JP2010505180A - 室内位置測定システムを用いた壁面移動ロボット - Google Patents
室内位置測定システムを用いた壁面移動ロボット Download PDFInfo
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- G01S1/08—Systems for determining direction or position line
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
【選択図】図2
Description
例えば、本発明に用いられた走行器180のホイールの構造は、三輪車構造であって、第1、第2、第3駆動ホイール組立体181、182、183を有する。
ここで、第1駆動ホイール組立体181は、ステアリング(操向)のために設けられており、残りの2つの駆動ホイール組立体182、183は単純な追従する車輪の構造で製作されることができる。
第2交差軸ギア188の軸部材は、ステアリングターンテーブル186の下部に延びた懸架構造により支持された状態で磁石ホイール189を回転させることができるように結合されている。
Claims (10)
- 空間に設置された室内位置測定システム(IGPS)を用いた壁面移動ロボットであって、
前記室内位置測定システムの1以上の航法用送信機から射出された回転ファンビームを受信してこの回転ファンビームをIGPS信号として認識する航法用受信機と、
前記航法用受信機が装着されているロボットフレームと、
前記ロボットフレームに設置され、前記IGPS信号を用いて自己位置を認識及び決定するモバイル制御器と、
前記モバイル制御器の制御により前記空間の表面に沿って走行する走行器とを含むことを特徴とする室内位置測定システムを用いた壁面移動ロボット。 - 前記ロボットフレームには、中央ホストコンピュータから電子地図情報の伝送を受けるために、前記中央ホストコンピュータの第1通信機と通信するように有線又は無線データ通信インターフェースを支援する第2通信機が更に設置されていることを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記ロボットフレームには、前記モバイル制御器によりロボットの落下又は障害物との衝突が予想されるとき、落下警報又は衝突警報をそれぞれ発生させる発光型警報器とアラーム型警報器が更に装着されていることを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記モバイル制御器は、前記ロボットに装着されている全て構成要素の動作及び制御を行う中央処理裝置と、
前記中央処理裝置と送受信するデジタル又はアナログ信号の入出力を担当する入出力部と、
前記中央処理裝置から伝達される壁面移動ロボットの走行動作のためのアプリケーションプログラムの命令を前記入出力部を介して受信して前記走行器の駆動モータのためのモータ制御信号を生成するモーション制御部と、
前記モーション制御部から出力されたモータ制御信号を受信し、電流を増幅し、そして前記走行器の駆動モータを実質的に駆動することができるモータ出力信号を生成する駆動制御部と、
前記中央処理裝置から入力される航法実行命令に対応するように、前記航法用受信機によって受信される前記IGPS信号に基づいてロボットの現在位置に関する座標値を求めた後、前記座標値を中央ホストコンピュータから送られてきた電子地図情報と比較することによって、ロボットの現在位置を認識及び決定し、現在位置から目標位置まで自律走行するための経路計画を行う航法制御部と、
前記走行器に設置された複数のセンサによって検出された検出信号を前記中央処理裝置が認識できる内部デジタル信号形式に変換して前記中央処理裝置に入力するセンサ信号処理部とを含むことを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。 - 前記走行器に設置された複数のセンサから検出された検出信号を、姿勢基準インデックス、障害基準インデックス、墜落基準インデックスのうちの何れか1つと比較し、その比較結果をチェックし、障害物の認識、ロボットの墜落の予想のような判定結果を出力する緊急状況処理部と、
前記緊急状況処理部の判定結果に対応するように発光型警報器又はアラーム型警報器で落下警報又は衝突警報を発生させるように制御する警報発生部と、
前記中央ホストコンピュータから送られてきた電子地図情報が記録格納され、且つオペレーティングシステムが格納されたメモリとを更に含むことを特徴とする請求項4に記載の室内位置測定システムを用いた壁面移動ロボット。 - 前記モバイル制御器が設置されたモバイルユニットに結合されてマーキング作業を行うマーキングモジュールを更に含むことを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記モバイル制御器が設置されたモバイルユニットに結合されてスタッドボルトの溶接作業を行うスタッドボルト溶接モジュールを更に含むことを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記モバイルユニットには前記スタッドボルト溶接モジュールに対する事前グラインディング作業が行なわれる設置位置にグラインダモジュールが更に結合されていることを特徴とする請求項7に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記モバイル制御器が設置されたモバイルユニットに結合されて深さ測定動作を行う深さ測定モジュールを更に含むことを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
- 前記走行器の底部には作業用モジュールの切替搭載又は同時搭載のための第1、第2クランプ装置及び固定具が更に設置されていることを特徴とする請求項1に記載の室内位置測定システムを用いた壁面移動ロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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KR10-2006-0095902 | 2006-09-29 | ||
KR1020060095902A KR100812724B1 (ko) | 2006-09-29 | 2006-09-29 | 실내 위치측정시스템을 이용한 벽면 이동 로봇 |
PCT/KR2007/004640 WO2008038960A1 (en) | 2006-09-29 | 2007-09-21 | Multi-function robot for moving on wall using indoor global positioning system |
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JP2010505180A true JP2010505180A (ja) | 2010-02-18 |
JP4977210B2 JP4977210B2 (ja) | 2012-07-18 |
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JP2009530264A Active JP4977210B2 (ja) | 2006-09-29 | 2007-09-21 | 室内位置測定システムを用いた壁面移動ロボット |
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US (1) | US8214081B2 (ja) |
EP (1) | EP2069112B1 (ja) |
JP (1) | JP4977210B2 (ja) |
KR (1) | KR100812724B1 (ja) |
CN (1) | CN101516580B (ja) |
ES (1) | ES2527268T3 (ja) |
WO (1) | WO2008038960A1 (ja) |
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JP2016517554A (ja) * | 2013-02-28 | 2016-06-16 | ハンファテクウィン株式会社Hanwha Techwin Co.,Ltd. | 小型統合制御装置 |
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KR100812724B1 (ko) | 2008-03-12 |
EP2069112B1 (en) | 2014-11-12 |
CN101516580A (zh) | 2009-08-26 |
EP2069112A4 (en) | 2010-12-15 |
US20100030378A1 (en) | 2010-02-04 |
ES2527268T3 (es) | 2015-01-22 |
EP2069112A1 (en) | 2009-06-17 |
JP4977210B2 (ja) | 2012-07-18 |
WO2008038960A1 (en) | 2008-04-03 |
US8214081B2 (en) | 2012-07-03 |
CN101516580B (zh) | 2012-01-11 |
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