 67 is transmitted to the CPU core 4 via the drive circuit 67 and the motor drive control circuit 58.
0 is taken in, and the CPU core 40 detects the presence or absence of rotation based on the induced voltage. If it is determined that the rotation is normal, the motor 67 is rotated leftward to
Shake 6 to the left (S13). Then, in this case as well, it is detected whether the motor 67 has rotated (S14). If it is determined that the motor 67 is rotating normally, the process returns to the initial state and the motor 67 is rotated clockwise (S11). As described above, the robot body 10 moves forward while swinging the haptic unit 106 left and right.

Here, for example, when it is determined that the rotation of the motor 67 is not normal when the motor 67 is rotated clockwise (S12), the motors 64 and 66 are reversely rotated for a predetermined time to retract the robot body 10 (S15). ). Thereafter, only the R motor 64 is driven to turn the robot body 10 left (S16). Thereafter, the R motors 64 and 66 are rotated forward to move forward, and return to the initial operation (S11). If it is determined that the rotation is not normal when the motor 67 is rotated counterclockwise (S14),
The motors 64 and 66 are reversely rotated for a predetermined time to retract the robot body 10 (S18). Thereafter, the robot body 10 is turned right by driving only the L motor 66 (S19).
After that, the motors 64 and 66 are driven forward to move forward,
The process returns to the initial operation (S20), (S11).

FIG. 20 is a block diagram showing a configuration of a circuit section of a micro robot according to another embodiment of the present invention. In the present embodiment, the buzzer 15 is connected to the input / output control unit 54. FIG. 21 shows the buzzer 15 and the input / output control unit 54.
FIG. 3 is a circuit diagram showing the relationship between The FETs 106, 108, 110, 112 for driving the buzzer 15 are H-connected. The FETs 106, 108, 110, and 112 are assumed to be built in the input / output control unit 54. FET1
When the 06, 112 or the FETs 108, 110 are driven, the buzzer 15 is driven to generate a buzzer sound.

FIG. 22 is a circuit diagram showing an example in which light emitting diodes 114 and 116 are connected in anti-parallel in place of the buzzer 15. By connecting the light emitting diodes 114 and 116 as shown in the drawing, the two light emitting diodes 114 and 116 can be independently turned on by two lines. FIG. 23 is a timing chart showing waveforms of currents flowing through the FETs 106, 108, 110, and 112. In the area A shown in the figure, the light emitting diodes 114 and 11
6 are alternately lit, and in the region B, it seems that the light emitting diodes 114 and 116 are lit simultaneously. In the area C, for example, it appears that only the light emitting diode 114 is lit. Therefore, the light emitting diode 11 is controlled according to the control state of the myroc robot.
4, 116 can be appropriately controlled, and the information can be transmitted to the outside.

FIG. 24 is a flowchart showing a control example of the light emitting diode. Here, an example of detecting a voltage drop of the power supply unit 16 will be described. The CPU core 40 takes in the voltage VH of the power supply 16 at a constant cycle (S21), compares it with a reference voltage Vr (S22), and
Is higher than the reference voltage Vr, the predetermined operation (moving or the like) is continued (S23). When the voltage VH of the power supply unit 16 is lower than the reference voltage Vr, one of the currents in the timing chart of FIG.
The light is supplied to the light source 6 (S24). This operation is shown in FIG.
The same applies to the first buzzer 15. When the voltage of the power supply section 16 decreases, the buzzer 15 can be driven to generate a buzzer sound and notify the outside to that effect. The operator can recognize that the voltage of the power supply unit 16 has decreased by such lighting or buzzer sound, and know that the charging time of the micro robot has come.

FIG. 25 is a diagram showing a circuit of an eye portion of the micro robot of FIG. Here, the photosensor 12A is connected between the terminal VDD and the terminal OUT, and the terminal V
The light emitting diode 12B is connected between the DD and the terminal VSS, and the photo sensor 12A and the light emitting diode 12B are used in one package. By controlling the potentials of the terminals OUT and VSS, sensing and light emission can be performed alternately. Therefore, the control shown in FIG. 24 can be applied to the light emitting diode 12B, and the eye portion can have both light receiving and light emitting functions.

In this embodiment, the step motors 64, 66, 67 are used as the motors. However, the use of the step motors 64, 66, 67 has the following advantages. a) The amount of movement can be controlled by software, that is, the number of pulses. b) The amount of movement can be controlled by software, that is, the pulse width, and therefore, there is no need to change the voltage of the power supply unit 16,
It can be controlled with a constant voltage. c) speed can be controlled by software, ie frequency,
Therefore, it is not affected by the voltage of the power supply unit 16.

FIG. 26 is a side view showing another example of the structure of the wheels 36 and 38 of FIG. In this wheel, the outer ring 120 has a meandering metal fork member 122a, 122b, 122.
c. With such a configuration, there is an advantage that the elastic deformation occurs even when a strong force is applied, but the permanent deformation does not occur.

[0033]

According to the present invention, a function of autonomously moving with respect to a target with a simple circuit can be obtained by overlapping the detection areas of the sensors. In addition, since the driving units are independently controlled, it is possible to control a complicated operation with a simple mechanism, thereby making it possible to reduce the size of the micro robot. In addition, the light emitting diode is housed in the same package as the sensor, which makes it possible to reduce the size of the microrobot and facilitates assembly of the microrobot. Furthermore,
The sensor and the light emitting diode can perform sensing and light emission at the position of the front part of the robot, that is, the position of the eye, and the control state can be transmitted to the outside by the light emission of the light emitting diode. In addition, since the control unit enables one of the sensor and the light emitting diode, the interference of the control unit can be avoided. Further, the load on the CPU can be reduced,
As a result, the peak of power consumption can be reduced. Further, in the present invention, the first driving device and the second driving device include a first sensor and a second sensor located on the left and right sides of the traveling direction, respectively, and are located on the left and right sides of the traveling direction, respectively. A second drive device based on the output of the first sensor, and a first drive device based on the output of the second sensor. As a result, even if the two sensors are not provided symmetrically, the light source is maintained in the detection area of the two sensors, and the micro robot can move in the direction of the light source. Further, the configuration of the robot is simplified, and as a result, power consumption can be reduced and the micro robot can be further downsized.

[Brief description of the drawings]

FIG. 1 is a side view of a micro robot according to an embodiment of the present invention.

FIG. 2 is a top view of FIG.

FIG. 3 is a bottom view of FIG. 1;

FIG. 4 is a block diagram illustrating details of a circuit unit in FIG. 1;

FIG. 5 is a circuit diagram of a sensor.

FIG. 6 is a plan view of the driving unit of FIG. 1;

FIG. 7 is a development view of FIG. 6;

8 is a timing chart showing a basic operation example of the robot of the embodiment in FIG.

9 is a timing chart showing a basic operation of the embodiment of FIG. 1 at the time of starting driving of the robot.

10 is a timing chart showing an operation of the embodiment of FIG. 1 at the start of driving of the robot.

FIG. 11 is a circuit diagram in which a reset circuit built in a CPU core of the present invention is extracted.

FIG. 12 is a circuit diagram showing another configuration example of the p reset circuit of the present invention.

FIG. 13 is a circuit diagram showing another configuration example of the reset circuit of the present invention.

FIG. 14 is a circuit diagram showing another configuration example of the reset circuit of the present invention.

FIG. 15 is a circuit diagram showing another configuration example of the reset circuit of the present invention.

FIG. 16 is a circuit diagram showing another configuration example of the reset circuit of the present invention.

FIG. 17 is a top view of a robot main body of a micro robot according to another embodiment of the present invention.

18 is a block diagram showing details of a circuit unit of the micro robot of FIG.

FIG. 19 is a flowchart showing the operation of the micro robot of FIGS. 17 and 18.

FIG. 20 is a block diagram showing a configuration of a circuit section of a micro robot according to another embodiment of the present invention.

FIG. 21 is a circuit diagram showing a relationship between the buzzer of FIG. 20 and an input / output control unit.

FIG. 22 is a control circuit of a light emitting diode of a micro robot according to another embodiment of the present invention.

23 is a timing chart showing a waveform of a current flowing through the light emitting diode of FIG.

FIG. 24 is a flowchart illustrating a control example of the light emitting diode of FIG. 22;

FIG. 25 is a diagram showing a circuit of an eye portion of the micro robot of FIG. 1;

FIG. 26 is a side view showing another example of the configuration of the wheels of the micro robot of FIG. 1;

Claims (4)

(57) [Claims] 1. A sensor comprising: at least two sensors whose detection areas partially overlap each other and generate an output corresponding to a detection amount; a drive unit that drives independently based on an output of the sensor; wherein a control unit for controlling the driving unit based on an output of said sensor, having a rechargeable battery, and the sensor, the drive unit, and a power supply for supplying a power supply voltage to the control unit, the sensor Light emitting diode housed in the same package as
And a light-emitting diode , wherein the sensor and the light-emitting diode are disposed in a front part.
The control unit may control the micro robot according to a control state of the micro robot.
Controlling the lighting of the light emitting diode, thereby
A micro robot that transmits control status information to the outside . 2. The micro robot according to claim 1, wherein the control unit enables one of the sensor and the light emitting diode to operate. 3. The at least two sensors have a first sensor and a second sensor located on the left and right sides of the traveling direction, respectively, and the driving unit is on the left and right sides of the traveling direction, respectively. A first drive device and a second drive device located at the same position, wherein the control unit controls the second drive device based on an output of the first sensor, and the second drive device is controlled based on an output of the second sensor. The microrobot according to claim 1, which controls one driving device. 4. The control unit, when the output of the first sensor is equal to or more than a predetermined value and the output of the second sensor is less than a predetermined value, while driving the second driving device, The first driving device is stopped, and when the output of the second sensor is equal to or more than a predetermined value and the output of the first sensor is less than the predetermined value, the second driving device is driven while driving the first driving device. The micro robot according to claim 3, which stops the operation.