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WO2005018883A1 - Robot de securite - Google Patents

Robot de securite Download PDF

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Publication number
WO2005018883A1
WO2005018883A1 PCT/JP2003/010579 JP0310579W WO2005018883A1 WO 2005018883 A1 WO2005018883 A1 WO 2005018883A1 JP 0310579 W JP0310579 W JP 0310579W WO 2005018883 A1 WO2005018883 A1 WO 2005018883A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
arm
elevator
security robot
button
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2003/010579
Other languages
English (en)
Japanese (ja)
Inventor
Katsuyuki Baba
Shigeaki Ino
Yoichi Takamoto
Yasunari Motoki
Masao Mori
Keiichi Kido
Yuichi Arimura
Tadayoshi Furuya
Mitsuru Soeda
Toshinori Suehiro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tmsuk Co Ltd
Original Assignee
Tmsuk Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tmsuk Co Ltd filed Critical Tmsuk Co Ltd
Priority to PCT/JP2003/010579 priority Critical patent/WO2005018883A1/fr
Publication of WO2005018883A1 publication Critical patent/WO2005018883A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Definitions

  • the present invention relates to a security robot capable of moving on and off between elevators by autonomous control.
  • Such a security robot is disclosed in Japanese Patent Application Laid-Open No. 5-210414 (hereinafter referred to as "I” publication), "Elevating an elevator call signal from a mobile robot. In addition to transmitting the signal to the elevator call section provided in the elevator, the floor designation signal is transmitted to the receiver provided in the elevator car, and the elevator is moved accordingly.
  • a moving robot moving method for moving a robot between hierarchies is disclosed.
  • Japanese Patent Publication No. 2000-0—339030 states that “It automatically gets on and off at Elevate overnight and sequentially moves to a plurality of preset floors.
  • a presetting means is provided to arbitrarily select the floor to be entered or exited from a plurality of preset floors.
  • An autonomous traveling vehicle that starts traveling of the autonomous traveling vehicle after confirming the open state of the elevator overnight by a front sensor provided on the traveling vehicle is disclosed.
  • the present invention solves the above-mentioned conventional problems, and it is possible to get on and off at an elevator overnight to move between floors by autonomous control.
  • the objective is to provide security robots that are excellent in cost-saving and labor-saving without the need for processing, construction, and installation of new equipment.
  • the security robot of the present invention has the following configuration.
  • the security robot according to claim 1 of the present invention is a security robot that travels in a security area and performs patrol security.
  • a robot comprising: a trunk; an arm disposed on the trunk; a button operation unit disposed at a tip of the arm and pressing a button of a target; and a front part of the trunk.
  • An image capturing unit that is disposed and transmits a forward image as an image signal to a control device unit, wherein the control device unit performs the above-described target from the image signal captured by the image capturing unit.
  • the three-dimensional position is calculated, the button operation unit is moved to the front of the target, and the button of the target is pressed.
  • the front image is captured by the image capture unit, and the control unit is used as a target, for example, an elevator door provided on the side of the door of the elevator in a building or the like. Recognizes the three-dimensional position of buttons and floor designation buttons in the elevator, moves the tip of the arm to the front of the target based on the position information, and places the button at the tip of the arm
  • the operation unit can press a button of a target object, for example, a push button switch such as an elevator call button or a floor designation button.
  • the front image is captured by the image capture unit, and the control unit controls the opening and closing of the door, for example, or the turning on and off of the lamp indicating the position of the elevator, etc. Recognizes the display on the display, etc., and the door of Elevator opens, or Elevator arrives Then, you can travel and get on and off overnight.
  • the security robot according to claim 2 of the present invention is the security robot according to claim 1, wherein the button operation unit includes a finger shaft extending toward the target, and a tip of the finger shaft. And a finger portion for pressing the target object, and an elastic body for elastically expanding and contracting the finger shaft.
  • the finger shaft After moving the button operation unit to the front of the target, the finger shaft can be extended toward the target, and the target can be pressed by the finger.
  • the security robot according to claim 3 of the present invention is the security robot according to claim 1 or 2, wherein the arm portion has first to sixth arm members; It has a configuration formed with six degrees of freedom with a connection portion between the arm member and the trunk portion and a connection portion of each of the second to sixth arm members as a link.
  • a security robot according to a fourth aspect of the present invention has a configuration in which at least one of the arm portions is provided in any one of the first to third aspects of the present invention.
  • FIG. 1 (a) is a front view of a security gate bot according to the first embodiment.
  • FIG. 1 (b) is a side view of the security gate bot according to the first embodiment.
  • FIG. 2 (a) is a transparent front view of the security gate bot according to the first embodiment.
  • FIG. 2 (b) is a transparent side view of the security gate bot in the first embodiment.
  • FIG. 3 (a) is a side view of a main part of the head, which is to be seen through.
  • FIG. 3 (b) is a plan view of the essential parts of the head.
  • FIG. 3 (c) is a rear view of the essential part of the head.
  • FIG. 4 (a) is a front view of a main part of the arm, which is to be seen through.
  • FIG. 4 (b) is a side view of a main part of the see-through arm.
  • FIG. 5 (a) is a perspective side view of the button operation unit.
  • FIG. 5 (b) is a perspective side view when the button operation unit is operated.
  • FIG. 6 (a) is a side view of the traveling section.
  • FIG. 6 (b) is a bottom view of the traveling unit. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 (a) is a front view of the security robot according to the first embodiment
  • FIG. 1 (b) is a side view of the security robot according to the first embodiment
  • FIG. 2 (a) FIG. 2 is a perspective front view of the security robot according to the first embodiment
  • FIG. 2 (b) is a perspective side view of the security port bot according to the first embodiment.
  • 1 is the security robot in the first embodiment
  • 2 is the torso of the security robot 1
  • 3 is the head of the security robot 1
  • 4 is the neck supporting the head 3 on the upper part of the torso
  • 5 a is a right arm disposed on the front side of the right side of the torso 2
  • 5 b is a left arm disposed on a front side of the left side of the torso 2
  • 6 is a side of the torso 2
  • the speaker section provided on the front side, 6a is a microphone section
  • 7 is provided on the front side of the body section 2 below the speaker section 6.
  • 8 is a waist arranged at the lower part of the torso 2
  • 8a is a tape-shaped contact sensor wound around the waist 8
  • 9 is a traveling unit for running the security robot 1
  • 1 0 is an ultrasonic sensor
  • 1 is an omnidirectional camera fixed to the torso 2 and arranged above the head 3
  • 12 is a flame / smoke sensor.
  • reference numeral 13 denotes a battery storage unit for storing a battery
  • 21 denotes a module driver unit for controlling a battery provided in each unit
  • 22 denotes an expansion board of a control unit.
  • 23 is a control unit for overall control and image control
  • 24 is a fire extinguisher arranged on the back side of the trunk 2
  • 25 is a trunk 2 for the waist 8
  • 26 is disposed on the shaft for the waist 25 and the ohm gear
  • 27 is the lumbar shaft fixed to the waist 8
  • 28 is the lumbar shaft 2.
  • the security robot 1 travels by the traveling unit 9 and performs patrol security in the building.
  • the security robot 1 finds a person who has fallen, injured, or an intruder during patrol security, the operator standing by at another location by the speaker unit 6 and the microphone unit 6a falls down. You can talk to those who are injured or intruders.
  • the control unit 23 recognizes the three-dimensional position of the target from the image captured by the image capturing unit 7, and places the right arm in front of the target. Move the tip of the part 5a or the left arm 5b, and push the button of the target by the button operation part 5c or the button operation part 5d arranged at the tip of the right arm 5a or the left arm 5b. Press.
  • the torso 2 is arranged to be rotatable about the waist shaft 27 around the waist shaft 27 via the worm gear 26 and the warm wheel 28 by driving the waist module 25.
  • the contact sensor 8a is wound around the waist 8 and detects contact with an obstacle during traveling.
  • the ultrasonic sensor 10 detects an approach of a surrounding obstacle or an intruder.
  • the omnidirectional camera 11 shoots the area around the security robot 1 from the top of the head 3.
  • the shot images are sequentially stored in a storage unit (not shown) provided in the head 3.
  • the flame / smoke detection sensor 12 can detect flame or smoke and report the information to an operator or the like who is waiting at another location.
  • FIG. 3 (a) is a side view of a main part of the head
  • FIG. 3 (b) is a plan view of a main part of the head
  • FIG. 3 (c) is a rear view of the main part of the head.
  • 3 is a head
  • 3a is a head plate disposed on the head 3
  • 31 is a remote control camera disposed on the head plate 3a and tiltable up and down.
  • 3 2 is a camera motor for tilting the remote control camera 3 1 up and down
  • 3 3 is a worm gear provided on the motor shaft of the camera motor 3 2
  • 3 4 meshes with the worm gear 3 3.
  • the ohm wheel, 3 5 is a belt wheel that rotates in conjunction with the worm wheel 3 4
  • 3 6 is a timing belt that is bridged between the belt wheel 3 5 and the below-mentioned pelt wheel 3 7, and 3 7 is a remote control camera 3
  • Belt wheel that rotates in conjunction with 1 4 is the neck
  • 4a is the torso side neck frame
  • 4b is the fixed shaft fixed to the torso side neck frame 4a
  • 4c is the fixed shaft 4b
  • 41 is a neck shaft fixed to the upper part of the torso 2
  • 42 is a left-right mode for rotating the head 3 left and right.
  • 4 3 is a belt car fixed to the shaft of the left and right motors 4 2
  • 4 4 is a worm gear
  • 4 4 a is a belt car that rotates in conjunction with the worm gear 4
  • 4 5 is a neck shuffle Worm wheel, which is fixed to the circumference of the worm gear 4 1, meshes with the ohm gear 4
  • 4 6 is a timing pelt bridged between the belt wheel 4 3 and the belt wheel 4 4 a
  • 4 7 is the head 3 up and down
  • the upper and lower motors to be rotated, 48 is a belt wheel disposed on the motor shaft of the upper and lower motors 47
  • 49 is an ohm gear
  • 49a is a belt that rotates in conjunction with the worm gear 49.
  • the vehicle, 50 is a worm wheel fixed to the fixed shaft 4b and meshes with the worm gear 49
  • 51 is a timing belt bridged between a belt wheel 48 and a belt wheel 49a.
  • the remote control camera 31 swings up and down by driving the camera mode 32.
  • the head 3 rotates left and right around the neck shaft 41 by driving the left and right motors 42.
  • the head 3 is tilted up and down about the fixed shaft 4b by driving the vertical motor 47. In this way, the head 3 can be oriented in any direction, and the remote control camera 31 disposed in front of the head 3 can be oriented in any direction. Further, since the remote control camera 31 can be independently turned up and down, a wider range can be confirmed.
  • FIG. 4 (a) is a front view of a main part of a see-through arm
  • FIG. 4 (b) is a main part of a see-through part of an arm part. It is a side view.
  • the left arm 5b will be described, and the description of the right arm 5a will be omitted because the right arm 5a has the same configuration.
  • reference numeral 54 denotes a support frame provided on the body 2
  • 55 denotes a first arm member pivotally supported on the support frame 54 and is rotatably supported
  • 55 a denotes a support frame 54 side
  • the first arm member 55 is rotated in the direction of arrow A
  • the first motor 55b is the first worm gear 55b mounted on the motor shaft of the first motor 55a
  • Reference numeral 55c denotes a first worm wheel fixed to the first arm member 55 and meshed with the first worm gear 55b.
  • Reference numeral 56 denotes a second arm member
  • 56 a denotes a second motor disposed on the first arm member 55 for rotating the second arm member 56 in the direction of arrow B
  • 56 b denotes a second arm member.
  • the second worm gear arranged on the shaft of the motor 56a, the fixed shaft fixed to the second arm member 56, and the ring 56d on the fixed shaft 56c
  • the second worm wheel is mounted and fixed and meshes with the second worm gear 56b.
  • 57 is a third arm member
  • 57 a is a third arm arranged on the second arm member 56 and rotates the third arm member 57 in the direction of arrow C
  • 5 7b is Belt wheel disposed on the shaft of the third motor 57a
  • 57c is a belt wheel that rotates in conjunction with the belt wheel 57b via a timing belt 57d
  • 57e Is a third worm gear disposed coaxially with the belt wheel 57c and rotating in conjunction therewith
  • 57f is a fixed shaft fixed to the third arm member 57
  • 57g is a fixed shaft 5
  • Reference numeral 58 denotes a fourth arm member
  • 58 a denotes a fourth arm disposed on the third arm member 57 and rotates the fourth arm member 58 in the direction of arrow D
  • 58 b denotes a fourth arm member.
  • 4th worm gear arranged on the shaft of 5a 5a 5a, 58c is the fixed shaft fixed to the fourth arm member 58
  • 58d is the fixed shaft 58c
  • 59 is a fifth arm member
  • 59 a is a fifth motor disposed on the fourth arm member 58 and rotates the fifth arm member 59 in the direction of arrow E
  • 59 b is the fifth motor.
  • the belt car arranged on the shaft of the motor 59a is mounted on a shaft
  • the belt car 59c is coaxial with a belt car (not shown) which rotates in conjunction with the belt car 59b via a timing belt 59d. It is arranged and turns in conjunction with it
  • Fifth worm gear 59 e is a fixed shaft fixed to the fifth arm member 59
  • 59 f is a fifth shaft fitted and fixed to the fixed shaft 59 e and meshed with the fifth worm gear 59 c Worm wheel.
  • 60 is a sixth arm member
  • 60a is a sixth arm member disposed on the fifth arm member 59 and turns the sixth arm member 60 in the direction of arrow F
  • 60b is a sixth motor member.
  • the sixth worm gear disposed on the shaft of the motor 60a, 60c is the fixed shaft fixed to the sixth arm member 60
  • 60d is the fixed shaft 60c
  • the control unit shown in FIG. 2 (b) determines the three-dimensional position of the button of the elevator, which is a target, from the image obtained by the image capturing unit 7. Is checked, and the left arm 5b is controlled so that the button operation section 5d at the tip of the left arm 5b is located in front of the target.
  • the first to sixth modes, 55a, 56a, 57a, 58a, 59a, and 60a are used to pre-set the drive gain and rotation signal. Each is adjusted and controlled by the set program.
  • FIG. 5 (a) is a perspective side view of the button operation unit
  • FIG. 5 (b) is a perspective side view when the button operation unit is operated.
  • 5d is a button operation unit
  • 61 is a hand frame
  • 62 is an operation motor
  • 63 is a motor shaft of the operation motor 62
  • Reference numeral 6 4 denotes a movable portion screwed to the threaded portion 63
  • reference numeral 65 denotes a movable frame fixed to the movable portion 64
  • reference numeral 66 denotes a support member provided at a lower portion of the movable frame 65
  • 67 is a finger portion arranged at the tip of the finger shaft 66
  • 68 is a ring mounted on the finger shaft 66
  • 69 is a gripping motor
  • 70 is a belt wheel installed on the shaft of the gripping motor 69
  • 71 is a rotatable hand frame 61
  • the gripper shaft portion 72 is provided on the gripper shaft portion
  • the button operation by the button operation unit 5d is started by a signal from the control unit 23.
  • the motor 62 is driven to rotate the thread cutting portion 63.
  • the movable portion 64 screwed to the threaded portion 63 moves toward the distal end of the button operating portion 5d, and the finger shaft 66 supported by the finger frame 65 is moved toward the distal end. Slide.
  • the button as the target can be pressed by the finger portion 67 disposed at the tip of the finger shaft 66.
  • the finger shaft 66 is slidably supported at its front and rear portions by support members 66a and 66b.
  • the finger shaft 66 is urged by the elastic body 68 toward the front side with respect to sliding in the rear direction. As a result, the finger shaft 66 can be contracted elastically, so that the three-dimensional position of the target captured by the image capturing unit 7 and calculated by the control unit 23 slightly deviates from the actual position. Even if it is, the excessive pressing force generated by the displacement can be buffered to prevent the breakage of the target object or the left arm 5b, the finger 67, and the finger shaft 66. In this way, the front image is captured by the image capturing unit 7, the three-dimensional position of the target is calculated by the control unit 23, and the tip of the left arm 5b is targeted based on the position information. The target can be moved to the front of the object, and the target can be pressed by the button operation unit 5d disposed at the tip of the left arm 5b.
  • the security robot 1 moves on and off the elevator during patrol, and the security robot 1 controls the elevator provided on the side of the door of the elevator in the building by the image capturing unit 7.
  • the control unit 23 calculates the three-dimensional position of the call button on the target floor, and based on the position information, raises the tip of the left arm 5b. It can be moved to the front of the evening call button, and the elevator operation button can be pressed by the button operation unit 5d arranged at the tip of the left arm 5b.
  • control unit 23 controls, for example, the opening and closing of the door of the elevator, the turning on and off of a lamp indicating the position of the elevator, and the display unit.
  • a forward signal is sent to the traveling unit 9 and the traveling unit 9 is driven by this signal to drive the security robot 1. You can ride in the evening.
  • the control unit 23 calculates the three-dimensional position of the button on the destination floor of the elevator captured by the image capturing unit 7 and also obtains the positional information. At the same time, move the tip of the left arm 5 b to the front of the button on the target floor for the night, The button on the target floor can be pressed with the button operation unit 5d.
  • the control unit 23 for example, activates the door of the elevator, turns on or off a lamp indicating the position of the elevator, or controls the display unit or the like.
  • a forward signal is sent to the traveling unit 9, and the traveling unit 9 is driven by this signal to drive the security robot 1. You can get off from the night. The distance to the door is measured using a laser sensor (not shown) provided at the waist 8 of the security robot 1, etc., and the change in the distance is detected to recognize that the door has been opened overnight. You can also.
  • FIG. 6 (a) is a side view of the traveling section
  • FIG. 6 (b) is a bottom view of the traveling section.
  • the left driving wheel will be described.
  • the right driving wheel has the same configuration, and the description is omitted.
  • reference numeral 81 denotes a driving wheel
  • 8 la denotes a driving wheel frame
  • 8 1 b denotes a front-side axle supporting the front side of the driving wheel frame
  • 81 c denotes a shock absorber
  • 81 d denotes a shock absorber
  • a rear-side shaft supporting portion that supports the rear side of the driving wheel frame 8 1a via a shock absorber 8 1c, 8 2 is a driving wheel driving motor that is disposed on the driving wheel frame 8 1 a and drives the driving wheel 8 1, 8
  • Reference numeral 3 denotes a belt wheel disposed on a motor shaft of a driving wheel driving motor 82, 84 a belt wheel rotating in conjunction with a belt wheel 83 via a timing belt 85, 86 a driving wheel 81
  • Reference numeral 87 denotes a rotary encoder for detecting rotation of the axle 86
  • reference numeral 88 denotes a rear driven wheel
  • reference numeral 89 denotes a front driven wheel.
  • the driving of the driving wheel drive motor 82 rotates the driving wheel 81 so that the vehicle can travel.
  • the driving wheel 81 is supported by an axle 87 on a driving frame 81a, and the front of the driving frame 81a is supported by a front supporting portion 81b, and a rear shock absorber 81c is provided. And is supported by a rear-side shaft support portion 81d through the shaft.
  • the rotary encoder 87 detects the rotation of the driving wheel 81, analyzes the information by a control device or the like, calculates the traveling distance, and can use it as auxiliary data.
  • a safety device with a limit switch is provided to prevent rotation beyond the rotation limit. Thereby, safety can be improved.
  • the security robot according to the first embodiment is configured as described above, it has the following operation.
  • the image capture unit 7 captures the image of the elevator call button provided on the side of the elevator door, and the control unit 23 detects the elevator call button. Recognize the three-dimensional position, move the tip of the left arm 5b to the front of the call button on the basis of the position information, and move it to the button operation section 5d arranged at the tip of the left arm 5b. You can call the Elevator overnight by pressing the Elevator overnight button. After getting on the elevator, the button on the target floor of the elevator can be pressed by the button operation unit 5d in the same manner.
  • the traveling unit 9 autonomously travels and patrols a previously set patrol route in the building, and gets on and off the elevator route on the patrol route, and gets on and off via the button operation units 5c and 5 at night. It is possible to move between layers by operating the floor designation button of.
  • the finger shaft can be elastically contracted by the elastic body 68, so that the three-dimensional position of the target calculated by the control unit 23 is slightly different from the actual position. Even in the case of deviation, the excessive pressing force generated due to the positional deviation is buffered, and the destruction of the target or the destruction of the left arm 5b, the finger shaft 66, and the finger 67 can be prevented.
  • the left arm portion 5b is formed by the first to sixth arm members 55 to 60, and has six degrees of freedom, so that it can perform a delicate and precise movement close to the movement of a human arm. Can be.
  • the front image is captured by the image capture unit, and the control unit is used as a target, for example, an elevator door provided on the side of the door of the elevator in a building or the like. Recognizes the three-dimensional position of buttons and floor designation buttons in the elevator, moves the tip of the arm to the front of the target based on the position information, and places the button at the tip of the arm It is possible to provide a security robot that can press the button of the target by the operation unit.
  • the front image is captured by the image capturing unit, and the control unit controls the opening and closing of the door for one night, the lighting of the lamp indicating the position of the elevator, or the display on the display unit. It is possible to provide a security robot that can recognize the warning and open the door of the elevator, or run when the elevator arrives and get on and off the elevator. According to the invention described in claim 2, in addition to the effect of claim 1,
  • the finger shaft can be elastically shrunk by the elastic body, the 3D position of the target calculated by the image capture unit by the capture control unit is slightly different from the actual position. Even if there is, it is possible to provide a security gate bot that can buffer an excessive pressing force generated due to the displacement and prevent the destruction of a target or the destruction of an arm, a finger, or a finger shaft.
  • the arm has six degrees of freedom, it is possible to provide a security robot that can perform a fine movement close to the movement of a human arm.
  • a security robot can be provided that can lift and transport an obstacle by sandwiching the obstacle, and can perform light work.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot de sécurité économique, à faible consommation d'énergie et à commande autonome qui peut entrer dans un ascenseur et en sortir pour passer d'un étage à un autre, cela sans qu'il soit nécessaire de remanier/transformer le bâtiment, y compris l'entrée et la cage de l'ascenseur, et de monter un équipement additionnel. Le robot de sécurité (1) selon l'invention se déplace dans une zone de sécurité pour la surveiller. Il comprend un corps (2), des bras (5a, 5b) montés sur le corps (2), des parties d'actionnement de boutons (5c, 5d) placées aux extrémités des bras (5a, 5b) et conçues pour pourvoir appuyer sur des boutons d'un objet cible, ainsi qu'une unité de capture d'image (6), qui est montée sur la partie avant du corps (2) et est conçue pour envoyer l'image se trouvant devant le robot à une unité de commande, sous la forme d'un signal d'image. L'unité de commande calcule la position tridimensionnelle de la cible à partir du signal d'image capturé par l'unité de capture d'image (6) et déplace les parties d'actionnement de boutons (5c, 5d) de façon qu'elles viennent se mettre en face de la cible pour appuyer sur un bouton de celle-ci.
PCT/JP2003/010579 2003-08-21 2003-08-21 Robot de securite Ceased WO2005018883A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/JP2003/010579 WO2005018883A1 (fr) 2003-08-21 2003-08-21 Robot de securite

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Application Number Priority Date Filing Date Title
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Cited By (10)

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Publication number Priority date Publication date Assignee Title
EP1945416A4 (fr) * 2005-10-18 2011-02-16 Binar Aktiebolag Procédé et dispositif permettant de détecter et de ramasser les objets placés sur un support
US8874261B2 (en) 2007-07-25 2014-10-28 Deere & Company Method and system for controlling a mobile robot
CN105904468A (zh) * 2016-06-13 2016-08-31 北京科技大学 一种具有自主地图构建和无线充电的多功能巡逻机器人
CN106584469A (zh) * 2016-11-01 2017-04-26 河池学院 一种对银行环境安全监测机器人
CN107498533A (zh) * 2017-09-05 2017-12-22 刘哲 一种智能移动机器人
CN107538463A (zh) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 一种可自主进出电梯的机器人
CN108972518A (zh) * 2018-09-19 2018-12-11 山东金惠新达智能制造科技有限公司 一种吊挂式巡检机器人按钮操作机械手及机器人
CN109048839A (zh) * 2018-09-04 2018-12-21 南京理工大学 一种带双机械手的变电站巡检机器人
EP3332923A4 (fr) * 2015-08-04 2019-04-10 Beijing Evolver Robotics Co., Ltd Robot de service domestique multifonctionnel
CN111113444A (zh) * 2019-12-26 2020-05-08 江苏通鼎宽带有限公司 光配线机房机器人

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CN107498533A (zh) * 2017-09-05 2017-12-22 刘哲 一种智能移动机器人
CN107538463A (zh) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 一种可自主进出电梯的机器人
CN109048839A (zh) * 2018-09-04 2018-12-21 南京理工大学 一种带双机械手的变电站巡检机器人
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