Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-06-07
1996-09-10
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318685, 31856812, 318587, 378 60, B25J 700
Patent
active
055549144
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates relates to a micro robot which has a very small size of, for example, about one cubic centimeter and which can be controlled in a wireless manner.
BACKGROUND TECHNIQUE
In the case of controlling a robot in a wireless manner, conventionally, control called radio control was carried out and a control system using an electric wave was used. In order to perform direction control, steering was made in accordance with a control signal superimposed on an electric wave. Further, in order to make a robot autonomously proceed in a desired direction, a directional antenna was used or a visual sensor or the like was used together. Wheels were used in a running portion to thereby reduce running resistance. Further, terminals for changing were constituted by rigid contacts and formed in an recess portion of a body.
However, such a robot control system as mentioned above is not suitable for minimization because numbers of electric elements were required in a transmission side as well as in a reception side because of using an electric wave, and a steering mechanism was further required. Further, in order to constitute the system adapted to make a robot autonomously move toward a direction from which an electric wave was transmitted, it was necessary to additionally provide such an antenna or sensor as mentioned above, and the control system was therefore not suitable for minimization also in this point. Furthermore, in the case where part other than a driving portion was supported by wheels, the robot could not go over a large uneven portion when the wheels were small, while minimization was difficult when the wheels were large. The charging terminals could not be made small in view of handling, and they were an obstacle to minimization.
Further, even if it was intended to make such a robot operate any work, the situation were such that there is no any mechanism suitable therefor.
Further, it was impossible to mount a battery of a large capacity because of a demand for minimization, and although it was desirable to perform contactlessly charging in view of wireless control, the situation was that such a charging mechanism was not yet developed.
DISCLOSURE OF INVENTION
It is an object of the present invention to provide a micro robot having a size of about one cubic centimeter.
It is another object of the present invention to provide a micro robot in which a work mechanism is provided in a robot body having a size of about one cubic centimeter.
It is a further object of the present invention to provide a micro robot which has a size of about one cubic centimeter and which is chargeable contactlessly.
According to an aspect of the present invention, a micro robot comprises: at least two sensors having respective detection regions partly overlapping each other; at least one pair of driving means being driven independently of each other and having driven points separated from each other in the direction perpendicular to a direction of movement; a control portion for controlling the driving means on the basis of outputs of the sensors; and a chargeable power source portion for supplying a power source voltage to the sensors, the driving means and the control portion, the control portion and the power source portion being arranged between the driving means. By such a configuration, it is made possible to achieve minimization. Particularly by the fact that the respective detection regions of the sensors are overlapped each other, it is possible to obtain a function that the robot can be moved autonomously toward a target by means of a simple circuit. Further, since the driving means are controlled independently of each other, complicated operation can be controlled by means of a simple mechanism. Furthermore, since the control portion and the power source portion are arranged between the pair of driving means, the robot body can be minimized.
According to another aspect of the present invention, the micro robot is supported by three points including the two driven points whic
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