JP4533946B2 - Waste heat utilization mechanism in mobile robots - Google Patents

Description

  The present invention relates to a mobile robot that operates by autonomous control or remote operation and has a moving function, and relates to a structure that effectively uses exhaust heat generated from a heat generating device such as a control CPU and a motor control circuit mounted therein. is there.

  In a mobile robot such as a humanoid robot that has a leg and walks, heat is constantly generated during operation from a control CPU, a motor control circuit, and the like mounted therein. As is well known, semiconductor devices used in CPUs and motor control circuits are vulnerable to heat, and therefore heat generated from the control CPUs and motor control circuits described above must be exhausted.

  As a technique for dealing with the problem of heat generation in a mobile robot, for example, as disclosed in Patent Document 1, a cooling structure in which an exhaust fan is provided to exhaust heat has been proposed.

JP 2002-154083 A

In a mobile robot such as a humanoid robot, operation control is generally performed using image recognition processing, and an imaging device such as a CCD camera is mounted inside the robot as the visual means. In the imaging direction (lens front direction) of the camera, an optical shield (cover member) formed of a transparent acrylic resin or the like for protecting the lens and obtaining a photographing viewing angle is disposed.

  When the robot operates in rain, in a humid environment, or in an environment where dust or the like floats, water droplets and dust adhere to the optical shield. As a result, an image captured through the optical shield may be distorted or unclear, which may adversely affect the image recognition process. When the image recognition processing is adversely affected, there is a case where it is impossible to accurately perform an operation such as movement or grabbing an object. For this reason, it has been desired to solve the above-mentioned problem of adhesion of water droplets and dust to the optical shield.

  The present invention aims to solve the above problems. In particular, it is an object of the present invention to effectively solve the above-mentioned problems by effectively using the exhaust heat of the robot described above.

The present invention is a mechanism that uses heat generated in a mobile robot, and includes a heat generating device, hot air transfer means that guides hot air using heat generated from the heat generating device, and an optical device disposed in an imaging optical system. A shield is provided, the hot air is supplied from the hot air transfer means to the optical shield, and water droplets attached to the surface of the optical shield are dried or dust attached to the surface is removed. This is a waste heat utilization mechanism in a mobile robot characterized by the following.

Further, the present invention is a mechanism that uses heat generated in a mobile robot, and is disposed in a heat generating device, hot air transfer means that guides hot air using heat generated from the heat generating device, and an imaging optical system. and an optical shield, a waste heat utilization system at the mobile robot warm air supplied from the hot air transfer means and said blowing on the inner surface of the optical shield.

  In addition, the present invention is a mechanism that uses heat generated in a mobile robot, and is disposed in a heat generating device, hot air transfer means that guides hot air using heat generated from the heat generating device, and an imaging optical system. An air curtain that protects the surface of the optical shield by flowing the hot air supplied from the hot air transfer means along the surface exposed to the outside of the optical shield. This is a waste heat utilization mechanism in a mobile robot.

  Examples of the mobile robot to which the invention is applied include a humanoid robot that walks with legs, or a robot that has moving means using wheels or an endless track instead of the legs. The mobile robot according to the present invention preferably has a power supply and a device for operation control, and is capable of autonomous control or control by receiving an operation signal from the outside. Therefore, a robot having a configuration in which part or all of the power supply and control equipment are externally attached to the outside of the robot, such as a welding robot and a painting robot used in a production line or the like, is an application target of the present invention. Not appropriate.

  Examples of the heat generating device in the present invention include a control CPU for controlling the operation of the robot and its peripheral circuits, a control circuit for controlling the motor that is the power for the operation of the robot, and a power supply circuit for adjusting the voltage. .

  Robot operation control requires extremely complicated electronic control, and for this purpose, a large number of control CPUs having high-speed arithmetic processing functions are required. The amount of heat generated during operation of the control CPU is large, and effective cooling or exhaust heat must be performed. This is well understood from the example of computer equipment with increased computation speed.

  The motor control circuit uses a semiconductor switch (for example, a switching FET corresponding to a large current) that switches a large current exceeding the ampere unit flowing through the motor. Such a semiconductor switch generates a large amount of heat. In particular, in the case of a humanoid robot, it is necessary to arrange a large number of servomotors at each joint and the like, and a circuit for controlling the servomotors is required for the number of motors. For this reason, the heat generation from the motor control circuit is considerable as a whole.

  Examples of the hot air transfer means for guiding the hot air using the heat generated from the heat generating device include a blower such as a fan or a compressor that creates a flow of the hot air. One or a plurality of blowing devices may be arranged so as to send an air flow toward the heat generating device, or one or a plurality of air blowing devices may be arranged so as to suck air from the vicinity of the heat generating device. , You may combine both.

  The hot air transfer means may include a duct structure that guides the hot air to a predetermined place. The duct structure may be provided with an independent duct structure, or may be a flow path that guides the flow of air functioning as a duct using a structure constituting the robot. Moreover, you may make it the structure which combined both. Moreover, you may utilize the means which guide | induces the flow of air like a flexible hose as a duct structure.

  Next, heating, drying or cleaning will be described. Here, heating refers to supplying heat to the object to be heated by applying hot air. Drying refers to drying by blowing water from a target to which hot air is applied by applying hot air. For example, it means drying a portion wetted by water or a portion where water droplets are attached due to condensation. In addition, it means drying a portion where moisture is accumulated. Cleaning refers to blowing off dust in a portion where hot air is applied by the wind pressure of the hot air.

  In the present invention, it is preferable that the heat generating devices are arranged in a concentrated manner. That is, it is preferable that the heat generating devices are arranged in a concentrated manner inside the robot.

  If the heat generating devices are centrally arranged, the exhaust heat can be collected and used effectively. If the heat generating devices are dispersed, the hot air transferring means must also be dispersedly arranged, which is not preferable from the viewpoint of complicating the configuration and reducing the size and weight of the entire robot.

  In the present invention, further comprising: a blower for exhaust heat that exhausts heat generated from the heat generating device to the outside; a blower for supplying hot air in the hot air transfer means; and a sensor provided in the device to which the hot air is sent, It is preferable to use a structure that controls ON or OFF of the blower for supplying hot air in response to a detection signal from the sensor.

  According to this aspect, a temperature sensor can be arrange | positioned to the apparatus to which hot air is applied, and the ventilation state of warm air can be controlled based on the temperature information output from the temperature sensor. Thereby, when the apparatus falls below a predetermined first temperature, heating is performed by blowing hot air, and when the temperature of the apparatus rises above a predetermined second temperature, blowing hot air is performed. Can be controlled. Thereby, the apparatus to which hot air is applied can be maintained at a temperature within a predetermined temperature range.

  Moreover, if a humidity sensor is employed as the sensor, it is possible to control so that the device to which the hot air is applied is maintained in a predetermined range of humidity. By using this technology, for example, a configuration that prevents condensation inside the robot can be realized.

  In the present invention, it is preferable to provide a structure that includes a joint shaft for movement or movement, and uses the joint shaft as a duct through which the hot air flows.

  According to this aspect, for example, a duct for flowing warm air is configured using the inside of the joint shaft that swings the neck and waist. The portion provided with the swinging mechanism such as the neck and the waist which are the joint shafts relatively moves other than the swinging shaft at the time of swinging, so that it is difficult to secure a warm air flow path. Although it is conceivable to secure a flow path by a flexible pipe, securing a flow path inside the shaft does not require an extra space and can provide an advantage of securing a certain cross-sectional area.

  In this duct structure, it is preferable to include a valve for controlling the flow rate of the hot air. For example, the sensor and valve can be linked and the valve adjusted based on temperature and humidity information captured by the sensor, thereby controlling the flow rate in the duct and adjusting the heating action and drying action by hot air. it can.

By applying warm air to the optical shield, water droplets and dust are prevented from adhering to the surface of the optical shield disposed in front of the imaging device (for example, a CCD camera). Moreover, even if a water droplet adheres, drying by a warm air is performed and a water droplet is removed. Moreover, the attached dust is removed. Further, the hot air is supplied to the inside of the shield, so that the shield can be prevented from being fogged.

  According to this aspect, it is possible to eliminate an adverse effect on the image analysis result due to dirt or cloudiness of the shield. This is effective in the outdoor operation of the robot, the operation during rain, and the operation in an environment where dust is present.

  In particular, by supplying warm air to the outer surface of the shield and forming an air curtain on the surface of the shield, a function of preventing water droplets and dust from adhering to the shield can be provided.

  In the present invention, it is preferable that the hot air transfer means includes a blower for taking in outside air and takes in the outside air and adjusts the amount of air taken in from the blower for taking in outside air, thereby controlling the amount of heat of the hot air.

According to the present invention, the problem of adhesion of water droplets and dust to the optical shield is solved.

  Hereinafter, an example of a mobile robot using the exhaust heat utilization mechanism of the present invention will be described with reference to the drawings. The mobile robot described in the present embodiment is an autonomous control type biped walking robot. This robot is an example of a robot whose purpose is to perform work that has been performed by humans, such as work on construction sites and nursing care work.

(Outline of the embodiment)
FIG. 1 is a front view (FIG. 1 (A)) and a side view (FIG. 1 (B)) showing the entire robot of the present embodiment. A robot 101 shown in FIG. 1 includes an upper body portion 102 and a lower body portion 103 that constitute a body. The upper body part 102 and the lower body part 103 are connected via a waist connecting part 111, and the upper body part 102 is relatively twisted and rotated relative to the lower body part 103, and the upper body part is tilted back and forth. Can be done. A head 104 is connected to the upper part of the upper body part 102 via a neck connecting part 112, and both left and right arm parts 105 are connected to the left and right parts of the upper body part 102 via shoulder connection parts 113. Both the left and right leg portions 106 are connected to the lower portion of the portion 103 via the hip joint portion 114.

  Each component is covered with an outer shell whose outer side is made of a synthetic resin plate or an aluminum casting. This outer shell corresponds to the skin in human terms. It functions to protect various devices inside the robot 101 from dust, moisture, impact, etc., to provide design, and to humans as a human cooperation / coexistence type robot. Has a function to ensure affinity.

  The upper body portion 102 contains a motor control circuit for moving various movable parts such as the arm portion 105, an arithmetic circuit including a control CPU for performing an operation for controlling the motor control circuit and others, a power supply circuit, and the like. Yes. Further, the upper body portion 102 is provided with intake ports 121 and 122 for taking in outside air for cooling the motor control circuit and the arithmetic circuit that generate heat, and the intake port 124 is provided on the rear side surface, and is warmed. An exhaust port 123 for exhausting the air to the outside is provided on the back surface. That is, outside air is taken into the robot 101 from the intake ports 121, 122, and 124, deprived of heat generated by the internal heat generating device, and discharged from the exhaust port 123 to the outside. Thus, the temperature rise in the robot 101 is suppressed. In addition, a battery for supplying electric power necessary for the operation of the robot 101 is stored in the lower body portion 103.

  The head 104 is provided with an imaging device (for example, a CCD camera) that captures an image used when controlling the behavior of the robot 101. Imaging is performed through an optical shield 125 made of a light-transmitting material such as acrylic.

Hereinafter, an example of the exhaust heat utilization mechanism using heat generated from the motor control circuit and the arithmetic circuit will be described. FIG. 2 is a perspective view for explaining the outline of the internal structure of the upper body of the robot 101. FIG. 2A is a perspective view seen from above, and FIG. 2B is a perspective view seen from the side direction.

  FIG. 2 shows a heat source 201 in the upper body 102. In this example, an arithmetic circuit including a motor control circuit and a control CPU is shown as the heat source 201. Hereinafter, the details of the heat source 201 will be described. FIG. 3 is a perspective view for explaining an outline of the internal structure of the upper body of the robot 101, for explaining an arithmetic circuit including a motor control circuit serving as the heat source 201 and a control CPU.

  FIG. 3 shows an arithmetic circuit board group 301, a power supply board 304, and a driver circuit board group 303 as the heat source 201 shown in FIG. The arithmetic circuit board group 301 includes a plurality of circuit boards that perform arithmetic processing necessary for moving the robot. This circuit includes a control CPU and other necessary semiconductor chips. The power supply board 304 is a power supply circuit for supplying electric power required in the robot, and includes DC-DC converters. In the driver circuit board group 303, boards having driver circuits for driving various motors for moving the robot are arranged.

  The arithmetic circuit board group 301 includes a large number of CPUs and a large number of semiconductor devices that generate heat, and generates a large amount of heat. The power supply board 304 is a circuit that supplies electric power for driving a large number of motors, and is a circuit that controls a voltage. The driver circuit board group 303 includes large power switching elements that drive a large number of motors, and also generates a large amount of heat. In particular, since the robot shown in this embodiment is intended to perform various tasks on behalf of humans, a motor that drives an arm or the like needs to exhibit a considerable output, and therefore a motor that consumes a large amount of current. It is necessary to adopt. In addition, an attitude sensor 302 is disposed in the heat source 201. The attitude sensor 302 includes a switching element and generates a large amount of heat. As described above, the heat generation of the power supply board 304, the driver circuit board group 303, and the posture sensor 302 is considerably large.

  As shown in FIG. 2, an outside air intake fan 202 for sucking outside air is disposed behind the intake port 121 in the chest portion of the upper body portion 102. Due to the function of the outside air intake fan 202, outside air is sucked into the outer shell of the upper body portion 102. The sucked outside air is guided to the heat source 201 and further takes heat from the heat source 201. The air deprived of heat from the heat source 201 is sucked by the exhaust fan 205 and the exhaust heat supply fan 203.

  The exhaust fan 205 sucks the air warmed by the heat source 201 and exhausts it to the outside of the outer shell through the exhaust port 123 on the back surface. On the other hand, similarly to the exhaust fan 205, the exhaust heat supply fan 203 sucks air warmed by the heat source 201 and supplies the sucked air to the duct 204 as warm air.

  The duct 204 circulates the warm air from the exhaust heat supply fan 203 from the back surface (back portion) of the upper body portion 102 to both sides of the upper body portion 102 (in the human side, from the back portion of the shoulder to the side portion). Then, it is supplied to a shoulder gear box 221 which is a unit constituting the shoulder connecting portion 113.

  The shoulder gear box 221 is a unit in which a gear mechanism for driving the output shaft 222 for performing the swinging motion of the arm portion 105 in the front-rear direction is housed.

  The warm air that warms the shoulder gear box 221 circulates in the upper body portion 102 and is discharged from the exhaust port 123 to the outside of the outer shell by the function of the exhaust fan 205. Moreover, this warm air is discharged | emitted out of the outer shell from the clearance gap etc. of a joint part. In order to prevent the temperature inside the upper body portion 102 from rising due to warm air that warms the shoulder gear box 221, an exhaust port that releases the warm air that warms the shoulder gear box 221 to the outside of the outer shell may be provided.

  Hereinafter, an example of control performed on the exhaust heat supply fan 203 and the exhaust fan 205 will be described. First, when the robot 101 is activated (when the operation is started), electric power is supplied to the arithmetic circuit board group 301 and the driver circuit board group 303, and the control software and various drive parts are activated.

  When the robot 101 is activated, the arithmetic circuit board group 301 continuously performs various information processing and various calculations for maintaining balance even if no visible operation is performed, and consumes power. is doing. Further, the driver circuit board group 303 flows idling current even if various motors are not moving, and if it is in an upright state or the like, servo control is performed continuously, so that the driver circuit group 303 also consumes power. . In this state, since power is consumed in the arithmetic circuit board group 301 and the driver circuit board group 303, the power supply board 304 is also operating.

  Therefore, when the robot 101 is activated, the heat source 201 generates heat even if no visible operation is performed.

  In the present embodiment, the shoulder gear box 221 is heated using the heat generated by the heat source 201. That is, when the robot 101 is activated, the operations of the intake fan 202, the exhaust fan 205, and the exhaust heat supply fan 203 are started. A part of the air heated by the heat generated in the heat source 201 is exhausted to the outside from the exhaust fan 205, and the other part is taken into the duct 204 from the exhaust heat supply fan 203, and the shoulder gear box. 221 is supplied as warm air.

  When the warm air guided by the duct 204 is applied, the shoulder gear box 221 is warmed, and the viscosity of the lubricant applied to the internal gear mechanism is reduced. Thus, immediately after startup, the preheating operation for reducing the viscosity of the lubricant in the shoulder gear box 221 is performed, and the smooth operation state of the shoulder gear box 221 after the startup process is completed.

  A temperature sensor 223 is attached to the shoulder gear box 221 so as to monitor the temperature of the shoulder gear box 221. When the temperature of the shoulder gear box 221 exceeds a predetermined temperature, the exhaust heat supply fan 203 stops. In this way, excessive heating of the shoulder gear box 221 is prevented.

  This fan operation control is performed even while the robot 101 is in operation. As a result, for example, during operation of the robot 101 in a cold environment, there is no opportunity to move the arm portion 105 for a certain period of time, and during that time the shoulder gear box 221 cools, increasing the viscosity of the internal lubricant. Inconvenience is avoided.

  In this way, by controlling the operation of the exhaust fan that exhausts the outside of the robot and the exhaust heat supply fan that sends the exhaust heat to a predetermined device inside the robot, Heating to the required part can be performed appropriately.

  As a method for controlling the amount of heat supplied to the shoulder gear box 221, the exhaust heat supply fan 203 is turned on / off to control the number of rotations of the exhaust heat supply fan 203 and adjust the air blowing capacity. A valve is arranged in an appropriate part such as 204, and the opening / closing of the opening is provided in the duct 204 to adjust the opening / closing or opening / closing state of the valve. It is possible to adopt a method of adjusting, providing a blower fan for taking outside air into the duct 204, adjusting the flow rate of the outside air sent from the blower fan into the duct, or combining a plurality of these methods.

Next , an example in the case where the exhaust heat of the heat source is used for preheating the battery provided in the robot will be described. FIG. 4 is a perspective view for explaining the outline of the internal structure of the robot. 4A is a perspective view seen from the front, and is a perspective view seen from the side of FIG. 4B.

FIG. 4 shows a schematic structure of a waist connecting portion 111 that connects the upper body portion 102 and the lower body portion 103. The waist connecting portion 111 includes a swinging shaft portion 401 for performing a tilting operation in the front-rear direction with respect to the lower body portion 103 of the upper body portion 102, and swinging in the left-right direction with respect to the lower body portion 103 of the upper body portion 102. (Equivalent to twisting rotation to the left and right) is provided. Center of each pivot shaft is adapted to the cavity, there is adapted to function as a duct for transferring the warm air. The configuration of the heat source 201 is the same as that shown in FIG.

  An exhaust heat supply fan 403 is disposed on the swing shaft portion 402. The exhaust heat supply fan 403 has a function of sending exhaust heat from the heat source 201 to the duct 404 via the swing shaft 401 and the swing shaft 402. The duct 404 has a function of supplying the warm air sent from the swing shaft portion 403 to the battery 405.

  The battery 405 is a nickel-hydrogen battery, and a temperature sensor 406 is attached to the battery 405. In addition, a valve 407 is disposed on the ventilation destination side of the exhaust heat supply fan 403, and the open / close state of the valve 407 is adjusted by the temperature detected by the temperature sensor 406.

  In this configuration, for example, the following control is performed. For example, during operation of the robot 101, the exhaust heat supply fan 403 always operates, and the opening / closing of the valve 407 is controlled based on temperature information detected by the temperature sensor 406.

  In this case, when the temperature of the battery 405 falls below a predetermined set temperature, the valve 407 is fully opened, and the capacity of the exhaust heat supply fan 403 is maximized to supply the amount of heat to the battery 405. Further, when the temperature of the battery 405 exceeds the predetermined second set temperature, the valve 407 is closed, the supply of heat to the battery 405 using the heat source 201 is stopped, and the temperature of the battery 405 does not increase any more. Like that.

  By doing so, it is possible to compensate for the decrease in the discharge capacity of the battery 405 caused by the low temperature by using the heat generated from the heat source 201 in the operation of the robot in a low temperature environment. That is, when the low temperature state of the battery 405 is detected, the battery 405 can be appropriately heated using the exhaust heat of the heat source 201 to prevent the discharge capacity from being reduced.

  The warm air that warms the battery 405 is discharged from a gap in a hip joint (not shown) or an exhaust port (not shown).

  Further, a flow path is further provided on the downstream side of the exhaust heat supply fan 403 to guide the warm air to the outside of the robot 101, and the temperature from the exhaust heat supply fan 403 is based on the temperature information from the temperature sensor 406. The wind may be appropriately discharged to the outside. In this case, when it is not desired to heat the battery 405, the warm air from the exhaust heat supply fan 403 is discharged to the outside of the robot 101.

  In this configuration, the ability to suck in warm air from the heat source 201 by the exhaust heat supply fan 403 is always exhibited, so that a configuration in which the cooling effect of the heat source 201 is not affected by the heating state of the battery 405 can be realized.

  In addition, the method for controlling the supply of warm air to the battery 405 using the exhaust heat supply fan 403 is the same as that described in the first embodiment.

Next, an example in which exhaust heat from a heat source is used for preventing and cleaning the optical shield provided on the robot head will be described. FIG. 5 is a perspective view for explaining the outline of the internal structure of the upper body of the robot. FIG. 6 is an exploded perspective view showing details of the structure of the head.

  In this embodiment, hot air generated in the heat source 201 is fanned by a duct 501 configured using a swing shaft that enables the head 104 to swing left and right (twist rotation of the neck). Suction up into the head 104 by 502. Then, the warm air is sent to the ejection nozzle 504 through the tube 503 and flows along the front surface of the optical shield 125.

  That is, as shown in FIG. 6C, the nozzle 504 has a nozzle structure that allows warm air to flow in front of the optical shield surface in accordance with the shape of the optical shield. For this reason, an air curtain made of warm air is formed on the front surface of the optical shield 125. Since FIG. 6 shows a state in which the head is divided vertically, the nozzle 504 also shows a half portion. In an actual structure, the nozzle 504 has a semicircular shape along the curved surface of the optical shield 125.

  In the space 505 in FIG. 5, a CCD camera (not shown) for imaging is arranged via the optical shield 125. By using an image picked up by this CCD camera, for example, a process of recognizing an obstacle at the time of walking or recognizing a positional relationship when grasping an object by hand is performed.

  The above air curtain prevents water droplets and dust from adhering to the surface of the optical shield 125. Further, even if water droplets or dust adheres to the surface of the optical shield 125, forced drying and forced cleaning are performed with warm air.

  Thereby, the inconvenience that the optical transparency of the optical shield 125 is reduced can be prevented, and the reduction of the fidelity of the image captured by the CCD camera arranged in the space 505 can be suppressed. Then, the contamination of the optical shield 125 prevents the operation of the robot 101 from being hindered.

Next, an example of a configuration that prevents dew condensation in the robot with warm air using heat generated from a heat source in the robot will be described. For example, when a dew condensation detection sensor is attached to the shoulder gear box 221 in the configuration shown in FIG. 2 and this dew condensation detection sensor detects dew condensation, the exhaust heat supply fan 203 operates and the shoulder portion is connected via the duct 204. Hot air is supplied to the gear box 221.

  In this way, condensation in the shoulder gear box 221 can be prevented. Some robots have to use metal parts, and condensation in the internal structure of the robot is a problem when considering outdoor operation, operation in high humidity environments, and operation in environments with extreme temperature changes. become. A structure that completely seals the inside of the robot from the outside air is also conceivable, but it is difficult when considering heat dissipation and many joint structures.

  When this embodiment is adopted, even in an environment where condensation occurs inside the robot, it is possible to send hot air and force it to dry, thereby preventing the occurrence of condensation. Furthermore, even if condensation occurs, it can be removed by forced drying. Since the heat generated from the CPU and the heat generated from the motor control circuit are used as the heat source of the warm air, the above-described preferred mechanism can be realized without causing an increase in power consumption.

  As the dew condensation detection sensor, a resistance temperature detector type sensor that detects the electrical resistance of the semiconductor surface or the conductor surface can be used. This type of dew condensation detection sensor detects dew condensation by detecting a change in electrical resistance of a semiconductor surface or the like due to dew condensation.

  Here, an example of preventing condensation in the shoulder gear box has been described, but the portion to be dried may be anywhere. For example, it is good also as a structure which prevents that the inner surface of the optical shield 125 becomes clouded with water vapor | steam by spraying warm air on the inner surface of the optical shield 125 shown in FIG. 5 and FIG.

  The present invention can be used for a mobile robot such as a biped robot. In particular, the present invention is suitable for use in a mobile robot that performs work on behalf of humans in places such as outdoor environments, cold environments, and humid environments, or mobile robots that assist human tasks.

It is the front view and side view which show the whole robot. It is a perspective view for demonstrating the outline of the internal structure of the upper body of a robot. It is a perspective view for demonstrating the outline of the internal structure of the upper body of a robot. It is a perspective view for demonstrating the outline of the internal structure of a robot. It is a perspective view for demonstrating the outline of the internal structure of the upper body of a robot. It is a disassembled perspective view of a head.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 ... Robot, 102 ... Upper body part, 103 ... Lower body part, 104 ... Head part, 105 ... Arm part, 106 ... Leg part, 111 ... Waist connection part, 112 ... Neck connection part, 113 ... Shoulder connection part, 114 DESCRIPTION OF SYMBOLS ... Hip part, 121 ... Inlet, 122 ... Inlet, 123 ... Exhaust, 124 ... Inlet, 125 ... Optical shield, 201 ... Heat source, 202 ... Outside air intake fan, 203 ... Exhaust heat supply fan, 204 ... Duct 205 ... Exhaust fan, 221 ... Shoulder gear box, 222 ... Output shaft, 223 ... Temperature sensor, 301 ... Arithmetic circuit board group, 302 ... Attitude sensor, 303 ... Driver circuit board group, 304 ... Power supply board, 401 ... Swing Moving shaft portion 402... Oscillating shaft portion 403... Exhaust heat supply fan 404 404 duct 405 battery 406 temperature sensor 407 valve 501 duct 50 ... Fan, 503 ... tube, 504 ... nozzle, 505 ... space CCD camera is disposed.

Claims (3)

A mechanism that uses heat generated in a mobile robot,
Heating equipment,
Hot air transfer means for guiding hot air using heat generated from the heat generating device;
An optical shield disposed in the imaging optical system;
With
The movement characterized in that the hot air is supplied from the hot air transfer means to the optical shield, and water droplets adhering to the surface of the optical shield are dried or dust adhering to the surface is removed. Waste heat utilization mechanism in robots . A mechanism that uses heat generated in a mobile robot,
Heating equipment,
Hot air transfer means for guiding hot air using heat generated from the heat generating device;
An optical shield disposed in the imaging optical system ,
A waste heat utilization mechanism in a mobile robot, characterized in that warm air supplied from the warm air transfer means is blown onto the inner surface of the optical shield.   A mechanism that uses heat generated in a mobile robot,
  Heating equipment,
  Hot air transfer means for guiding hot air using heat generated from the heat generating device;
  An optical shield disposed in the imaging optical system;
  With
  An air curtain that protects the surface of the optical shield is formed by flowing the hot air supplied from the hot air transfer means along the surface exposed to the outside of the optical shield. Heat utilization mechanism.

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