Micro robot and holding case therefor

• US 5,576,605 A
• Filed: 07/14/1994
• Issued: 11/19/1996
• Est. Priority Date: 11/20/1992
• Status: Expired due to Term

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Miyazawa, Osamu
• Primary Examiner(s): Cabeca, John W.
• Application Number:
  US08/256,605
• Time in Patent Office: 859 Days
• Field of Search: 364/424.05, 364/424.04, 364/424.02, 318/587, 318/568.12, 318/560, 318/563, 318/565, 318/568.16, 318/577
• US Class Current: 318/568.12
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16

Abstract

A micro robot which is less than about one cubic centimeter in size and adapted for wireless control and which includes at least two photo sensors (12,14) having detection areas partly overlapping each other, at least a pair of drive units (28, 30) adapted to be driven independently of each other and having driving points apart in a direction perpendicular to a direction for travel, a controller (58) including a CPU and responsive to outputs of the photo sensors to control the drive units, a power supply unit (16) including a rechargeable battery and a voltage regulator circuit (56) for regulating and outputting the battery voltage for supplying a power supply voltage to the photo sensors, the drive units and the controller, and a reset circuit (40) responsive to the reception for a command in a non-contact manner from the outside to send a reset signal to the controller and a holding case for the micro robot which permits charging of the micro robot during its accommodation.

Claims

1. A micro robot comprising:

at least two sensor means each having a detection area partly overlapping each other, and generating an output in accordance with a detected quantity, at least one pair of wheel driving means adapted to be driven independently of each other;

a control means including a CPU for controlling said wheel driving means in accordance with the outputs of said sensor means;

a power supply unit including a rechargeable battery for supplying a power supply voltage to said sensor means, said wheel driving means and said control means; and

a reset circuit responsive to reception of an external command in a non-contact manner to send a reset signal to said control means.

4. A micro robot as set forth in claim 1, further comprising sounding means adapted to be controlled by said controller.

5. A micro robot as set forth in claim 1, further comprising a pair of light-emitting diodes connected inverse parallel and controlled by said controller.

6. A micro robot as set forth in claim 1, wherein each of said two sensors is contained, along with a light-emitting diode, in one package and arranged at the position of an eye of said micro robot.

7. A micro robot as set forth in claim 1, wherein each of said drive units includes a wheel composed of an outer ring and a plurality of zigzag-shaped forked members for supporting said outer ring.

2. A micro robot comprising:

at least two sensor means each having a detection area partly overlapping each other and generating an output in accordance with a detected quantity;

at least one pair of wheel driving means adapted to be driven independently of each other;

a control means including a CPU for controlling said wheel driving means in accordance with the outputs of said sensor means;

a power supply unit including a rechargeable battery and a voltage regulator circuit for regulating and outputting a voltage of said battery for supplying power supply voltage to said sensor means, said wheel driving means, and said control means; and

a starting control circuit whereby during starting an output voltage of said battery and a reset signal are supplied to said control means and then after a lapse of predetermined time an output voltage of said voltage regulator circuit is supplied in place of the output voltage of said battery to said control means while releasing said reset signal.

3. A micro robot comprising:

at least two sensor means each having a detection area partly overlapping each other and generating an output in accordance with a detected quantity.;

an obstruction sensor means made of a slender rod-shaped member having one end adapted to serve as a fulcrum and the other end adapted to make a turning movement thereby detecting an obstruction in accordance with an operating condition thereof;

at least one pair of wheel driving means adapted to be driven independently of each other;

a control means including a CPU for controlling said wheel driving means in accordance with the outputs of said two sensor means, and, in response to detection of an obstruction by said obstruction sensor means, driving at least one of said wheel driving means in reverse direction for a given period of time and thereafter returning to a steady-state operation; and

a power supply unit including a rechargeable battery and a voltage regulator circuit for regulating and outputting a voltage of said battery for supplying a power supply voltage to said sensor means, said wheel driving means, and said control means; and

a starting control circuit whereby during starting an output voltage of said battery and a reset signal are supplied to said control means and then after a lapse of predetermined time an output voltage of said voltage regulator circuit is supplied in place of the output voltage of said battery to said control means while releasing said reset signal.

8. A holding case for a micro robot comprising:

at least one cavity for supporting a micro robot;

a battery box for receiving batteries capable of charging a power supply of said micro robot;

a base plate forming a charging circuit connected to said battery box for enabling charging of said micro robot, said base plate including energy supply electrodes adapted for contacting corresponding lead terminals of said micro robot;

a detachable capsule for covering said micro robot and an engaging means for engaging said micro robot to said cavity so that said lead terminals of said micro robot contact said energy supply electrodes; and

a cavity for receiving an operating instrument for said micro robot.

9. A micro robot holding case as set forth in claim 8, wherein at least any of the relations of an arrangement is satisfied in which with respect to said case proper, said robot cavity is on the right side, said battery box is on the left side, said base plate is below said robot cavity, and said operating instrument cavity is on the front side.

10. A micro robot holding case as set forth in claim 9, wherein a plurality of said robot cavities are provided between a plurality of connecting electrodes for said micro robot which are disposed on said base plate.

11. A micro robot holding case as set forth in claim 10, wherein said engaging means includes a plurality of magnets adapted to be attracted to said electrodes on said base plate whereby said lead terminals of said micro robot are held and fixed in place between said capsule and said electrodes by the attractive force of said magnets.

12. A micro robot holding case as set forth in claim 8, wherein said case proper includes signal transmission means for transmitting to and receiving signals from a controller incorporated in said micro robot to govern the operation of said micro robot, and an operation circuit for performing at least command operations on the controller of said micro robot.

13. A micro robot holding case as set forth in claim, 12, wherein said operation circuit in includes a reset circuit for resetting said charging circuit and the controller of said micro robot.

14. A micro robot holding case as set forth in claim 13, wherein said reset circuit is incorporated in said micro robot.

15. A micro robot holding case as set forth in claim 8, wherein said charging circuit includes a battery checking switch, and a reset switch operatively associated with said checking switch to short-circuit a power supply circuit of said micro robot.