Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/0003—Home robots, i.e. small robots for domestic use
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

• the present invention relates to a micro robot that can be wirelessly controlled with a size as small as about 1 cubic centimeter. Background technology
• radio control when controlling a robot wirelessly, a control called radio control has been performed, and if a control method using radio waves is used. Had been.
• steering was performed by superimposing a control signal on radio waves.
• a directional antenna is used, or a visual sensor or the like is used in combination.
• the running part uses wheels to reduce running resistance.
• the terminals for charging consisted of rigid contacts and were formed in recesses in the frame.
• An object of the present invention is to provide a micro robot having a size of about 1 cubic centimeter.
• a micro robot is driven independently of at least two sensors having at least two detection areas partially overlapped with each other in a moving direction.
• Driving at right angles At least one pair of drive units having a moving point, a control unit that controls the drive unit based on the output of the sensor, and a chargeable unit that has a sensor, a drive unit, and a control unit. And a power supply for supplying power supply voltage. Then, the control unit and the power supply unit are arranged between the pair of drive units.
• miniaturization is possible.
• miniaturization is possible.
• the driving units are independently controlled, complex operations can be controlled with a simple mechanism.
• the control section and the power supply section are arranged between the pair of drive sections, the size of the robot main body can be reduced.
• the driving ground is driven by two sets of driving units with respect to a traveling ground. It is instructed by three driving points and a sliding point that makes frictional contact with the traveling ground. Therefore, stable running is possible with a balancer.
• the line connecting the two driving points may be different depending on the inclination of the traveling ground. It interlinks with the direction of gravity at the center of gravity, and the position of the sliding point is different before and after the interlinkage.
• the sliding point changes depending on the positional relationship between the line connecting the driving points and the center of gravity.Therefore, on an uphill, the center of gravity of the micro robot is located above the driving point, The frictional force is increased and the climbing force is improved, and the micro robot according to another embodiment of the present invention has an advantage. In other words, it has flexibility and protrudes from the frame, and has a projection communicating with the power supply.
• This protrusion functions as a driving part, which not only reduces running resistance and improves running performance and running performance, but also makes it electrically connected to the power supply part and serves as a charging terminal. As a result, the charging operation has been facilitated, and the stress has not been concentrated on the power supply portion, thereby preventing the power supply portion from being broken.
• the controller included in the control unit is a step motor, the amount of movement depends on the number of steps. It can be programmed.
• control unit performs acceleration control at the start of driving of the pair of driving units to increase the driving force at the start of driving.
• the control unit matches the drive condition of the other drive unit with the drive condition of one drive unit. Acceleration control is performed, which makes the transition from turning movement to straight movement smooth.
• an obstacle sensor for detecting an obstacle is provided, and the control unit is configured to detect an obstacle when the obstacle sensor detects the obstacle. Then, at least one of the pair of driving units is reversely driven for a predetermined time to automatically move the micro robot in a direction away from obstacles. By returning to the normal operation after, the micro robot can be automatically moved away from the obstacle.
• control unit may be configured to generate the motor windings included in the driving unit.
• the presence or absence of motor rotation is detected based on the voltage. Then, for example, when it is detected that the motor is not rotating, after all the motors have been driven in reverse for a predetermined time, it is determined that the motor is not rotating.
• the micro robot is automatically moved in a direction away from obstacles by driving the motor for a predetermined time and then returning to normal operation. I can do it.
• the control unit drives the drive unit while accelerating the drive unit, and widens the drive pulse width at the time of startup to increase the speed.
• the drive pulse width is controlled to be narrow. Therefore, a large driving force can be obtained, and the energy efficiency is improved, so that the power supply unit is less consumed.
• control unit matches the output pulse of the driving pulse to be supplied to the driving unit. . In this case, straightness is improved.
• the micro robot has at least two screws driven by a driving unit, and includes a control unit.
• the timings of the driving pulses supplied to the driving units are shifted from each other. In this case, the rapid consumption of the power supply is prevented by delaying the timing of sending the drive pulse.
• a micro robot includes at least two direction control sensors whose detection areas partially overlap each other and are driven independently of each other. And at least one pair of drive units having a drive point separated at right angles to the direction of movement, and a work control sensor that receives a work command from the operating side in a non-contact manner.
• It has a work drive unit and a control unit that controls the drive unit based on the output of the sensor and controls the work drive unit based on the output of the work control sensor.
• the traveling direction is automatically controlled based on the output of the direction control sensor, and after moving to the desired position, a command is given to the work control sensor by a command from the operating side.
• the work driving means can be driven to perform a desired work.
• a micro robot includes a receiving sensor that receives an external force and other commands in a non-contact manner, and a driving sensor that is driven independently of each other and moves in a moving direction. At least one pair of drive units having drive points separated at right angles, a work drive unit, and a control unit that controls the drive unit based on the output of the receiving sensor and controls the work drive unit. And a part.
• This micro-robot does not have a sensor for direction control, but has that function in the receiving sensor. Therefore, the direction of travel is controlled by the receiving sensor on the basis of an external command, and work is also possible.
• a micro robot includes a transmitting element that transmits information to the outside in a non-contact manner, and a detecting element, and the control unit is a detecting element. Transmits the detected information via the transmitting element. As a result, the situation where the robot is placed is communicated to the outside.
• a micro-robot according to another aspect of the present invention is equipped with a micro-pump as a working driving means, and the liquid is driven by the micro-pump. Can be discharged in small amounts.
• a micro robot according to another aspect of the present invention includes a hand mechanism and a drive unit for driving the hand mechanism as work driving means. This hand mechanism enables parts to be transported and processed.
• a micro robot includes a photovoltaic element that receives light via an optical fiber and supplies a power supply voltage, and a micro robot that discharges a liquid.
• a control circuit that drives a microphone port pump by analyzing a control signal superimposed on light obtained through an optical fiber and a crop pump. Yes, it is attached to the end of the endoscope. It is possible to drive the micro pump at a desired position, for example, to discharge a drug solution, from a force that does not allow the endoscope to observe the inside of the body.
• a micro robot has a built-in motor, for example, a step motor, and is arranged in a non-magnetic tube containing a liquid.
• the main body of the boat and an exciting device which is installed outside the non-magnetic tube and supplies a magnetic flux in accordance with the number of poles of the motor to the stage of the step mode overnight. Yes.
• the drive energy can be supplied from the outside in a non-contact manner, and the drive of the motor can be controlled.
• the exciting device is supported by itself in the longitudinal direction of the non-magnetic tube, and the exciting device is moved by the exciting device. Accordingly, the robot body also moves, and the position of the robot body can be controlled.
• At least two sensors whose detection regions partially overlap with each other are independent of each other.
• a power supply unit for supplying a power supply voltage to the sensor, the driving unit, and the control unit.
• a motor is built in a driving unit, and the motor is wound by a magnetic field of a charging coil provided outside.
• An induced voltage is generated in the wire, and the induced voltage is rectified to charge the power supply.
• the robot has a mechanism for automatically moving toward a charging stand in which a charging coil is installed. Therefore, when the voltage of the power supply decreases, the power automatically moves toward the charging stand, and the power supply is automatically charged.
• a micro robot is configured such that a photovoltaic element or a thermoelectric element is connected to a power supply unit and absorbs heat and heat generated by a light absorbing or heating element provided outside light or outside.
• the power supply is charged automatically by generating power in response to charging the power supply.
• the micro D-bot with the built-in motor has a built-in motor and a drive unit that drives the fins to rotate, and a worm that opens to the outside and engages with the inner wall of the pipe.
• the power supply unit supplies the power supply voltage to the sensor and the drive unit, and when the voltage of the power supply unit falls below a predetermined reference voltage value, the drive of the motor is stopped. It has a control unit that opens a limb in it and makes it stay in the liquid.
• FIG. 1 is a side view of a micro robot according to one embodiment of the present invention.
• FIG. 2 is a top view of FIG.
• FIG. 3 is a bottom view of FIG.
• Figure 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.
• Fig. 7 is an enlarged side view of the wheels of the micro robot.
• Figure 8 is a block diagram showing the details of the circuit.
• Figure 9 is a circuit diagram of the sensor.
• FIG. 10 is a plan view of the driving unit.
• FIG. 11 is a development view of the drive unit of FIG. 10.
• FIG. 12 is a timing chart showing a basic operation example of the robot of the embodiment of FIG. 1 or FIG.
• FIG. 13 is a timing chart showing a basic operation of the embodiment of FIG. 5 at the start of driving the robot.
• FIG. 14 is a timing chart showing the operation of the embodiment of FIG. 5 at the start of driving the robot.
• FIG. 15 is a waveform diagram of a drive pulse of the robot of the embodiment of FIG.
• Figure 16 is a flow chart showing the process (part 1) for avoiding obstacles.
• FIG. 17 is an explanatory diagram of the avoidance operation.
• FIG. 18 is a flowchart illustrating a process (part 2) for avoiding obstacles.
• 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 the step motor.
• FIG. 21, FIG. 22, and FIG. 23 are diagrams respectively showing the front, side, and back of a micro robot 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 of 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 the circuit section of the embodiment of FIG. 25.
• -Fig. 27 is a flowchart showing the control operation of the circuit in Fig. 26.
• Fig. 28 is a flow chart showing the operation when the work control sensor is not installed in Figs. 25 and 26.
• FIG. 2 is a block diagram showing details of another embodiment of the circuit section.
• FIG. 30 is a top view of a robot main body according to another embodiment of the present invention.
• FIG. 31 is a flowchart showing the control operation of the circuit section of 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 micro robot of FIG. 35.
• FIG. 37 is a block diagram showing the details of the circuit part of the micro robot shown in FIGS. 35 and 36.
• FIG. 38 is a flowchart showing the control operation of the macro robot shown in FIGS. 35 to 37.
• FIG. 39 is a view showing a state when the micro robot cabin of FIG. 35 is raised.
• FIG. 40 shows a state in which the micropot of 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.
• Figure 43 shows the details of the work motor.
• FIG. 44, FIG. 45 and FIG. 46 are diagrams showing the operation principle of the working motor.
• Figure 47 is a block diagram showing the details of the circuit section in which a charging mechanism using electromagnetic induction is added to the circuit section.
• FIG. 48 is a block diagram showing details of the motor drive circuit of the embodiment of FIG.
• Figure 49 is a discharge characteristic diagram of the electric double layer capacitor composing the power supply.
• FIG. 50 is a circuit explanatory diagram showing details of the voltage regulator.
• FIGS. 51, 52 and 53 are explanatory diagrams of the operation of the boosting means.
• FIG. 54 is a perspective view of the charging stand.
• Fig. 55 is a block diagram showing the configuration of the energy supply device.
• Figure 56 is a flow chart showing the operation during 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 micro robot of FIG. 57.
• FIG. 59 is a sectional view taken along line 59-59 of FIG.
• FIG. 60 is a diagram for explaining 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 of FIG. 61.
• FIG. 1 is a side view of a micro robot according to an embodiment of the present invention
• FIG. 2 is a top view thereof.
• a pair of sensors 12 and 14 are provided on the front of the robot body 10 as shown in the figure. These sensors 12 and 14 include, for example, photodiodes, phototransistors, and other optical sensors, and sound waves transmitted from piezoelectric elements.
• the power used by an ultrasonic sensor or the like that converts the voltage into a voltage is used. In this embodiment, a phototransistor is used.
• the sensor 12 also has a field of view A 1 as a detection area
• the sensor 14 also has a field of view ⁇ 2 as a detection area. ⁇ 2 overlaps at its center, and both sensors 12 and 14 have overlapping fields of view. It has A3. Accordingly, when the light from the light source is in front, that is, in the field of view A3, both sensors 12 and 14 detect the light. Since the sensor 12 is located on the left side of the robot main body 10, it will be described as an L sensor in the flowchart of the drawing described later, and the sensor 1 Since 4 is located 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 in the center portion, and is composed of, for example, an electric double layer capacitor, a nickel-nickel power battery, and the like.
• a circuit section 22 is provided close to the power supply section 16.
• the circuit section 22 includes a CMOS-IC 24 mounted on a circuit board 23, a chip resistor 26 for a balun, and the like, the details of which will be described later.
• the drive units 28 and 30 each have a built-in step motor and speed reduction mechanism, and are controlled by the circuit unit 22, via these step motors and speed reduction mechanism. Then, the wheels 36 and 38 fitted to the output shafts 32 and 34 are rotationally driven. Wheels 36 and 38 have rubber attached to the outer periphery.
• the shapes of the wheels 36 and 38 are not limited to a circle, but may take various shapes such as a triangle and a quadrangle depending on the application.
• the spacer 39 supports a power supply section 16, a circuit section 22 and drive sections 28 and 30 with respect to the frame 39a.
• the power supply section 16 and the circuit section 22 are disposed between the pair of drive sections 28 and 30 so that they are overlapped. Therefore, the power supply unit 16 and the circuit unit 22 have a large area for the whole volume. It is caught. 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 extracted and the circuit section 22 can be used. This is advantageous for mounting large IC chips with complex functions. Further, since the driving units 28 and 30 are arranged at positions separated from each other, magnetic interference and the like are eliminated.
• the center of gravity G of the micro-robot main body 10 is located in the vertical direction 4 of the driving point 36 a where the wheel 36 contacts the traveling ground 3.
• the driving unit 1 is in contact with the traveling ground.
• FIG. 4 is an explanatory diagram showing a case where the traveling ground 3 is inclined and the robot main body 10 climbs the slope.
• the center of gravity G is located on the right side of the figure (hereinafter referred to as “rearward”) with respect to the vertical direction 3, and the sliding part 2 is in contact with the traveling ground 3.
• it is necessary not only to reduce 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. There is a need .
• the front of the micro robot body 10 tends to lift due to the reaction of the driving force of the driving unit.
• the relationship between the force and the center of gravity and the vertical direction all the weights are applied to the driving point 36a with the forces combined.
• Good heart position In other words, when the traveling ground is a flat slope, the center of gravity G is in front of the vertical direction, and near the limit of the climbing ability, the center of gravity G is in the rear of the vertical direction. According to a certain configuration, that is, depending on the traveling ground 3, it is preferable that the center of gravity G is linked to the vertical direction 3 of the driving point 0.
• FIGS. 5 and 6 are a side view and a bottom view of a robot body according to another embodiment of the present invention.
• a tactile portion 18 and a tail 20 are provided for charging and a balancer.
• the tactile part 18 and tail 20 are provided with moving parts 18a and 20a, respectively, and have the same function as the sliding parts 1 and 2 described above. Position force in contact with the robot ⁇ Outside the robot body 10. For this reason, there is little force on the driving sections 18a, 18a, and there is little frictional resistance, so there is little traveling loss. Bends 18b and 20b are provided on the end sides of the tactile part 18 and the tail 20 and are smoothly curved with respect to the traveling ground. In such a configuration, even if the traveling ground 3 has a large unevenness, the vehicle can easily travel while sliding.
• the tactile part 18 and the tail 20 are not only flexible but also conductive, and at least one of them is a power supply composed of an electric double layer capacitor, a secondary battery, or the like. It is electrically connected to section 16. In such a configuration, the power supply section 16 can be charged via the tactile section 18 or the protruding section of the tail 20, so that handling is easy. It is not only easy but also flexible, so it is not easily broken without stress concentration.
• FIG. 7 is a partially enlarged view of the side surfaces of the wheels 34 and 36 of the micro robot of the present invention.
• a concave portion 35 and a convex portion 37 are provided on the outer periphery, and high friction agents 35a and 37a such as rubber and plastic are attached.
• the high-abrasives 35a and 37a are curable liquids, they are hardened in the shape shown in the figure by the surface tension. Therefore, only the portion of the high friction agent 37a comes into contact with the traveling ground. Accordingly, the load of the micro robot is concentrated, the elasticity of the high friction agent 37a is easily changed, a large frictional resistance is obtained, and the climbing ability is improved.
• the shape of the unevenness is not limited to the present embodiment.If an arm or the like is used instead of a wheel, a high friction agent may be similarly attached to the contact portion. good.
• FIG. 8 is a block diagram showing details of the circuit section 22.
• the CPU core 40 consisting of the ALU, various registers, etc. has the program power ⁇ stored R0M42 and its R0M42 A less decoder 44, 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 the oscillator 52, and the oscillation signal of the oscillator 52 is supplied to the CPU core 40 as a clock signal.
• the 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 section 16 to the circuit section 22.
• the overnight drive control circuit 58 transmits and receives control signals to and from the CP @ core 40, and the motor drive circuits 60, 62 carry out stepper motors 64, 66 via the motor drive circuits 60, 62. Control.
• the power supply voltage for each of the above circuits is supplied from the power supply section 16.
• the step motor 64 is built in the drive section 30 and is arranged on the right side of the main body 10 of the rod, so that a flow chart of a drawing described later will be used.
• the R motor is described
• the step motor 66 is built in the drive unit 28 and is disposed on the left side of the robot body 10. Therefore, it is similarly described as L motor.
• FIG. 9 is a circuit diagram of the sensor 12.
• the sensor 12 is composed of a phototransistor 12a power, and a pull-down resistor 2 is connected in series with the emitter of this phototransistor 12a. 6 is connected.
• the light-receiving output is taken out from the emitter of the phototransistor 12b, the light-receiving output is waveform-shaped by the input / output control circuit 54, and is output to the CPU core 40.
• this circuit diagram is an example of the sensor 12, the sensor 14 also has completely the same configuration.
• FIG. 10 is a plan view of the driving section 30, and FIG. 11 is an exploded view thereof.
• the step motor 64 has an excitation coil 68 and a rotor 70 composed of a magnet, and is an electromagnetic two-pole step motor used in an electronic timepiece. Is used in this example.
• the mouth 70 drives the pinion 72
• the pinion 72 drives the pinion 74 via a gear
• the pinion 74 drives the pinion 76 via a gear.
• the pinion 76 thus decelerated drives the wheels 38 to rotate.
• the mechanisms shown in FIGS. 6 and 7 are based on the electronic timepiece mechanism.
• the mechanism of the drive unit 28 is the same as the mechanism shown in FIGS. 6 and 7. As shown in FIGS.
• the step motors 64 and 66 are designed to reduce the speed of rotation of the high-speed motor and drive the wheels to rotate.
• the drive units 30 and 28 are downsized. Furthermore, since it is installed at a position distant from the excitation coil 6.8 and the power rotor 7 ⁇ , the drive parts 3 ⁇ and 28 are thinner at this point as well. The power is illustrated.
• FIG. 12 is a timing chart showing a basic operation example of the robot of the above embodiment.
• the output is 0 V unless the light is incident on the sensors 12 and 14, but when it is incident, it outputs a voltage corresponding to the amount of light.
• the voltage is shaped into a desired threshold voltage in an input / output control circuit 54, input to a CPU core 40, and a motor drive control circuit 58 is driven by a drive circuit.
• Driving pulses are supplied alternately to the step motors 64 and 66 via the ports 64 and 66 alternately in the forward and reverse directions. Accordingly, in the section S i where the sensor 12 is receiving light, the step mode 64 is driven, and the wheel 38 is driven to rotate.
• the step motor 66 In the section S where the sensor 14 is receiving light, the step motor 66 is driven, and the wheel 36 is driven to rotate. In the section W where both sensors 12 and 14 are receiving light, the step motors 64 and 66 are driven, and the wheels 38 and 36 are driven to rotate.
• the light from the light source is viewed.
• the optical sensor 12 receives the light, and the step motor 64 responds to the received light output by moving the wheel 38. Rotate to.
• the robot main body 10 turns and moves in the left direction of the overall force.
• the optical sensor 14 receives it, and the step sensor 66 receives it.
• the wheels 36 are rotated according to the output. At this time, the wheels 38 are in a stopped state, so that the entire robot body 10 turns to the right.
• the optical sensors 12 and 14 receive it, and the step motors 64 and 66 respond to the received light output.
• the wheels 38 and 36 are driven to rotate, and the robot main body 10 moves straight.
• the robot main body 10 is controlled in this way, so that the robot main body 10 moves toward and against the light source.
• the arrangement of the drive units that move in the sensor position and the direction of the visual field is not limited to the present embodiment that shows one combination.
• FIG. 13 is a flowchart showing a basic operation in the case where acceleration control is performed at the start of driving.
• CPU core 40 Sets the cut-off frequency Rc of the drive pulse of the step motor 64 to 16 Hz (S1), and then counts the drive pulse. The value Rc is reset (S2).
• S3 it is determined whether or not there is a light receiving output from the sensor 12 (S3). If there is a light receiving output, the driving pulse of the above clock frequency Rc is determined.
• One pulse is supplied to drive 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 (S5). If the count value Rn is not 15, the above processing (S3) and (S4) are repeated. return.
• the force that has reached Hz (maximum value) is determined, and if it has not been reached, the clock frequency Rc of the drive panorase is used, for example. It is set to 32 Hz (S7), and the above processing is repeated in the same manner.
• the clock frequency Rc of the drive pulse reaches a maximum of 128 Hz (S6) (S6), the drive pulse is thereafter driven by the drive pulse of that frequency.
• the step motor 64 is stopped (S8).
• This flow chart shows the relationship between sensor 12 (L sensor) and step motor 64 (R motor).
• the relationship between sensor 14 (R sensor) and step motor 66 (L motor) is completely the same.
• the flowchart in FIG. 13 shows the relationship between the sensors 12 and 14 in order to facilitate understanding.
• the sensor 14 is in the light receiving state and the step module 66 is driven, and the robot body 10 faces the light source, the sensor 1 2 also enters the light receiving state.
• the driving state of the step motor 64 driven by the sensor 12 needs to match the driving state of the step motor 66. is there . like this ! If this drive state is not set, linear movement will not be possible when the robot main body 10 faces the light source. That is, the transition from the turning movement to the linear movement is not performed smoothly.
• Figure 14 is a flow chart of the control considering the above points.
• the CPU core 40 sets the clock frequency Rc of the driving pulse of the step motor 64 to 16 Hz (S1), and then drives the stepping motor.
• the value Rc of the power counter for counting the number of pulses is reset (S2).
• S2a it is determined whether or not the light-receiving output of the sensor 14 on the other side is present (S2a). If there is a light-receiving output of the sensor 14, the cut-off frequency L c of the drive pulse of the control system on the sensor 14 side and the values L and n of the counter are set to the sensor.
• Figure 15 is a waveform diagram of the driving pulse.
• the pulse width is set to 7.8 msec, the pulse width is increased, and as the frequency increases, the pulse width increases. Since the pulse width can be small, when the clock frequency is 32 Hz, the panoramic width is 6.3 msec, and the clock frequency is 64 Hz. In that case, the pulse width is 5.9 msec, and in the case of a clock frequency of 128 Hz, that pulse width. The loose width is 3.9 msec. By doing so, it is possible to supply a driving pulse corresponding to a required driving force, and it is possible to perform rational driving.
• FIG. 16 is a flowchart showing a process for avoiding an obstacle
• FIG. 17 is an explanatory diagram of the avoiding operation. Although illustration is omitted here, an ultrasonic sensor, an eddy current sensor, a contact sensor, or a combination thereof is provided in front of the robot body 10. Such obstacle sensors will be provided.
• Step S11 it is determined whether or not there is an obstacle by the obstacle sensor (S11). If there are no obstacles, continue working (Step S12), and 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 necessary to change the direction, and the moving distance may be set. It is then determined whether there is an obstacle (S11). By repeating such processing, if there is an obstacle, the direction is changed to avoid it.
• FIG. 18 is a flowchart showing a process for detecting a street collision by an induced voltage of a step motor and avoiding an obstacle
• FIG. 19 is a flowchart. It is an explanatory view of the avoidance operation.
• the step motors 64, 66 are driven (S21), and in this state, the force of the rotation of the step motor 64 is detected (S22), and the rotation is detected. If so, it is detected whether or not the step motor 66 is rotating (S23). If the step motor 66 is also rotating, the operation continues without any obstacles (S24).
• the method of detecting the presence or absence of rotation of the step motors 64 and 66 is such that when the motor rotates, the voltage induced in the exciting coil 68 is large, but it must be rotating. Take advantage of small things.
• FIG. 20 is a timing chart showing a method for detecting the presence or absence of rotation of the step motor.
• the step motor when the step motor is in the rotating state, if the rotor 70 rotates after the drive pulse is applied, the rotation of the rotor 70 is started. With the rotation, an induced voltage is induced in the exciting coil 68, and an induced current flows. For example, the magnitude of the induced current can be detected by comparing the magnitude of the induced current, so that the rotation state can be grasped.
• the step motor is not in the rotating state, the rotor 70 does not rotate after the driving pulse is applied, and thus the induced voltage is induced in the exciting coil 68. No induced current flows. This makes it possible to know that the motor is not rotating.
• the drive of the step motors 64 and 66 is stopped.
• the motor stops (S25), and the step motors 64 and 66 are reversed (826).
• the reverse rotation driving state is continued for 5 seconds (S27), and then the step motor 64, which is determined not to be rotating, is driven again (S28), and the state is maintained. For 5 seconds, for example (S29). Then, the process returns to the first processing (S21).
• the step motor 66, 6 6 -Drive is stopped (S30), and step motors 64 and 66 are reversed (331).
• the reverse driving state is continued for 5 seconds (S32), the step motor 66 is driven again (S3S), and the state is continued for 5 seconds (S29). Then, the process returns to the first process (S21).
• the presence / absence of rotation of the step motors 64 and 66 is detected, and if the motor is not rotating, the drive is stopped once, then reversed, and then rotated. If it is determined that you have not The step motor is rotated again. For example, if the robot main body 10 collides with a wall and the step motor 66 is not rotating, the drive of the step motors 64 and 66 is temporarily stopped. After that, the motor reverses and moves backward, and then drives the step motor 66 to change the direction. After that, the step motors 64 and 66 are driven to move straight ahead, so that it is possible to avoid obstacles and proceed.
• FIGS. 22 to 23 are front and side views and a rear view, respectively, of a microphone port robot according to another embodiment of the present invention.
• Sensors 82a to 82d are provided at the front of the robot body, and screws 84a to 84d are provided at the rear of the robot. It is configured so that it can be driven.
• Four screws 84a to 84d are provided on the left, right, top and bottom, and each is driven by a step mode.
• the pot body 80 can be controlled not only in the left and right directions but also in the up and down directions.
• the robot shown in FIG. 1 or FIG. 5 has only two motors, so the drive pulse is supplied to each motor at the same timing.
• FIG. 24 is a block diagram showing a circuit around the motor drive circuit.
• motor drive circuits 86 and 88 are provided in addition to the motor drive circuits 60 and 62 in FIG. 8, and these drive circuits are step-models. Data 64, 66, 90, and 92 are driven. Then, the step motors 64, 66, 90, and 92 rotate the screwdrivers 84a to 84d.
• a phase difference circuit 94 to control the phases of the motor drive circuits 60, 62, 86, 88 is further provided with a phase difference circuit 94: L00.
• the drive pulse is output at the same timing from the motor drive circuit 60, 62, 86, 88 power. We do not do it.
• the object to be detected is not only light but also magnetism and heat ( (Infrared rays), sound, electromagnetic waves, etc.
• the step motor 64 is driven by turning off the sensor 12, and the wheels 38 are driven.
• the step motor 66 is driven, and the wheel 36 is driven.
• both sensors 12 and 14 are on, the step motors 64 and 66 are driven in reverse, and the wheels 38 and 36 are driven in reverse.
• the robot body 10 is retracted or retracted.
• two or more types of detection objects are prepared, and one detection object is controlled toward it, and the other detection object is controlled so as to escape from it. Fine-grained control becomes possible. This control can of course be applied to the mouth-bot body 100 shown in FIGS. 21 to 23.
• the moving direction of the robot main body is not limited to the detection target such as light.
• the moving trajectory may be programmed in advance and controlled in accordance with the program. No.
• a command may be given from the outside to control the movement trajectory.
• 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 of the robot main body 10 as shown in the figure. Is provided with a work control sensor 15 as shown in the figure. As will be described later, a work command from outside is provided via the work control sensor 15. Receive.
• the bottom view of the robot main body 10 is the same as that of the embodiment of FIG.
• FIG. 26 is a block diagram showing details of the circuit section 22 of the embodiment of FIG. 25.
• the CPU core 40 consisting of the ALU, various registers, etc. has the ROM 42 that stores the program, and the address of the R0M42.
• a coder 44, 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 the oscillator 52, and the oscillation signal of the oscillator 52 is supplied to the CPU core 40 as a clock signal.
• the outputs of the direction control sensors 12 and 14 and the work control sensor 15 are input to the input / output control circuit 54, which is output to the CPU core 40.
• the motor drive control circuit 58 transmits and receives control signals to and from the CPU core 40, and the stepper motors 64, 6 via the motor drive circuits 60, 62. 6 and, at the same time, control the working actuator 67 via the actuator driving circuit 63.
• the step module 64 is built into the drive section 30 and is arranged on the right side of the robot body 10, so that it will be described in the following drawings.
• the motor is described as the R motor in the gear
• the step motor 66 is built in the drive unit 28 and the robot body 10 Since it is located on the left side, it is similarly described as L motor.
• FIG. 27 is a flowchart illustrating the control operation of the circuit section of FIG. Light is emitted by the direction control sensors 12 and 14. Moves toward the target in question, and the work sensor 15 receives the instruction and performs the specified work according to the operator's instruction.
• the CP @ core 40 determines whether or not the direction control sensor 12 is receiving light and is on (S41), and if it is on, the light source is on the left side. Then, the step motor 64 is driven to rotate the wheel 38, and the vehicle turns to the left (S42). If the direction control sensor 12 is off (S41), the drive of the step motor 64 is stopped (S48). Next, it is determined whether or not the direction control sensor 14 is receiving light and turned on (S44), and if it is not turned on, the driving of the step motor 66 is stopped. (S45). When the above process is repeated and the direction control sensor 14 is turned on (S44), the step motor 66 is driven (S47).
• the robot main body 10 moves toward the light source, and then checks whether the work control sensor 15 is receiving light. Judgment is made (S47), and in the state where the work control sensor 15 is not receiving light, the above operation is repeated to proceed.
• the work actuator controller 67 controls the work actuator 67 by the actuation drive circuit 63 to obtain a desired signal. Work (S48).
• 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, the C C core 40 is turned on after the direction control sensor 12 receives the light. The power is determined (S51), and if it is on, the stepper motor 64 is driven assuming that the light source is on the left side and the wheels are turned on.
• step motor 6 When 0 reaches the specified location and collides, step motor 6
• the work actuator 67 is controlled by the drive circuit 63 to perform desired work (S58).
• the power of the rotation of the step motors 64 and 66 is determined as follows.
• the step motor When the step motor is in the rotating state, the rotor 70 rotates after the drive pulse is supplied to the exciting coil 68, and the rotor 70 rotates. With the rotation, an induced voltage is induced in the exciting coil 68, and an induced current flows. Comparing the magnitude of the induced current
• the rotation state is detected by the detection by a motor or the like.
• the step motor is not in the rotating state, the rotor 70 does not rotate after the drive pulse is supplied, and therefore the induced voltage is not induced in the exciting coil 68. No. As a result, it is detected that the motor is not rotating.
• FIG. 2 is a block diagram showing details of another embodiment of the circuit section 22.
• a receiving sensor 1 2 As a sensor, a receiving sensor 1 2, a transmitting element 104 and a detecting element 106 are connected to an input / output control circuit 54.
• FIG. 30 is a top view of the robot main body 10 in which the receiving sensor 102 and the transmitting element 104 are arranged at the positions shown in the figure.
• the movement command and the work command are received by the receiving sensor 102.
• the command (straight-travel command, A pulse signal of the pattern corresponding to the right turn command, left turn command, reverse command, work command, etc.) is output to the light receiving sensor 102.
• the detecting element 106 is composed of, for example, an image sensor, a tactile sensor, etc., and the information detected by the detecting element 106 is operated using the transmitting element 104. To the side.
• FIG. 31 is a flowchart showing the control operation of the circuit section of FIG.
• the CP @ core 40 judges this (S61) and drives the step motors 64, 66. Go straight (S62).
• the C ⁇ core 40 judges it (S63), and the step motor 66 -83- and turn right (S64).
• the CPU core 40 determines that (S65), and drives the step motor 64 to turn left (S66). ).
• the CPU core 40 determines that (S67), and the step motors 64, 66 are driven in reverse rotation. Then, the robot main body 10 is retracted (S68). If there is no movement control command, the drive of the step motors 64 and 66 is stopped (S69). Next, the CPU core 40 determines whether the work command is input or not (S70). If a work command has not been input, the process is terminated as it is.If a work command has been input, the work is performed by the actuator circuit 63. The desired work is performed by controlling the work timer 67 (S71).
• the CPU core 40 determines whether an outgoing command has been input via the receiving sensor 102 (S72), and determines whether the outgoing command has been input.
• the information detected by the detection element 106 is encoded and transmitted to the operation side via the transmission element 104 (S73) .o
• the above processing is cyclic. Is repeated.
• FIG. 32 is a sectional view showing an example in which the micro robot of the present invention is applied to an endoscope.
• a plunger 110 controlled by a circuit section 22 is provided, and the plunger 110 is provided with a screw provided at a tip end thereof.
• Drive 1 1 2 2.
• the micro pump 114 is composed of a plunger 110 and a biston 112, and the chemical liquid 111 is moved by the movement of the piston 111. Is discharged into the pipe via the nozzle 118.
• a photovoltaic element 120 is mounted on the outer peripheral side of this robot.
• the light from the light emitting section is guided by the optical fins 122 and reflected by the mirror 124, which is further reflected by the inner wall of the tube 126, and in a reverse path to the past.
• the light receiving section Guided to the light receiving section, it functions as an endoscope. A part of the light reflected on the inner wall of the tube is also input to the photovoltaic element to charge a power supply section (not shown) of the circuit section.
• the configuration of this embodiment has the same basic concept as the embodiment shown in FIGS. 25 and 26, but the sensors 12 and 14 and the wheels 36 , 38, Step motors 64, 66, etc. are no longer required.
• the circuit section 22 has a built-in decoder, and the decoder is connected in parallel to the power supply section to which the output of the photovoltaic element 120 is connected. Included in the charging current Extract and analyze the control signal. Therefore, in this embodiment, a work command is transmitted to the operation side via the optical fiber 122 at a desired position while observing the inside of the tube as an endoscope.
• the circuit section 22 receives the liquid via the photovoltaic element 120, drives the plunger 11 ⁇ to supply the chemical solution 124, and supplies the chemical liquid 124. And discharge it.
• FIG. 33 is a bottom view of a micro robot according to another embodiment of the present invention
• FIG. 34 is a side view thereof.
• the micro robot of this example has a micro pump 130 built in the robot body shown in Fig. 25, and a micro robot on the front. It is provided with a chimney 1 32.
• the micro pump 13 ⁇ is driven to discharge the chemical solution from the nozzle 13.
• 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 micro robot.
• the micro robot of this embodiment is one in which a hand mechanism is provided in the robot body 10 shown in FIG.
• An upper motor unit 140 is provided on the upper part of the robot main body 10, which rotates the upper pinion 142, and the upper pinion 14 2 is used for the upper gear 1.
• a lower motor unit 148 is provided at the lower part of the robot body 10, which rotates the lower pinion 149, and the lower pinion 149 is Lower gear 1 It engages with 50 and drives the lower arm 154 which is supported by the shaft 158 in rotation.
• 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 an upper motor driving circuit 160 and a lower motor driving circuit 162 are provided.
• the upper motor drive circuit 160 controls the drive of the upper motor 1664 built into the upper motor unit 140, and the lower motor drive circuit 162 controls the lower motor unit. Drive control of the lower motor 16 6 built in the port 1 48. It is desirable that the upper motor 16 4 and the lower motor 16 6. be composed of step motors, and in such a case, the upper motor 1 This makes it easy to drive the lower motor 64 in synchronization with the lower motor 16 6.
• FIG. 38 is a flowchart showing the control operation of the micro robot in the embodiment of FIGS. 35 to 37.
• the CPU core 40 determines whether the command is a command to raise the arm (S81). If the command is a command to raise the arm, the upper motor drive circuit 160 rotates the upper motor 164 counterclockwise (S82). As a result, the upper arm 144 rotates clockwise.
• the lower motor driving circuit 1662 rotates the lower motor 1666 counterclockwise (S83). As a result, the lower arm 154 rotates clockwise.
• -S7- By rotating the upper arm 14 6 and the lower arm 15 54 together in the clockwise direction, the hand 15 Help as shown.
• the upper motor drive circuit 160 moves the upper motor clockwise in the clockwise direction. Rotate (S85). This causes the upper arm 144 to rotate counterclockwise.
• the lower motor 166 is rotated clockwise by the lower motor drive circuit 162 (S86). As a result, the lower arm 15 54 rotates counterclockwise. By rotating the upper arm 14 6 and the lower arm 15 5 together in the counterclockwise direction, the hand 15 6 is subjected to a lowering force.
• the upper motor drive circuit 1660 reverses the upper module 164. Rotate clockwise (S88). As a result, the upper arm 144 rotates clockwise. Next, the lower motor 1666 is rotated clockwise by the lower motor driving circuit 162 (S86). As a result, the lower arm 15 54 rotates counterclockwise. By rotating the upper arm 14 6 clockwise and the lower arm 15 4 counterclockwise, the upper arm 14 6 And the lower arm 15 54 open as shown in FIG.
• the upper motor drive circuit 160 moves the upper motor clockwise in the clockwise direction. (S91). By this The upper arm 144 rotates counterclockwise.
• the lower motor driving circuit 1662 rotates the lower motor 1666 counterclockwise (S92).
• the lower arm 154 rotates clockwise.
• FIG. 41 is a conceptual diagram of a micro robot according to another embodiment of the present invention
• FIG. 42 is a side view thereof.
• the robot main body 100 has a built-in work motor 200 as shown in the figure, and this work motor 200 is connected to the motor stage 220 and the rotor. It consists of 204 and power.
• the robot main body 10 is disposed in a non-magnetic tube 206, and the non-magnetic tube 206 contains liquid.
• a coil stator 208 is disposed 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 work motor 200.
• Motor stator 202 is provided with a pair of inner notches 202a on the inner peripheral portion, and is provided with a pair of outer notches 202b on the outer peripheral portion.
• the position of the notch 202a and the position of the outer notch 20 • 2b are shifted in the circumferential direction as shown in the figure.
• the mouth 204 is made up of magnetic poles, and has two poles, an N pole and an S pole. When an external magnetic field is applied, a magnetic flux 211 is generated in the motor stator 202 as shown in the figure.
• Figures 43 to 46 show the operating principle of the work motor 200. It is.
• Figure 44 is a diagram showing a state in which no magnetic field is applied by an external force. In this state, the boundary point between the N pole and the S pole of the rotor 204 is stable facing the inner notch 202a.
• a magnetic field is applied as shown in FIG. 45, the rotor 204 rotates, but the motor stator 202 of the outer notch 202 b is rotated. Is narrowed, and when a strong magnetic field is applied, it becomes magnetically saturated, and the magnetic field in this part is weakened.Therefore, the aforementioned boundary point of the rotor 204 is It is stabilized at the notch 202b.
• the operation of the apparatus shown in FIGS. 41 and 42 will be described.
• a corresponding magnetic flux is generated in the coil stator 208, and the magnetic flux is generated by the nonmagnetic tube 2 06 to motor status 2 0 2 Therefore, the rotor 204 rotates according to the above-described operation principle.
• the rotation of the rotor 204 functions as a micro pump, or rotates a screw screw (not shown) to propel or flow the liquid. You can also make a. Alternatively, it is possible to remove a desired portion by rotating a force cutter (not shown).
• the coil restorer 208 when the coil restorer 208 is moved in the longitudinal direction of the non-magnetic tube 206, the working motor 200 is moved by the magnetic force of the magnetic field. 0 itself moves with it. Accordingly, the position of the micro robot main body 10 can be controlled by applying a magnetic field from the outside. Furthermore, since the working motor can be driven by applying a magnetic field from the outside, the micro motor body 10 is attached to the working motor 2. No means (storage battery) to save energy for driving 00 is required. It should be noted that not one coil stator 208 but a plurality of non-magnetic tubes 206 are provided along the length direction of the non-magnetic tube 206 to sequentially drive a plurality of robot bodies 1 ⁇ . You may let them do it. Further, the coil 210 need not be a single phase, but may be constituted by a polyphase coil such as a three-phase coil. In such a case, the portable tester 202 should also have a configuration corresponding to it.
• Fig. 47 is a block diagram showing the details of the circuit section 22 to which a charging mechanism using electromagnetic induction has been added.
• the output of the charging circuit of the motor drive circuit 62 is connected to a power supply 16, and a voltage regulator 56 is connected to the power supply 16.
• the voltage regulator 56 comprises a booster circuit 300, a voltage limiter 302 and a power.
• FIG. 48 is a circuit diagram showing the details of the ⁇ -evening drive circuit 62 of this embodiment.
• the motor driver's 304, 306, 308, 310 are H-connected to the exciting coil 68 as shown, and Diodes 31 2, 31 4, 3 16 and 3 18 are connected to each driver in parallel and in the opposite direction.
• switches 32 0 and 32 2 for detecting an AC magnetic field are connected to both ends of the exciting coil 68, and these switches 32 0 and 3 are connected to each other. When closed, a closed circuit is formed with respect to the excitation coil 68.
• both ends of the excitation coil 68 are guided to magnetic field detection inverters 324 and 326, and the output thereof is supplied to the motor drive control circuit via an OR circuit 288.
• the excitation current is supplied to the step motor 68 to drive the step motor 66, and all the drivers 304, 306, 308, 310 during the charging operation.
• the excitation coil 68 receives the electromagnetic induction from the charging coil of the charging stand described later and turns off, the induced voltage is reduced to diodes 3 1 2 and 3 1 4, 3 1 6, 3 1 8
• the rectified current is supplied to the power supply section 16 to perform a charging operation.
• Drivers 304, 306, 308, 310 are connected by FETs as shown in the figure. If the diode that is configured and equivalently included functions well, omit the external diodes 312, 311, 316, and 318. You can also.
• 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 explanatory diagram showing details of the voltage regulator 56. .
• a high-capacitance capacitor 334 and a limiter switch 330 are provided, and as another power supply, a capacitor 336 is provided. Has zero.
• the means for charging the capacitor 334 while increasing its voltage from the capacitor 334 to the capacitor 360 is shown in a portion surrounded by a broken line 135.
• the means for charging while boosting the voltage from the capacitor 3 3 4 to the capacitor 3 60 is composed of the capacitors 3 4 0, 3 5 0 and the switch 3 It is composed of 36, 3338, 3442, 3444, 3464, 3448, and 352.
• the power supply voltage is supplied to each part of the control unit 22 from the capacitor 36.
• Detector 332 detects the voltage of capacitor 334.
• the voltage of the large-capacitance capacitor 334 is 1.2 V or more after it is fully charged, the same voltage is applied to the capacitor 334 and the capacitor 360. It is. When the voltage of the capacitor 334 is between 1.2 V and 0.8 V, the voltage is increased by 1.5 V by the booster 335. Double the voltage to charge the capacitor 360. This behavior is Ru section der of tj ⁇ t 3 of FIG. 4 9. Therefore, the voltage of the capacitor 360 at this time is: L.8 V to 1.2 V. When the voltage of the capacitor 3334 is between 8 V and 0.6 V, the voltage is boosted twice by the boosting means 335 and charged to the capacitor 360. . In this operation diagram 49, t. It is a section of. At this time, the voltage of the capacitor 360 is 1.6 V to 1.2 V, which is 7.
• the boosting means 3 35 is 1.5 times, and 2.
• the present invention is limited to these three types. It is not the one that can be used, but one kind or many kinds may be prepared and various magnifications may be considered.
• the voltage of the capacitor 334 is detected (1.8, 1.2, 0.8, 0.6 V). It is of course possible to detect the voltage of 60 (1.8 V, 1.2 V) and determine the boost state by comparing the voltage with the contents of the boosting means 335. This method has the advantage that the detection voltage can be small.
• FIG. 54 is a perspective view of a charging stand applied to the micro robot described above.
• an energy supply device 372 is installed near a signal generator 370 that emits infrared rays, and the upper part of the energy supply device 372 is connected to the energy supply device 372.
• a charging area 374 is formed.
• FIG. 55 is a block diagram showing the configuration of the energy supply device 372.
• the output of the oscillator 376 is amplified by the amplifier 378 to excite the charging coil 380.
• the frequency of the excitation current of the charging capacitor 380 is set to a higher frequency than the step motor can follow.
• Fig. 56 is a flowchart showing the operation during automatic charging.
• the CPU core 40 takes in the voltage value of the power supply section 16 and determines whether or not it is higher than a predetermined reference voltage (S111). If it is higher, the normal operation is continued. (Sli2).
• the charging operation is started.
• the robot body 1 ⁇ makes one rotation at that point. For example, it starts to turn to the left and determines whether sensor 12 is on (S113). If it is on, 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.
• step mode evening 66 is driven (S116).
• the wheel 36 is driven to rotate and turns rightward.
• Each of the sensors 12 and 14 has two built-in elements, one of which is used as a guide in response to normal light, for example, and the other is used as a guide. For example, it may be used to search the charging area 374 in response only to the infrared rays from the signal generator 370.
• switches 3220 and 322 of FIG. 48 are closed, and the
• the exciting coil 68 receives the magnetic field generated by the charging coil 38 80 and generates an induced voltage. appear.
• This induced voltage is input to the CPU core 40 via the inverter circuits 324 and 326 and the OR circuit 328, and it is confirmed that the AC magnetic field was detected there. It is detected (S117).
• the robot main body 10 is located above the charging area 17 4, so that the step motor 6 4 , 66 are stopped (S118).
• the exciting coil 68 receives the magnetic field generated by the charging coil 380 to generate an induced voltage, and the induced voltage is generated by the diodes 312, 318, 316,
• the rectified current is supplied to the power supply unit 16 by the rectification by the rectifier 30, and the charging current is supplied to the power supply unit 16.
• the CPU core 40 takes in the voltage of the power supply section 16 and judges whether or not the voltage is higher than the reference value VH (SI 19). Move to (S112).
• the signal generator 370 of the charging stand generates ultrasonic waves, magnetism, and the like. In that case, it is necessary to equip the robot body with a sensor to detect it. In addition, magnetism, light, heat, and the like generated from the energy supply device 372 may be detected and moved. In that case, the signal generator 370 becomes unnecessary.
• FIGS. 57 to 60 are diagrams showing a microphone mouth robot according to another embodiment of the present invention.
• FIG. 57 is a diagram viewed from the front
• FIG. FIG. 59 is a cross-sectional view of FIG. 58 taken along the line 59-59 in FIG. 58
• FIG. 60 is a diagram for explaining the function of the arm.
• the micro robot of this embodiment is propelled by rotating the fin in the liquid flowing in the pipe, and utilizes the flow of the liquid during charging. In this way, electricity is generated and then charged.
• the arms 400 are mounted on the front of the robot body 10, and the fins 4-2 are mounted on the rear, and the outer periphery is Is provided with external teeth 4 0 4. Also, Fin 402 is covered by Cano ⁇ part 406. The fin 402 is connected to a step motor 66 via a pinion 408. The arm 4 ⁇ 0 is configured so that one end thereof is driven by the plunger 410, and when the plunger 410 is pulled. When the arm 400 expands and the end of the arm 400 is pressed against the inner wall of the pipe, the robot main body 10 stays in the liquid.
• the configuration of the circuit 22 in this embodiment is basically the same as that shown in FIG. 47, and the stepper module 64 in FIG. Replace it with 4 10.
• the fin 402 In a normal operation state, the fin 402 is driven to rotate from the step mode 666, and the robot main 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 mode 66 is stopped, and the plunger 410 is pulled. Expand the game 400. This makes the mouth The bot body 10 stops in the liquid and stops. If the liquid is flowing 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 the exciting coil 6 rotates.
• Fig. 61 is a block diagram showing the configuration of the control unit when charging is performed by a photovoltaic element.
• a photovoltaic element for example, a solar cell 412 is provided, and the output of the solar cell 412 is a limiter 302 of a voltage regulator 56. It is supplied to the power supply section 16 through the decoder (see FIG. 47) and to the CP 'core 40 through the decoder 416.
• FIG. 62 is a flowchart showing the operation of the embodiment of FIG.
• the solar cell 412 is charged even during normal work.
• the step motors 64 and 66 are driven (S122).
• the state is maintained until the rotation of these motors cannot be detected (S123), (S124) o, that is, the step motors 64, 66 are connected to the robot body.
• the robot main body 10 was evacuated to the corner by driving until 10 hit the wall, etc. For example, charge for about 100 seconds (S125).
• the operation returns to the normal operation again (S122).
• the control signal can also be supplied by superimposing the control signal on the control signal.
• the output of the solar cell 21 2 is analyzed by the decoder 4 16 and loaded into the CPU core 40.
• thermoelectric generator generates electricity by the temperature difference, the heat-absorbing element is driven by repeating heat absorption and heat generation alternately on the energy supply side. ), The thermoelectric generator can generate electricity continuously. However, in that case, the output of the thermoelectric generator alternately repeats positive and negative, so that a rectifying circuit is required for the charging circuit 214. Not only in this case, but also when charging by electromagnetic induction, the charging coil is connected to the solar cell 21 regardless of the excitation coil 68. A rectifier circuit is also required when charging the power supply section 16 by providing it in place of 2.
• Fig. 63 is a flowchart showing the operation in the case of performing control combining charging, obstacle avoidance, work and return throw.
• the core 40 takes in the voltage of the power supply section 16 and judges whether the value is higher than the predetermined reference voltage VL. (S131). If the voltage of the power supply section 16 is lower than the predetermined reference voltage VL, the charging operation starts (S132). This charging operation is the same as the operation in each embodiment described above. If the voltage of the power supply section 16 is higher than the predetermined reference voltage VL, the power supply section 16 moves (S133), and then it is determined whether there is an obstacle (S134).
• the detection of the presence or absence of an obstacle is performed by, for example, installing a sensor for obstacle detection and detecting it, or detecting the state where the step motor is not rotating. Go. The detection in the latter case is performed as follows.
• the induced voltage increases, and in a state where the motor is not rotating, the induced voltage is increased. Since the magnitude of the induced voltage becomes small, the determination can be made by detecting the magnitude of the induced voltage.
• an avoidance operation is performed (S135).
• the avoidance operation is performed by performing control processing such as stopping and retreating. If it is determined that there are no obstacles, a desired operation (forward movement, etc.) is performed (S136). Next, it is determined whether or not there is a return instruction (S137). If there is no return instruction, the above processing is repeated, and if there is a return instruction or command, return is performed (S138). . In this embodiment, the operation is continued until the return instruction is issued from the outside. However, the return operation may be automatically performed after the operation is completed. The method of returning to home is the same as moving to the charging stand.

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• Mechanical Engineering (AREA)
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• 1992
  • 1992-11-02 WO PCT/JP1992/001415 patent/WO1993009018A1/ja active IP Right Grant
  • 1992-11-02 DE DE69222025T patent/DE69222025T2/de not_active Expired - Lifetime
  • 1992-11-02 US US08/070,399 patent/US5554914A/en not_active Expired - Lifetime
  • 1992-11-02 SG SG1996005869A patent/SG72641A1/en unknown
  • 1992-11-02 EP EP92922645A patent/EP0564661B1/en not_active Expired - Lifetime
• 1995
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