JP3131871B2 - 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 micro robot having a very small size, for example, about 1 cubic centimeter, which can be wirelessly controlled.

[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. Further, even if such a robot is to perform any operation, such a mechanism has not yet been developed. Furthermore, a large-capacity battery cannot be installed due to the demand for miniaturization, and it is desirable to charge wirelessly from the viewpoint of wireless control, but such a charging mechanism has not yet been developed. .

An object of the present invention is to provide an extremely miniaturized microrobot applicable to an endoscope under such circumstances.

[0005]

SUMMARY OF THE INVENTION A microrobot according to the present invention comprises an endoscope having an optical fiber and a mirror.
In other words, at least the mirror on the distal end side of the endoscope is stored.
Through an optical fiber and mirror
A photovoltaic element that generates a power supply voltage by receiving light guided from the housing to the inner wall of the tube , a micropump for discharging liquid, and a control signal superimposed on the light received by the photovoltaic element. Analysis, a circuit section for driving the micropump to discharge liquid, the photovoltaic element includes a light receiving surface on the outer peripheral surface of the housing, and the light receiving surface receives light reflected by the inner wall of the tube. It was made.

[0006]

FIG. 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.
A pair of sensors 12 and 14 are provided on the front part of the robot body 10 as shown in the figure. These sensors 12, 14
For example, an optical sensor including a photodiode, a phototransistor, or the like, an ultrasonic sensor that converts a sound wave into a voltage by a piezoelectric element, or the like is used. In this embodiment, a phototransistor is used. The sensor 12 has a visual field A1 as a detection area.
4 also has a field of view A2 as a detection area.
1 and A2 are overlapped at the center, and both sensors 12,
14 has an overlapping field of view A3. Therefore, when the light from the light source is in front, that is, in the field of view A3, both sensors 12,
14 will detect that light. The sensor 12
Is located on the left side of the robot body 10, so it is described as an L sensor in the flowcharts of the drawings described later.
Further, since the sensor 14 is disposed on the right side of the robot body 10, it is similarly described as an R sensor.

FIG. 3 is a bottom view of FIG. A power supply section 16 is disposed at the center portion, and is composed of, for example, an electric double layer capacitor, a nickel cadmium battery, or the like. A circuit section 22 is provided near the power supply section 16. The circuit unit 22 is a CMOS-IC2 mounted on a circuit board 23.
4, a chip resistor 26 for pull-down, and the like, the details of which will be described later. Each of the drive units 28 and 30 has a built-in step motor and a speed reduction mechanism, and is controlled by the circuit unit 22.
The wheels 36, 38 fitted to the output shafts 32, 34 are rotationally driven. The wheels 36 and 38 have rubber 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. Sliding parts 1 and 2 are provided at the bottom of the micro robot main body 10, one of which is in contact with the traveling ground 3. In the embodiment of FIG. 1, the center of gravity G of the microrobot main body 10 is slightly to the left of the drawing (hereinafter referred to as the front) with respect to the vertical direction 4 of the drive point 36 a where the wheel 36 contacts the traveling ground 3. The sliding part 1 is in contact with the traveling ground.

FIG. 4 is an explanatory view showing a case where the traveling ground 3 is inclined and the robot body 10 climbs the slope. Here, it is assumed that the hill-climbing ability of the drive unit is close to the limit. In such a situation, the center of gravity G is located on the right side of the figure with respect to the vertical direction 3 (hereinafter referred to as “rear”), and the sliding portion 2 is in contact with the traveling ground 3. Here, in order to improve the climbing ability, it is necessary not only to increase the torque of the driving section, but also to reduce the frictional resistance of the sliding section and increase the frictional force at the driving point 36a. That is, when climbing a hill which requires the most driving force, the micro robot main body 10 is driven by the reaction of the driving force of the driving unit.
According to the relationship between the center of gravity and the vertical direction in which the force to lift the front of the vehicle, the position of the center of gravity where all the weight is applied to the drive point 36a is good. In other words, when the traveling ground is flat or downhill, the center of gravity G is located in front of the vertical direction, and the center of gravity G is located behind the vertical direction near the limit of the climbing ability, that is, depending on the traveling ground 3, It is preferable that the center of gravity G interlinks with the vertical direction 3 of the driving point.

FIGS. 5 and 6 are a side view and a bottom view of a robot body according to another embodiment of the present invention. In this embodiment, the haptics 18 and tail 20 are used for charging and the balancer.
Is provided.

The tactile portion 18 and the tail 20 are provided with sliding portions 18a and 20a, respectively, and have the same function as the above-mentioned sliding portions 1 and 2. However, the position in contact with the traveling ground 3 is the robot body. 10 outside. Therefore, the sliding portion 1
Since a small force is applied to 8a and 18a and a frictional resistance is small, a running loss is small. Bent portions 18b and 20b are provided on the end portions of the tactile portion 18 and the tail 20, and are smoothly curved with respect to the running ground. In such a configuration, the vehicle can easily run while sliding even if the traveling ground 3 has large irregularities.

The tactile portion 18 and the tail 20 have not only flexibility but also conductivity, and at least one of the tactile portions 18 and the tail 20 is electrically connected to the power supply portion 16 composed of an electric double layer capacitor, a secondary battery, or the like. In such a configuration, since the power supply unit 16 can be charged via the tactile unit 18 or the protrusion of the tail 20, not only is it easy to handle but also flexible,
It is hard to be broken without stress concentration.

FIG. 7 shows a wheel 3 of the micro robot according to the present invention.
It is the elements on larger scale of the side of 4,36. Recess 3 on the outer periphery
5. Protrusion 37 is provided, and high friction agents 35a and 37a such as rubber and plastic are attached. In such a configuration, if the high friction agents 35a and 37a are liquids having curability, they are cured in the shape shown in the figure by surface tension.
Only the high friction agent 37a contacts the traveling ground. Accordingly, the load of the micro robot is concentrated, and the high friction agent 37a is easily elastically changed, a large frictional resistance is obtained, and the ability to climb a hill is improved. Note that the shape of the unevenness is not limited to the present embodiment, and a high friction agent may be similarly attached to the contact portion even when an arm or the like is used instead of the wheel.

FIG. 8 is a block diagram showing details of the circuit section 22. As shown in FIG. CP composed of ALU, various registers, etc.
The U-core 40 has a ROM 4 in which programs are stored.
2. An address decoder 44 of the ROM 42, a RAM 46 for storing various data, and an address decoder 48 of the RAM 46 are connected. The crystal oscillator 50 is connected to an oscillator 52, and the oscillation signal of the oscillator 52 is
The clock signal is supplied to the core 40. Outputs of the sensors 12 and 14 are input to the input / output control circuit 54, which is output to the CPU core 40. The voltage regulator 56 is for stably supplying the voltage of the power supply unit 16 to the circuit unit 22. The motor drive control circuit 58 transmits and receives control signals to and from the CPU core 40, and the motor drive control circuits 60 and 62
, The step motors 64 and 66 are controlled. The power supply voltage of each of the above circuits is supplied from the power supply unit 16.

The stepping motor 64 is built in the driving unit 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. 9 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. 10 is a plan view of the driving section 30, and FIG.
1 is a development view thereof. The step motor 64 has an exciting coil 68 and a rotor 70 composed of a magnet. 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 76 via a gear.
6 drives the wheels 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. The step motors 64 and 66 are, as shown in FIGS.
Since the wheels that are rotated at a high speed are decelerated to rotate the wheels, the drive units 30 and 28 are downsized. Further, since the excitation coil 68 is provided at a position distant from the rotor 70, the drive unit 30,
28 are made thinner and smaller.

FIG. 12 is a timing chart showing a basic operation example of the robot of the above embodiment. Sensor 12,
The output is 0 V when no light is incident on 14, 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 1
In the section W where light is received by the step motors 6 and 14,
4, 66 are driven, and the wheels 38, 36 are rotationally driven.

Accordingly, as the simplest driving example, when light from the light source is 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 controls the wheel according to the received light output. 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 present embodiment, the arrangement of the drive unit which moves in the direction of the field of view with the position of the sensor is not limited to the present embodiment which shows one combination.

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 and 14 receive light. However, when the drive is started, the drive force is increased by driving with acceleration.

FIG. 13 is a flowchart showing a basic operation in the case of performing acceleration control at the start of driving. First, CP
The U core 40 sets the clock frequency Rc of the drive pulse of the step motor 64 to 16 Hz (S1), and then resets the value Rc of the counter that counts the drive pulse (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, and the number of pulses at that time is counted (S4). It is determined whether or not the count value Rn is a predetermined value, for example, 15.
If not (S5) and 15, the above processing (S3) and (S4) are repeated.

When driving is performed for 15 pulses with a driving pulse having a clock frequency Rc (= 16 Hz), it is next determined whether or not the clock frequency Rc of the driving 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).

Although this flowchart shows the relationship between the sensor 12 (L sensor) and the step motor 64 (R motor), the relationship between the sensor 14 (R sensor) and the step motor 66 (L motor) is completely different. The same is true.

Although the relationship between the sensor 12 and the sensor 14 is not described in the flowchart of FIG. 13 for easy understanding, for example, the step motor 66 is driven when the sensor 14 is in the light receiving state, 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. 14 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 of the sensors receives light, the direction is increased while accelerating. Is changed, and when both sensors receive light, both control systems are driven in 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.

FIG. 15 is a waveform diagram of the driving pulse. FIG.
In order to increase the driving force when accelerating at the start of driving as shown in the flowchart of FIG. 3 and FIG. 14, for example, in the case of a clock frequency of 16 Hz, the pulse width is set to 7.8 msec, and the pulse width is increased. As the frequency increases, the pulse width can be smaller,
When the clock frequency is 32 Hz, the pulse width is 6.3 msec. When the clock frequency is 64 Hz, the pulse width is 5.9 msec. When the clock frequency is 128 Hz, the pulse width is 3.9 msec. In this manner, a drive pulse corresponding to a required drive force can be supplied, and rational drive can be performed.

FIG. 16 is a flowchart showing a process for avoiding an obstacle, and FIG. 17 is an explanatory diagram of the avoiding operation. Although not shown here, the robot body 1
At the front of the zero, an obstacle sensor composed of an ultrasonic sensor, an eddy current sensor, a contact sensor, or a combination thereof is provided.

First, it is determined whether or not there is an obstacle by the obstacle sensor (S11). If there is no obstacle, the operation continues (or proceeds as it is) (S12). If there is an obstacle, the step motor 64 or 66 is reversed (S13).
. This state is continued for a predetermined time, for example, 5 seconds (S14). This time is not limited to this time as long as it is a time necessary for the direction change, and the moving distance may be set. Thereafter, it is again determined whether or not there is an obstacle by the obstacle sensor (S11). By repeating such processing, when there is an obstacle, the direction is changed to avoid the obstacle.

FIG. 18 is a flowchart showing a process for detecting a collision by an induced voltage of a step motor and avoiding an obstacle, and FIG. 19 is an explanatory diagram of the avoiding operation. By driving the step motors 64 and 66 (S21),
In this state, it is detected whether or not the step motor 64 is rotating (S22).
It is detected whether or not 6 is rotating (S23). If the step motor 66 is also rotating, the operation is continued assuming that there is no obstacle (S24). The method of detecting the presence or absence of rotation of the step motors 64 and 66 utilizes the fact that the voltage induced in the exciting coil 68 is large when the motor rotates, but small when the motor is not rotating.

FIG. 20 is a timing chart showing a method for detecting the presence or absence of rotation of the step motor. As shown in the figure, when the rotor is rotated after the drive pulse is applied when the stepping motor is in a rotating state, an induced voltage is induced in the exciting coil 68 with the rotation of the rotor 70, 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 the rotating state, the rotor 70 does not rotate after the drive pulse is applied, so that no induced voltage is induced in the exciting coil 68,
No induced current flows. Thereby, it can be grasped that the vehicle is not rotating.

When it is determined that the motor is not rotating when the rotation of the step motor 64 is detected (S22), the driving of the step motors 64 and 66 is stopped (S25), and the step motors 64 and 66 are rotated in reverse. Yes (S26). The reverse drive state is continued for, for example, 5 seconds (S27), and the step motor 64, which is determined not to be rotated next, is driven again (S28), and the state is continued for, for example, 5 seconds (S29). Thereafter, the process returns to the first process (S21). If it is determined that the step motor 66 is not rotating when the rotation of the step motor 66 is detected, (S
23) Then, the driving of the step motors 64 and 66 is stopped (S30).
Then, the step motors 64 and 66 are reversed (S31). The reverse drive state is continued for, for example, 5 seconds (S32), the step motor 66 is driven again (S33), and the state is continued for 5 seconds (S29). Thereafter, the process returns to the first process (S21).

As described above, the step motors 64, 6
If the rotation of the motor 6 is not detected, and if the motor 6 is not rotating, the drive is temporarily stopped and then reversed, and then the step motor determined as not rotating is rotated again. For example, if the state where the step motor 66 is not rotating due to the collision of the robot body 10 with the wall occurs, the driving of the step motors 64 and 66 is temporarily stopped, then reversed and retreated, and then the step motor 66 is driven to To convert. Thereafter, the step motors 64 and 66 are driven to make the vehicle go straight, so that the vehicle can proceed with avoiding obstacles.

In the flowchart of FIG. 18, avoidance of an obstacle while both the step motors 64 and 66 are being driven has been described. However, the same processing is performed when only one of the step motors 64 and 66 is being driven. Is done. For example, when the step motor 64 is being driven, the step motor 64 is driven in the processing (S21) in FIG. 18, and thereafter, the processing (S22), the processing (S25) to (S2
9) can be dealt with. Step motor 66
The same applies to the case where
This can be dealt with by driving the step motor 66 in (S21) and then performing the processing (S23), the processing (S30) to (S33), and (S29).

FIGS. 22 to 23 are front, side and back views of a microrobot according to another embodiment of the present invention. Sensors 82a-
82d are provided, and screws at the rear are 84a to 84d.
d is provided and is configured to be driven in the liquid. Since four screws 84a to 84d are provided on the left, right, up and down and are driven by step motors, the robot body 80 can be controlled not only in the left and right directions but also in the up and down directions. FIG. 1 or FIG.
Since the robot has only two motors, it supplies drive pulses to each motor at the same timing. In this embodiment, since four screws 84a to 84d are provided, there are also four step motors for driving them. When these are driven by the driving pulses having the same timing, the power supply unit 16 is greatly consumed. Therefore, the timing is shifted by the circuit shown in FIG.

FIG. 24 is a block diagram showing circuits around the motor drive circuit. In this circuit diagram, in addition to the motor drive circuits 60 and 62 in FIG.
88, and these drive circuits include a step motor 64,
66, 90 and 92 are driven. Then, the step motors 64, 66, 90, and 92 rotate the screws 84a to 84d. In this embodiment, phase difference circuits 94 to 100 for controlling the phases of the motor drive circuits 60, 62, 86, and 88 are further provided.
0, the motor drive circuits 60, 6
The drive pulses are not output from 2, 86, 88 at the same timing.

In the above embodiment, an example has been described in which light is detected by a sensor and the light travels in that direction.
Detection targets are not only light, but also magnetism, heat (infrared), sound,
It may be an electromagnetic wave or the like. It is also possible to control so as to escape from the detection target instead of proceeding to the detection target. In that case, in the embodiment of FIG. 1 or FIG.
Turns off the step motor 64 and drives the wheels 38. When the sensor 14 is turned off, the step motor 66 is driven, and the wheels 36 are driven. Sensor 1
When both 2 and 14 are on, the stepping motor 64,
The robot body 10 is retracted or retracted by driving the wheel 66 in the reverse direction and driving the wheels 38 and 36 in the reverse direction. Furthermore, fine control is possible by preparing two or more types of detection objects, controlling one detection object toward it, and controlling the other detection object so as to escape from it. become. This control is shown in FIGS.
Of course, the present invention can also be applied to the robot main body 100.

The moving direction of the robot main body is not limited to the detection target such as light, but the movement locus may be programmed in advance and controlled according to it. Alternatively, a command may be given from outside to control the movement trajectory. Further, the above-described controls may be appropriately combined and controlled with a learning function.

FIG. 25 is a top view of a micro robot according to another embodiment of the present invention. A pair of direction control sensors 12 and 14 are provided on the front part of the robot body 10 as shown in the figure, and a work control sensor 15 is provided on the upper part of the robot body 10 as shown in the figure. As will be described later, a work command from the outside is received via the work control sensor 15. The bottom view of the robot body 10 is the same as the embodiment of FIG.

FIG. 26 is a block diagram showing details of the circuit section 22 of the embodiment shown in FIG. A ROM 42 storing a program, an address decoder 44 of the ROM 42, a RAM 46 storing various data, and an address decoder 48 of the RAM 46 are connected to a CPU core 40 including an ALU and various registers. I have. The crystal unit 50 is connected to an oscillator 52,
The oscillation signal of No. 2 is supplied to the CPU core 40 as a clock signal. The input / output control circuit 54 includes a direction control sensor 1
2 and 14 and the output of the work control sensor 15 are input and output to the CPU core 40. The motor drive control circuit 58 exchanges control signals with the CPU core 40,
Step motor 6 via motor drive circuits 60 and 62
4 and 66 and the actuator drive circuit 6
The work actuator 67 is controlled via the control unit 3.

Since the step motor 64 is built in the drive unit 30 and is disposed on the right side of the robot main body 10, the step motor 64 is referred to as R in the flow chart of the drawings described later.
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. 27 is a flowchart showing the control operation of the circuit section of FIG. The operator moves toward a target that emits light by the direction control sensors 12 and 14, and the work sensor 15 receives the instruction according to an operator's instruction and performs a predetermined operation.

First, the CPU core 40 determines whether or not the direction control sensor 12 is turned on by receiving light (S4).
1) If it is on, the light source is assumed to be on the left side, and the step motor 64 is driven to rotate the wheels 38,
Turn left (S42). If the direction control sensor 12 is off (S41), the driving of the step motor 64 is stopped (S43). Next, it is determined whether or not the direction control sensor 14 is turned on by receiving light (S44), and if it is not turned on, the driving of the step motor 66 is stopped (S44).
45). When the direction control sensor 14 is turned on by repeating the above processing (S44), the step motor 66 is driven (S44).
47). By operating in this manner, the robot body 10
Moves toward the light source, and then the work control sensor 15
It is determined whether or not is received (S47), and when the work control sensor 15 is not receiving light, the above operation is repeated to move forward. When the work control sensor 15 receives light and is turned on, the work drive 67 is controlled by the actuator drive dynamic circuit 63 to perform a desired work (S
48).

FIG. 28 is a flow chart showing the operation when the work control sensor 15 is not provided in FIGS. 25 and 26. Also in this embodiment, first, C
The PU core 40 receives the direction control sensor 12 to determine whether it is turned on (S51). If it is turned on, the light source is assumed to be on the left side and the step motor 64 is driven to rotate the wheel 38. Drive and turn left (S52).
If the direction control sensor 12 is off (S5
1) The driving of the step motor 64 is stopped (S53). Next, it is determined whether or not the direction control sensor 14 is turned on by receiving light (S54), and if it is not turned on, the driving of the step motor 66 is stopped (S55). When the above process is repeated and the direction control sensor 14 is turned on (S54), the step motor 66 is driven (S57). By operating as described above, the robot body 10 moves toward the light source. Next, it is determined whether or not the step motors 64 and 66 are rotating (S57), and the state where the step motors 64 and 66 are rotating is determined. Then, the above operation is repeated to move forward.
When the robot body 10 reaches a predetermined location and collides, the stepping motors 64 and 66 stop rotating at that moment. Therefore, it is regarded that the robot has reached the predetermined position by not rotating.
Thus, the work actuator 67 is controlled to perform a desired work (S58).

The determination as to whether or not the step motors 64 and 66 are rotating is made as follows. When the stepping motor is in a rotating state, the rotor 70 rotates after a driving pulse is supplied to the exciting coil 68, and an induced voltage is induced in the exciting coil 68 with the rotation of the rotor 70, so that an induced current flows. By detecting the magnitude of the induced current with a comparator or the like, it is detected that the motor is in a rotating state. When the stepping motor is not rotating, the rotor 70 does not rotate after the drive pulse is supplied, so that no induced voltage is induced in the exciting coil 68. As a result, it is detected that the vehicle is not rotating.

FIG. 29 is a block diagram showing details of another embodiment of the circuit section 22. In this embodiment, the receiving sensor 102, the transmitting element 104, and the detecting element 1 are used as sensors.
06 is connected to the input / output control circuit 54. FIG. 30 is a top view of the robot main body 10 and shows the reception sensor 102.
And the transmitting element 104 are arranged at the illustrated positions. In this embodiment, a command for movement and a command for work are received by the receiving sensor 102. For example, the commands (straight ahead command, right turn command, left turn command,
A pulse signal having a pattern corresponding to a retreat command, a work command, etc.) is output to the light receiving sensor 102. Detection element 10
Reference numeral 6 denotes an image sensor, a tactile sensor, or the like.
04 to the operating side.

FIG. 31 is a flow chart showing the control operation of the circuit section of FIG. First, when the receiving sensor 102 receives a straight-ahead command from the operation side, the CPU core 40 determines this (S61), and drives the step motors 64, 66 to go straight (S62). When the receiving sensor 102 receives a right turn command from the operation side, the CPU core 40 determines that (S63), and drives the step motor 66 to turn right (S64). Receiving sensor 10
When the CPU 2 receives a left turn command from the operation side, the CPU core 40 determines this (S65), and drives the step motor 64 to turn left (S66). When the receiving sensor 102 receives the retreat command from the operation side, the CPU core 40 determines that (S67), and drives the stepping motors 64 and 66 in the reverse direction to drive the robot main body 1.
0 is retracted (S68). If there is no movement control command, the driving of the step motors 64 and 66 is stopped (S69). Next, the CPU core 40 determines whether or not a work command has been input (S70). If a work command is not input, the process is terminated. If a work command is input, a desired work is performed by controlling the work actuator 67 by the actuator drive circuit 63.
(S71). Thereafter, the CPU core 40 determines whether or not a transmission command has been input via the reception sensor 102 (S72).
When a transmission command is input, for example, the detection element 1
06 and encodes the information detected by the
(S73). The above processing is cyclically repeated.

The above-mentioned operations include various operations. Examples of the operations are as follows. (1) Discharge of chemical solution by micro pump. (2) Sensing of temperature, pressure, components, images, etc. (3) Work by hand (for example, transporting parts etc.). (4) Data storage and transmission. (5) The function of the micro robot itself (for example, filling in holes, processing by self-destruction, robots with various functions are integrated and work). (6) Ingestion and dumping of samples.

FIG. 32 is a sectional view showing an example in which the micro robot of the present invention is applied to an endoscope. This device has a plunger 110 controlled by a circuit section 22, and the plunger 110 drives a piston 112 provided at a distal end thereof. The micropump 114 is composed of the plunger 110 and the piston 112,
Due to the movement of the piston 112, the chemical liquid 116 is moved to the housing 1
The liquid is discharged into a pipe through a nozzle 118 formed in the tube 27 . A photovoltaic element 120 is mounted on the outer peripheral side of the robot. The light from the light emitting section is
The light is reflected by the mirror 124, is further reflected by the inner wall 126 of the tube, is guided to the light receiving portion by a reverse path, and functions as an endoscope. Part of the light reflected by the inner wall 126 is also input to the photovoltaic element 120 to charge a power supply unit (not shown) of the circuit unit 22. The basic structure of this embodiment is the same as that of the embodiment shown in FIGS. 25 and 26.
4. The members such as the wheels 36 and 38 and the step motors 64 and 66 are not required.

In this embodiment, the circuit section 22 has a built-in decoder.
A control signal included in the charging current, which is connected in parallel to the power supply unit to which the output 20 is connected, is extracted and analyzed. Therefore,
In this embodiment, a work command is supplied from the operation side via an optical fiber 122 at a desired position while observing the inside of the tube as an endoscope, and the circuit unit 22 transmits the work command to the photovoltaic element 12.
Then, the plunger 110 is driven to discharge the chemical solution 124 from the nozzle 118.

FIG. 33 is a bottom view of a micro robot according to another embodiment of the present invention, and FIG. 34 is a side view thereof. The micro robot of this embodiment has a built-in micro pump 130 in the robot main body shown in FIG. 25 and a nozzle 132 provided on the front surface. In this embodiment, for example, the operation (S4
8), in the operation (S58) of the flowchart of FIG. 28 and the operation (S71) of the flowchart of FIG. 31, the micropump 130 is driven to discharge the chemical from the nozzle 132.

FIG. 35 is a side view of a micro robot according to another embodiment of the present invention, and FIG. 36 is a bottom view thereof. The micro robot of this embodiment is one in which a hand mechanism is provided on the robot main body 10 shown in FIG.
An upper motor unit 140 is provided on the upper portion of the robot body 10, which rotates an upper pinion 142, which engages with an upper gear 144 to drive an upper arm 146 rotatably supported on a shaft 152. I do. A lower motor unit 148 is provided at a lower portion of the robot main body 10, and rotates the lower pinion 149 so that the lower pinion 1
49 is engaged with the lower gear 150 and drives the lower arm 154 rotatably supported by the shaft 152. The upper arm 146 and the lower arm 154 constitute a hand 156.

FIG. 37 is a block diagram showing details of the circuit section 22 of the micro robot of the embodiment shown in FIGS. 35 and 36. This embodiment is basically the same as the circuit diagram of FIG. 26, except that the upper motor driving circuit 160 and the lower motor driving circuit 1
62 are provided. The upper motor drive circuit 160 controls the drive of an upper motor 164 built in the upper motor unit 140, and the lower motor drive circuit 162 controls the drive of a lower motor 166 built in the lower motor unit 148.
It is desirable that the upper motor 164 and the lower motor 166 be constituted by step motors. In such a case, it is easy to drive the upper motor 164 and the lower motor 166 synchronously.

FIG. 38 is a flow chart showing the control operation of the micro robot of the embodiment shown in FIGS. First, when the work control sensor 15 receives a control command, the CP
The U core 40 determines whether the command is a command for raising the arm (S81). If the command is a command to raise the arm, the upper motor 164 is rotated counterclockwise by the upper motor drive circuit 160 (S82). As a result, the upper arm 146 rotates clockwise. Next, the lower motor 166 is rotated counterclockwise by the lower motor drive circuit 162 (S83). As a result, the lower arm 154 rotates clockwise. Thus, the upper arm 146 and the lower arm 1
The hand 15 is rotated by rotating both hands 54 clockwise.
6 goes up as shown in FIG.

When the CPU core 40 receives a command to lower the arm (S84), the upper motor drive circuit 160
To rotate the upper motor 164 clockwise (S85).
As a result, the upper arm 146 rotates counterclockwise. Next, the lower motor 166 is rotated clockwise by the lower motor drive circuit 162 (S86). This allows the lower arm 154
Rotates counterclockwise. By rotating both the upper arm 146 and the lower arm 154 in the counterclockwise direction, the hand 156 is lowered.

When the CPU core 40 receives a command to open the arm (S87), the upper motor drive circuit 160 rotates the upper motor 164 counterclockwise (S88).
As a result, the upper arm 146 rotates clockwise. Next, the lower motor 166 is rotated clockwise by the lower motor drive circuit 162 (S86). This allows the lower arm 154
Rotates counterclockwise. By rotating the upper arm 146 clockwise and the lower arm 154 counterclockwise in this manner, the upper arm 146 and the lower arm 154 are rotated.
Opens as shown in FIG.

When the CPU core 40 receives a command to close the arm (S90), the upper motor drive circuit 160
To rotate the upper motor 164 clockwise (S91).
As a result, the upper arm 146 rotates counterclockwise. Next, the lower motor 166 is rotated counterclockwise by the lower motor drive circuit 162 (S92). This allows the lower arm 15
4 rotates clockwise. By controlling the upper arm 146 and the lower arm 154 to approach each other in this way, the upper arm 146 and the lower arm 154 are closed.

FIG. 41 is a conceptual diagram of a micro robot according to another embodiment of the present invention, and FIG. 42 is a side view thereof. The robot body 10 has a work motor 20 as shown in the figure.
The working motor 200 includes a motor stator 202 and a rotor 204. The robot main body 10 is arranged in a non-magnetic tube 206, and the non-magnetic tube 206 contains a liquid. A coil stator 208 is arranged outside the non-magnetic tube 206, and a coil 210 is wound around the coil stator 208.

FIG. 43 is a diagram showing details of the working motor 200. The motor stator 202 is provided with a pair of inner notches 202a at an inner peripheral portion, and a pair of outer notches 2a at an outer peripheral portion.
02b is provided, and the position of the inner notch 202a and the position of the outer notch 202b are shifted in the circumferential direction as shown. The rotor 204 is composed of a magnet,
It is magnetized to two poles, an N pole and an S pole. When an external magnetic field is applied, the magnetic flux 212 passes through the motor stator 202 as shown.

FIGS. 43 to 46 are diagrams showing the operation principle of the working motor 200. FIG. FIG. 44 is a diagram showing a state where no magnetic field is applied from the outside. In this state, the rotor 20
The boundary point between the N pole and the S pole of No. 4 faces the inner notch 202a and is stable. Next, when a magnetic field is applied as shown in FIG. 45, the rotor 204 rotates, but the portion of the motor stator 202 at the outer notch 202b is narrowed. Therefore, when a strong magnetic field is applied, magnetic saturation occurs. Is weakened, the boundary point of the rotor 204 is stabilized at the outer notch 202b. Thereafter, when the external application of the magnetic field is stopped, as shown in FIG.
The boundary point of No. 04 is opposed to the inner notch 202a and is stabilized. In this manner, the rotor 2 shown in FIGS.
04 turns half a turn. Next, when a magnetic field is supplied from the opposite direction, the rotor 204 further rotates a half turn.
By thus alternately applying a magnetic field, the rotor 204
Will rotate continuously. Note that the above description is an example of a case of rotating in a counterclockwise direction, but it is also possible to rotate in a clockwise direction. The operation principle of this motor itself is the same as that of the step motor 64 of the above-described embodiment.
66 and so on.

Now that the operation principle of the working motor 200 has been clarified, the operation of the apparatus shown in FIGS. 41 and 42 will be described. When a positive or negative exciting current is supplied to the coil 210, a corresponding magnetic flux is generated in the coil stator 208, and the magnetic flux reaches the motor stator 202 through the non-magnetic tube 206, and the rotor 204 rotates according to the above-described operation principle. I do. The rotation of the rotor 204 can function as a micro pump, rotate a screw (not shown) for propulsion, or create a liquid flow. Alternatively, a desired portion can be deleted by rotating a cutter (not shown).

In particular, in this embodiment, when the coil stator 208 is moved in the length direction of the non-magnetic tube 206, the work motor 200 itself moves along with the movement by the magnetic force of the magnetic field. Therefore, the position of the micro robot main body 10 can be controlled by applying a magnetic field from the outside. Further, since the working motor 200 can be driven by applying a magnetic field from the outside, the microrobot main body 10 does not require a means (a storage battery) for storing energy for driving the working motor 200. Instead of one coil stator 208, a plurality of coil stators 208 may be provided along the length direction of the non-magnetic tube 206 to sequentially drive the plurality of robot bodies 10. Further, the coil 210 does not need to be a single phase, and may be constituted by a multi-phase coil such as three-phase. In that case, the motor stator 202 and the like are also configured to correspond thereto.

The stepping motor of the above embodiment may be replaced by an ultrasonic motor or the like except for the embodiment of FIG. Further, the micro robot may be configured by appropriately combining the elements of the above-described embodiments as needed. next,
A charging mechanism for the power supply 16 will be described. FIG.
FIG. 3 is a block diagram showing details of a circuit unit 22 to which a charging mechanism by electromagnetic induction is added. The output of the charging circuit of the motor drive circuit 62 is connected to the power supply 16, to which a voltage regulator 56 is connected. This voltage regulator 5
Reference numeral 6 denotes a booster circuit 300 and a voltage limiter 302.

FIG. 48 shows a motor drive circuit 62 of this embodiment.
FIG. 3 is a circuit diagram showing details of the embodiment. Motor driver 304, 3
06, 308, and 310 are H-connected to the excitation coil 68 as shown, and diodes 312, 314, 316, and 318 are connected to each driver in parallel and in the opposite direction.
Is connected. Also, when switches 320 and 322 for detecting an AC magnetic field are connected to both ends of the exciting coil 68 and these switches 320 and 322 are closed,
A closed circuit is formed for the exciting coil 68. Further, both ends of the exciting coil 68 are connected to the magnetic field detecting inverters 324, 3
26, and its output is guided to a motor drive control circuit 58 via an OR circuit 328. Regularly driver 3
04, 310 and drivers 308, 306 are alternately driven to supply an exciting current to the exciting coil 68 to drive the step motor 66.
When the exciting coil 68 receives electromagnetic induction from a charging coil of a charging station, which will be described later, the induced voltages are turned off.
4, 316, and 318, and guided to the power supply unit 16 to perform a charging operation. The drivers 304, 306,
When the diodes 308 and 310 are constituted by FETs as shown in the figure and the diodes equivalently included therein function sufficiently, the external diodes 312, 314, 316 and
318 can also be omitted.

FIG. 49 shows the discharge characteristics of the electric double layer capacitor 334 constituting the power supply section 16, and FIG. 50 is a circuit diagram showing the details of the voltage regulator 56. FIG. 50 includes a high-capacity capacitor 334 and a limiter switch 330, and further includes a capacitor 360 as another power supply. Means for charging the capacitor 334 from the capacitor 334 to the capacitor 360 while increasing its voltage is indicated by a broken line 1
This is shown in the portion surrounded by 35. Capacitor 334
Means 33 for charging while boosting voltage from capacitor to capacitor 360
5 is capacitors 340, 350 and switches 336, 33
8, 342, 344, 346, 348 and 352. A power supply voltage is supplied from the capacitor 360 to each unit of the control unit 22. The detector 332 detects the voltage of the capacitor 334.

Next, the operation of the circuit shown in FIG. 50 will be described. When the voltage of the large capacity capacitor 334 is 1.2 V or more after being fully charged, the capacitor 334 and the capacitor 36
0 is the same voltage. When the voltage of the capacitor 334 is 1.
When the voltage is 2 V to 0.8 V, the voltage is boosted 1.5 times by the boosting means 335 and the capacitor 360 is charged. This operation is shown in FIG.
9 is a section from t1 to t3. Therefore, the voltage of the capacitor 360 at this time is 1.8 V to 1.2 V. When the voltage of the capacitor 334 is between 0.8 V and 0.6 V, the voltage is boosted twice by the booster 335 and the capacitor 360 is charged. This operation corresponds to the section from t3 to t4 in FIG. At this time, the voltage of the capacitor 360 is 1.6 V to 1.2 V.

When the voltage of the capacitor 334 is 0.6 or less, the voltage of the capacitor
Charge to zero. This operation is performed after t4 in FIG. FIG. 49 shows this state. The voltage indicated by the solid line is the voltage of the capacitor 360 in FIG. 50, and the voltage indicated by the broken line is the voltage of the capacitor 334.

Next, the operation of the booster 335 will be described. When boosting, first, the capacitors 334 to 34
0,350 and then capacitors 334,34
The capacitor 360 is charged by 0,350. That is, boosting charging becomes possible by repeating the operations shown in FIGS. (A) and (B) of FIG. 51 at the time of 1.5-fold boost, (A) and (B) of FIG. 52 at the time of 2.0-fold boost, and (A) of FIG. 53 at the time of 3.0-fold boost. , (B).

These switching operations are performed by switches 336 and 336 in FIG.
This is executed by switching of 338, 342, 344, 346, 348, 352.

As described above, according to this embodiment, the operable time is extended from time t2 to time t5 in FIG. According to the present embodiment, the voltage of the capacitor 334 can be used only between 0.9 V and 1.8 V, but according to the present embodiment, it can be used from 0.3 V to 1.8 V. You can see that the stored energy is being used effectively.

Further, in this embodiment, the boosting means 335 has three types of boosting means of 1.5 times, 2.0 times and 3.0 times, which are switched by a voltage signal from the voltage detecting section 332 and used. However, the present invention is not limited to these three types, and one type or many types may be prepared, and various magnifications may be considered. In the present embodiment, the voltage is detected by detecting the voltage of the capacitor 334 (1.8, 1..
(2, 0.8, 0.6 V) can detect the voltage of the capacitor 360 (1.8 V, 1.2 V), and determine the boost state by comparing with the contents of the boost means 335. This method has an advantage that the detection voltage may be small.

FIG. 54 is a perspective view of a charging stand applied to the above-mentioned micro robot. As shown in the figure, for example, an energy supply device 372 is installed near a signal generator 370 that emits infrared rays, and a charging area 374 is formed above the energy supply device 372. FIG. 55 is a block diagram showing a configuration of the energy supply device 372. The output of oscillator 376 is an amplifier 378
To excite the charging coil 380. The frequency of the exciting current of the charging coil 380 is set to a frequency higher than the frequency that the stepping motor can follow.

FIG. 56 is a flow chart showing the operation at the time of automatic charging. The CPU core 40 takes in the voltage value of the power supply unit 16 and determines whether or not it is higher than a predetermined reference voltage (S111). If it is higher, the normal operation is continued (S11).
2). When the voltage of the power supply unit 16 is lower than the predetermined reference voltage VL, the charging operation is started. First, the robot body 10 makes one rotation on the spot. For example, the vehicle starts to turn to the left and determines whether the sensor 12 is on (S113). If the sensor 12 is on, the signal generator 170 is on the left.
The step motor 64 is driven (S114). As a result, the wheel 38 is driven to rotate and turns to the left. In addition, the sensor 14
Is turned on (S115), and if turned on, the signal generator 170 is assumed to be on the right side and the step motor 66 is driven (S116). This allows the wheels 36
Rotates and turns to the right. This sensor 1
Each of the elements 2 and 14 has two built-in elements, one of which is used as a guide in response to, for example, ordinary light, and the other of which responds only to, for example, infrared rays from the signal generator 370 to open the charging area 374. It shall be used for searching.

Next, when the switches 320 and 322 in FIG. 48 are closed and the robot body 10 reaches the charging area 374, the exciting coil 68 receives the magnetic field generated by the charging coil 380 and generates an induced voltage. This induced voltage is taken into the CPU core 40 via the inverters 324, 326 and the OR circuit 328, where it is detected that an AC magnetic field has been detected (S117). When the AC magnetic field is detected in this manner, the robot body 10 moves to the charging area 1
74, the stepping motor 64,
The driving of the motor 66 is stopped (S118). The excitation coil 68 receives the magnetic field generated by the charging coil 380 and generates an induced voltage.
The power is rectified and guided to the power supply unit 16 by the power supply unit 6, and a charging current is supplied to the power supply unit 16. Then, the CPU core 40 takes in the voltage of the power supply section 16 and outputs the reference value VH.
It is determined whether it is higher (S119), and when it becomes higher, the operation returns to the normal operation (S112).

The signal generator 370 of the charging station
May generate ultrasonic waves, magnetism, or the like. In that case, it is necessary to equip the robot main body with a sensor for detecting it. In addition, it is also possible to detect the magnetism, light, heat, and the like generated from the energy supply device 372 to move. In that case, the signal generator 370 becomes unnecessary.

Further, the energy supply device 372 may be operated after the robot body 10 reaches the charging area 374, in which case energy saving is achieved.

FIGS. 57 to 60 are views showing a micro robot according to another embodiment of the present invention. FIG. 57 is a view from the front, FIG. 58 is a view from the back, and FIG. 5
FIG. 60 is a sectional view taken along line 9-59, and FIG. 60 is a view for explaining the function of the arm. The micro robot of this embodiment is propelled by rotating the fins in the liquid flowing in the tube,
At the time of charging, power is generated using the flow of liquid, and the battery is charged accordingly. Four arms 400 are attached to the front of the robot body 10, fins 402 are attached to the rear, and external teeth 404 are attached to the outer periphery.
Is provided. Further, the fin 402 is
6. Fins 402 are pinions 408
Is connected to the step motor 66 via the. The arm 400 is configured so that one end thereof is driven by a plunger 410. When the plunger 410 is pulled, the arm 400 expands, and when the end of the arm 400 is pressed against the inner wall of the pipe, the robot body 10 is moved. Stays in the liquid.

The configuration of the circuit 22 of this embodiment is basically the same as that shown in FIG. 47, and the step motor 64 in FIG. In a normal operation state, the fin 402 is rotationally driven by the step motor 66, and the robot body 10 advances in the liquid. Then, when the voltage of the power supply section 16 becomes lower than the predetermined reference value VL, the drive of the step motor 66 is stopped, and the arm 400 is extended by pulling the plunger 410.
As a result, the robot body 10 stops in the liquid. When the liquid flows in the pipe in the stationary state, the fin 402 rotates, and as a result, the rotor 70 of the step motor 66 rotates, and an induced voltage is generated in the exciting coil 68.
The induced voltage is rectified and guided to the power supply unit 16 as in the case of the above embodiment, and the charging current is supplied to the power supply unit 16. When the battery is charged in this manner and becomes equal to or higher than the predetermined reference voltage VH, the plunger 410 is returned, the arm 400 is closed, the stationary state of the robot main body 10 is released, and the step motor 66 is driven to start forward again.

FIG. 61 is a block diagram showing a configuration of a control unit when charging is performed by a photovoltaic element. For example, a solar cell 412 is provided as a photovoltaic element, and the output of the solar cell 412 is connected to the limiter 302 of the voltage regulator 56.
The power is supplied to the power supply unit 16 via the CPU core 40 (see FIG. 47), and is also supplied to the CPU core 40 via the decoder 416.

FIG. 62 is a flow chart showing the operation of the embodiment of FIG. In this embodiment, the battery is charged by the solar cell 412 even during normal work. However, when the voltage of the power supply 16 becomes lower than the predetermined reference voltage VL (S121), the step motors 64 and 66 are driven (S12).
2), the state is continued until rotation of these motors cannot be detected (S123), (S124). That is, by driving the step motors 64 and 66 until the robot main body 10 collides with a wall or the like, the robot main body 10 is retreated to a corner, and charged in this state for about 100 seconds (S12).
Five). When the voltage of the power supply unit 16 becomes higher than the predetermined reference voltage VL (S121), the operation returns to the normal operation (S122).
In this embodiment, by controlling the light emitting element on the light emitting side, not only the energy can be supplied from the light emitting element, but also the control signal can be supplied by superimposing the control signal on the light emitting energy. Robot body 1
On the 0 side, the output of the solar cell 212 is analyzed by the decoder 416 and taken into the CPU core 40.

By the way, in the embodiment of FIG. 61, the example using the solar cell 412 has been described, but this may be replaced with a thermoelectric generator. Since the thermoelectric generator generates power based on the temperature difference, if the heat absorption and heat generation are alternately repeated on the energy supply side (by driving the heat absorption and generation elements at the charging station), the thermoelectric generator can continuously generate power. However,
In this case, the output of the thermoelectric generator alternates between positive and negative, so that the charging circuit 214 requires a rectifier circuit.
Not only in this case, but also in the case of charging by electromagnetic induction, a charging coil is provided instead of the solar cell 212 irrespective of the excitation coil 68, thereby providing the power supply unit 1.
A rectifier circuit is also required to charge 6.

FIG. 63 is a flow chart showing the operation in the case of performing a control in which charging, obstacle avoidance, work and return throw are combined. The CPU core 40 takes in the voltage of the power supply unit 16 and determines whether or not the value is higher than a predetermined reference voltage VL (S131). When the voltage of the power supply unit 16 is a predetermined reference voltage V
If it is lower than L, the operation proceeds to the charging operation (S132). This charging operation is the same as the operation in each embodiment described above. Power supply unit 1
If the voltage of No. 6 is higher than the predetermined reference voltage VL, it is determined whether there is an obstacle next (S133). The presence / absence of an obstacle is detected, for example, by attaching and detecting a sensor for obstacle detection, or by detecting a state where the step motor is not rotating. The detection in the latter case is performed as follows. When a driving pulse is supplied to the excitation coil of the step motor when the motor is in a rotating state, the induced voltage becomes large, and when the motor is not rotating, the induced voltage becomes small. Therefore, the magnitude of the induced voltage is detected by detecting the magnitude of the induced voltage. Judgment is made.

When it is determined that there is an obstacle (S13
3), an avoidance operation is performed (S134). The avoidance actions include stop,
This is performed by performing control processing such as retreat. If it is determined that there is no obstacle, a desired operation (such as forward movement) is performed (S13).
Four). Next, it is determined whether or not there is a return-to-throw command (S135). If there is no return-to-throw instruction, the above processing is repeated, and if there is a return-to-throw instruction, return is made (S135). In this embodiment, the operation is continued until the return-to-injection command is issued from the outside. However, when the operation is completed, the return-to-injection may be automatically performed. The method of returning to home is the same as that of moving to the charging station.

[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 an explanatory diagram when the robot body climbs an inclined traveling ground.

FIG. 5 is a side view of a micro robot according to another embodiment of the present invention.

FIG. 6 is a bottom view of FIG. 5;

FIG. 7 is an enlarged side view of wheels of the micro robot.

FIG. 8 is a block diagram showing details of a circuit unit.

FIG. 9 is a circuit diagram of a sensor.

FIG. 10 is a plan view of a driving unit.

FIG. 11 is a development view of the driving unit of FIG. 10;

12 is a timing chart showing a basic operation example of the robot of the embodiment shown in FIG. 1 or FIG. 5;

13 is a timing chart showing a basic operation at the time of starting driving of the robot of the embodiment of FIG. 5;

14 is a timing chart showing an operation of the embodiment of FIG. 5 at the time of starting driving of the robot.

FIG. 15 is a waveform diagram of a drive pulse of the robot of the embodiment of FIG. 5;

FIG. 16 is a flowchart showing a process (part 1) for avoiding an obstacle.

FIG. 17 is an explanatory diagram of the avoidance operation.

FIG. 18 is a flowchart showing a process (part 2) for avoiding an obstacle.

FIG. 19 is an explanatory diagram of the avoidance operation.

FIG. 20 is a timing chart showing a method for detecting the presence or absence of rotation of a step motor.

FIG. 21 is a diagram illustrating a front, side, and back of a microrobot according to another embodiment of the present invention.

FIG. 22 is a view showing a front, side, and back of a microrobot according to another embodiment of the present invention.

FIG. 23 is a view showing a front, side, and back of a microrobot according to another embodiment of the present invention.

FIG. 24 is a block diagram showing peripheral circuits of the motor drive circuit of the embodiment shown in FIGS. 21 to 23;

FIG. 25 is a top view of a micro robot according to another embodiment of the present invention.

FIG. 26 is a block diagram showing details of a circuit unit of the embodiment in FIG. 25;

FIG. 27 is a flowchart illustrating a control operation of the circuit unit in FIG. 26;

FIG. 28 is a flowchart showing an operation when the work control sensor is not provided in FIGS. 25 and 26;

FIG. 29 is a block diagram showing details of another embodiment of the circuit unit.

FIG. 30 is a top view of a robot body according to another embodiment of the present invention.

FIG. 31 is a flowchart illustrating a control operation of the circuit unit in FIG. 29;

FIG. 32 is a cross-sectional view showing an example in which the micro robot of the present invention is applied to an endoscope.

FIG. 33 is a bottom view of a micro robot according to another embodiment of the present invention.

FIG. 34 is a side view of the micro robot of FIG. 33.

FIG. 35 is a side view of a micro robot according to another embodiment of the present invention.

FIG. 36 is a bottom view of the microrobot of FIG. 35.

FIG. 37 is a block diagram showing details of a circuit unit of the micro robot of FIGS. 35 and 36.

FIG. 38 is a flowchart showing a control operation of the macro robot of FIGS. 35 to 37.

FIG. 39 is a diagram showing a state when the micro robot of FIG. 35 raises a hand.

40 is a diagram illustrating a state when the micro robot in FIG. 35 opens the hand.

FIG. 41 is a conceptual diagram of a micro robot according to another embodiment of the present invention.

FIG. 42 is a side view of FIG. 41.

FIG. 43 is a view showing details of a working motor.

FIG. 44 is a view showing the operation principle of the work motor.

FIG. 45 is a diagram showing the operation principle of the work motor.

FIG. 46 is a view showing the operation principle of a work motor.

FIG. 47 is a block diagram showing details of a circuit unit in which a charging mechanism based on electromagnetic induction is added to the circuit unit.

FIG. 48 is a block diagram showing details of a motor drive circuit of the embodiment of FIG. 47;

FIG. 49 is a discharge characteristic diagram of the electric double-layer capacitor constituting the power supply unit.

FIG. 50 is a circuit diagram illustrating details of a voltage regulator.

FIG. 51 is an explanatory diagram of the operation of the booster.

FIG. 52 is an explanatory diagram of the operation of the booster.

FIG. 53 is an explanatory diagram of the operation of the booster.

FIG. 54 is a perspective view of a charging stand.

FIG. 55 is a block diagram illustrating a configuration of an energy supply device.

FIG. 56 is a flowchart showing an operation at the time of automatic charging.

FIG. 57 is a front view of a micro robot according to another embodiment of the present invention.

FIG. 58 is a rear view of the microrobot of FIG. 57.

FIG. 59 is a sectional view taken along line 59-59 of FIG. 58;

FIG. 60 is a diagram illustrating the function of the arm in FIG. 57.

FIG. 61 is a block diagram illustrating a configuration of a control unit when charging is performed by a photovoltaic element.

FIG. 62 is a flowchart showing the operation of the embodiment in FIG. 61.

FIG. 63 is a flowchart showing an operation in the case of performing control in which charging, obstacle avoidance, work, and return throw are combined.

──────────────────────────────────────────────────続 き Continued on the front page (31) Priority claim number Japanese Patent Application No. 4-71698 (32) Priority date March 27, 1992 (1992.3.27) (33) Priority claim country Japan (JP) (56) References JP-A-2-99073 (JP, A) JP-A-3-106329 (JP, A) JP-A-63-229187 (JP, A) JP-A-3-128441 (JP, A) JP-A-53-116826 (JP, A) JP-A-58-44030 (JP, A) JP-A-57-131421 (JP, A) JP-A-63-135117 (JP, A) JP-A-64-77233 ( JP, A) JP-A-56-139091 (JP, A) JP-A-64-39893 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32 H02N 6/00 B08B 9/04 JICST file (JOIS)

Claims (1)

(57) [Claims] 1. An endoscope having an optical fiber and a mirror.
Of which, at least the mirror on the distal end side of the endoscope is housed.
From the case via the optical fiber and the mirror.
A photovoltaic element that generates a power supply voltage by receiving a light guided in the tube wall, a micro-pump for discharging liquid, to analyze the control signal superimposed on the light the photovoltaic element has received A circuit unit for driving the micropump to discharge liquid, the photovoltaic element includes a light receiving surface on an outer peripheral surface of the housing,
A micro robot, wherein the light receiving surface receives light reflected by the inner wall of the tube.