JP4480730B2 - 自律ロボットのドッキング方法 - Google Patents
自律ロボットのドッキング方法 Download PDFInfo
- Publication number
- JP4480730B2 JP4480730B2 JP2007010829A JP2007010829A JP4480730B2 JP 4480730 B2 JP4480730 B2 JP 4480730B2 JP 2007010829 A JP2007010829 A JP 2007010829A JP 2007010829 A JP2007010829 A JP 2007010829A JP 4480730 B2 JP4480730 B2 JP 4480730B2
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- robotic device
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- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Description
Obstacle Detection Systemを開示しており、この開示は参照することによりその全体が本明細書に組み込まれる。さらなるロボット制御装置およびナビゲーションシステムが、米国特許出願番号10/167,851、10/056,804、10/696,456、10/661,835、および10/320,729に開示されており、これらの開示は参照することによりその全体が本明細書に組み込まれる。
Claims (12)
- 右信号を伝送するための右信号エミッタ、および前記右信号とは異なる符号化がなされた左信号を伝送するための左信号エミッタを含む複数の信号エミッタを備える基地局と、ロボット装置とをドッキングさせるための方法であって、
前記ロボット装置が、少なくとも前記基地局より伝送される前記右信号および前記左信号のいずれか一方の有無を検出するステップと、
前記検出ステップにおける検出結果に基づいて、前記ロボット装置が、自身の回転方向を決定するステップと、
前記ロボット装置が、前記右信号と前記左信号とが重複する重複領域を検出するステップと、
前記ロボット装置が、前記検出された重複領域によって規定される経路を追跡するステップと、を包含し、前記ロボット装置が前記重複領域によって規定される経路を追跡することにより、前記基地局に向かう、方法。 - 前記ロボット装置を前記基地局とドッキングさせるステップをさらに包含する、請求項1に記載の方法。
- 前記重複領域によって規定される経路を追跡するステップにおいて、前記ロボット装置の速度を低減するステップを包含する、請求項1または2に記載の方法。
- 前記ロボット装置を基地局とドッキングさせるステップが、
該基地局上の充電端子との接触を該ロボット装置によって検出するステップと、
該ロボット装置の動作を停止させるステップと
を包含する、請求項2に記載の方法。 - 前記ロボット装置を充電するステップをさらに包含する、請求項4に記載の方法。
- 前記ロボット装置を充電するステップは、前記ロボット装置を複数の充電レベルのいずれかで充電することを含む、請求項5に記載の方法。
- 前記ロボット装置を充電するステップは、
前記充電端子に非充電エネルギーを提供するステップと、
前記基地局内の回路と前記ロボット装置内の相補回路との組み合わせによって形成される負荷を認識することによって、該充電端子にわたって該ロボット装置の存在を確認するステップと、
前記ロボット装置のバッテリを充電するために、該充電端子へのエネルギーを前記非充電電流から充電電流へと増加させるステップと
を包含する、請求項5または6に記載の方法。 - 前記ロボット装置における充電のレベルを測定するステップと、
該充電のレベルが所定の閾値に満たない場合に、該ロボット装置において前記バッテリの充電を可能にするステップと
をさらに包含する、請求項7に記載の方法。 - 右信号を伝送するための右信号エミッタおよび前記右信号とは異なる符号化がなされた左信号を伝送するための左信号エミッタを含む複数の信号エミッタを備える基地局、および該基地局とドッキングするロボット装置からなるシステムであって、
前記ロボット装置は、
少なくとも前記基地局より伝送される前記右信号および前記左信号のいずれか一方の有無を検出する検出手段と、
前記検出手段による検出結果に基づいて、自身の回転方向を決定する決定手段と、
前記基地局に向かうために、所定の経路を追跡する追跡手段と、を備え、
前記検出手段は、さらに前記右信号と前記左信号とが重複する重複領域を検出し、
前記追跡手段は、前記検出された重複領域によって規定される経路を追跡することによって、前記基地局に向かうことを特徴とする、システム。 - 前記基地局は、さらに
複数の第1の充電端子を備える固定充電器と、
該充電器内の回路と前記ロボット装置内の相補回路との組み合わせによって形成される負荷を認識することによって、該充電端子にわたって該ロボット装置の存在を確認するための回路と、を備え、
前記ロボット装置は、さらに
バッテリと、
前記第1の充電端子と結合するよう適合される、複数の第2の充電端子と
を備える、請求項9に記載のシステム。 - 前記回路が、前記バッテリにおいて充電のレベルを決定し、前記第1の充電端子に供給される電力レベルを制御する、請求項10に記載のシステム。
- 前記回路が、前記第2の充電端子に結合される場合、前記第1の充電端子全体にわたる所定の電圧の計測時に、該第1の充電端子に供給される非充電電流から充電電流へと変化させる、請求項11に記載のシステム。
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JP4981549B2 (ja) * | 2007-06-29 | 2012-07-25 | 株式会社サトー知識財産研究所 | プリンタ |
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TWI484309B (zh) * | 2013-07-18 | 2015-05-11 | Uni Ring Tech Co Ltd | Self - propelled mobile device recharge guidance method |
JP6422703B2 (ja) * | 2014-08-20 | 2018-11-14 | 東芝ライフスタイル株式会社 | 自律走行体装置 |
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