Robot movable in a group

• US 4,028,533 A
• Filed: 12/29/1975
• Issued: 06/07/1977
• Est. Priority Date: 12/31/1974
• Status: Expired due to Term

• Current Assignee: Techno Venture Co., Ltd.
• Original Assignee: Techno Venture Co., Ltd.
• Inventors: Matsubara, Sueo
• Primary Examiner(s): Botz, Eugene G.
• Application Number:
  US05/644,469
• Time in Patent Office: 526 Days
• Field of Search: 180/98, 235/150.2
• US Class Current: 700/248
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023

Abstract

Robots in a group, each usually moving randomly in irregular directions but making a specific movement, upon detection by one of them, of any other robot of the group present within a certain distance, either to run away from or run after the detected other robot.

Claims

1. Robots movable in a group, each of said robots being movable in one of at least two different modes of movement at a time and comprising:

identifying means for identifying the relative positions between this robot and the other robots of the group and for thereby generating a position signal representing the relative positions between said this robot and said the other robots of the group;

mode control means operatively associated with said identifying means for selecting one mode at a time out of said at least two different modes in accordance with said position signal received from said identifying means and for thereby generating a mode signal corresponding to said selected mode; and

moving means operatively associated with said mode control means for receiving said mode signal and for thereby actuating said this robot to move in one of said at least two modes which is selected by said mode control means.

2. Robots movable in a group according to claim 1, in which:

said at least two modes of movement of each of said robots in the group includes a random mode which means that said this robot moves randomly in irregular directions independently of the other robots of the group, and a run-away mode which means that said this robot runs away from the other robots of the group which are present within a first area near said this robot to thereby avoide a collision against said the other robot;

and in which;

said indentifying means generates a first position signal when there is any other robot of the group present within said first area said this robot, and generates a second position signal when no other robot is present within said first area of said this robot;

and in which, said mode control means generates, upon receipt of said first position signal, a run-away mode signal, and generates, upon receipt of said second position signal, a random mode signal;

and in which;

said moving means actuates said this robot, upon receipt of said run-away mode signal, to move in said run-away mode of movement, and actuates said robot, upon receipt of said random mode signal, to move in said random mode of movement.

3. Robots movable in a group according to claim 2, in which:

each of the robots of said group further comprises a light-radiating means provided on the robot; and

in which;

said identifying means includes photo-sensing means sensitive to the light rays radiated from said light-radiating means, said photo-sensing means being disposed on the robot to face said first area to generate a sensing signal of a level corresponding to the amount of light rays passing through said first area and impinging onto said photo-sensing means;

and in which;

said first and second position signals are signals associated with said sensing signal.

4. Robots movable in a group according to claim 3, in which:

said light-radiating means is means for radiating infrared rays, and

said photo-sensing means is means sensitive to the infrared rays radiated from said light-radiating means.

5. Robots movable in group according to claim 2, in which:

said moving means includes;

a motor provided on the robot;

a rotary wheel connected to the rotary shaft of said motor for rotation according to the rotation of said shaft, driving means for receiving said run-away mode signal and said random mode signal and for thereby driving said motor in response to said two mode signals received.

6. Robots movable in a group according to claim 2, in which:

said mode control means includes;

random signal generating means for generating random signals to be delivered out through gate means as said random mode signal; and

run-away mode signal generating means for generating said run-away mode signal upon receipt of said first position signal, and for generating a gate control signal;

said gate means being brought into the closed state upon receipt of said gate control signal.

7. Robots movable in a group according to claim 2, in which,

said moving means includes:

two motors provided on the robot;

two rotary wheels connected to the rotary shafts of said motors, respectively, for rotation with the rotation of said shafts and disposed at substantially opposite positions with respect to the center axis of the robot; and

motor driving means for driving one or both of said motors in response to said run-away and random mode signals.

8. Robots movable in a group according to claim 3, in which,

said first area is divided into a plurality of sub-areas;

and in which,

said photo-sensing means correspond to said sub-areas and are disposed to face the respective sub-areas of said first area, respectively and generate sensing signals of levels corresponding to the amount of light rays impinging through said sub-areas of said first area onto said photo-sensing means, respectively,

and in which;

said first and second position signals are binary coded signals representing the presence of the other robots of the group within said sub-area of said first area, which binary coded signals being formed on basis of a set of said sensing signals of both said photo-sensing means.

9. Robots movable in a group according to claim 8, in which:

said identifying means further includes comparing means provided correspondly to said photo-sensing means for comparing the level of said sensing signals with a first reference voltage whose level is determined so that, when said respective sensing means receive the light rays radiating from said light-radiating means of the other robots of the group present within said first area of said this robot, said respective comparing means deliver out the output signal of a certain level;

said first and second position signals being binary coded signals representing the presence of other robots of the group in said sub-areas of said first area and which binary coded signals being formed on basis of a set of the output signals of said comparing means.

10. Robots movable in a group according to claim 8, in which:

said mode control means includes;

a first group and a second group of output lines;

random signal generating means for generating a pair of mutually independent random signals, said pair of random signals being delivered, as said random mode signal, through gate means of said mode control means onto said first and second group of output lines of said mode control means; and

run-away mode signal generating means operatively associated with said identifying means for generating said run-away mode signal upon receipt of said binary coded signal of said identifying means, and for generating a gate control signal, and for thereby delivering this run-away mode signal onto one or both of said first group and second group of output lines in correspondence to said received binary coded signal, said gate means being rendered closed upon its receipt of said gate control signal, and in which;

said moving means includes;

a first and a second motor provided on said robot;

a first and a second wheel disposed substantially at opposite positions with respect to the center axis of said motors and connected to the rotary shafts of said first and second motors, respectively, for rotation with the rotation of said motors; and

a first and a second motor dirving means operatively associated with said mode control means for receiving said random mode signal and said run-away mode signals correspondingly via said first and second groups of output lines, respectively, and for thereby driving said first and second motors in correspondence to said random mode signal and said run-away mode signal received by said first and second motor driving means.

11. Robots movable in a group according to claim 10, in which:

said run-away mode signal generating means includes;

means for receiving said binary coded signal from said identifying means and for thereby decoding the received said binary coded signal into a corresponding decimal signal,

said run-away mode signal being formed, by logical methods, on the basis of said decimal signal.

22. Robots movable in a group according to claim 2, each of said robots further comprising:

boundary detecting means for detecting the boundary of a movement area wherein said robots in group are allowed to move around and for thereby generating a boundary detecting signal representing the fact that the robot is positioned close to said boundary, and in which;

said mode control means further includes;

boundary mode signal generating means operatively associated with said boundary detecting means for generating a boundary mode signal upon receipt of said boundary detecting signal; and

gate means for being rendered to the closed state upon receipt of said boundary mode signal;

said random mode signal and said run-away mode signal being delivered out, through said gate means, from said mode control means, and in which;

said moving means actuates said robot, upon receipt of said boundary mode signal from said mode control means, to move in a boundary mode of movement away from said boundary of said movement area.

33. Robots movable in a group according to claim 8, in which:

each of said sub-areas of said first area consists of a fan-like shape diverging at a certain radius substantially from the center axis of said robot; and

said photo-sensing means are positioned substantially at said center axis of said robot.

12. Robots movable in a group, each of said robots being movable in one of at least three different modes of movement at a time and comprising:

identifying means for identifying the relative positions of one of said robots with respect to the other robots of said group and for thereby generating a position signal representing the relative positions of said one of said robots with respect to the other robots of said group;

mode control means operatively associated with said identifying means for selecting one mode at a time out of said three different modes in accordance with said position signal received by this mode control means and for thereby generating a mode signal corresponding to the selected mode; and

moving means operatively associated with said mode control means for receiving said mode signal and for thereby actuating said one of said robots to move in said one mode selected by said mode control means.

13. Robots movable in a group according to claim 12, in which:

said identifying means generates a first position signal when there is any other robots of said group present within a first area near said one of said robots, and generates a second position signal when there is any other robots of said group present within a second area located beyond said first area of said one of said robots, and also generates a third position signal when there is no other robots of said group present within both said first and said second areas of said one of said robots, and in which;

said control means generates a run-away mode signal upon receipt of said first position signal, and a run-after mode signal upon receipt of said second position signal and not said first position signal, and also a random mode signal upon receipt of said third position signal, and in which;

said moving means actuates said one of said robots, upon receipt of said run-away mode signal, to move in said run-away mode away from the other robots of said group which are present within said first area of said one of said robots to thereby avoid the collision against said the other robots, and actuates said one of said robots, upon receipt of said run-after mode signal, to move in said run-after mode which mode means that said one of said robots runs after the other robots of said group which are present within said second area of said one of said robots, at a certain distance left between said one of said robots and said the other robots of the group, and also actuates said one of said robots, upon receipt of said random mode signal, to move in said random mode which mode means that said one of said robots moves randomly in irregular directions and independently of the other robots of said group.

14. Robots movable in a group according to claim 13, in which:

each of said robots of said group further comprises a light-radiating means provided thereon, and in which;

said identifying means includes photo-sensing means sensitive to the light rays radiating from said light-radiating means, said photo-sensing means being disposed so as to receive the light rays passing through said first and said second areas to generate a sensing signal whose level corresponds to the amount of light rays received by said photo-sensing means, and in which;

said first, said second and said third position signals are signals related to said sensing signal.

15. Robots movable in a group according to claim 13, in which:

said mode control means includes;

run-away mode signal generating means operatively associated with said identifying means for generating said run-away mode signal upon receipt of said first position signal;

run-after mode signal generating means operatively associated with said identifying means for generating said run-after mode signal upon receipt of said second position signal;

random signal generating means for generating random signals;

first gate means operatively associated with said identifying means for being rendered to the closed state upon receipt of said first position signal; and

second gate means operatively associated with said identifying means for being rendered to the closed state upon receipt of said first and/or said second position signal,

said run-after mode signal being delivered out, through said first gate means, from said mode control means, said random signals being delivered out as said random mode signal, through said second gate means, from said mode control means.

16. Robots movable in a group according to claim 14, in which:

said first and said second areas are respectively divided into plural sub-areas, and in which;

said photo-sensing means corresponding to said respective sub-areas of said first and second areas are disposed on the robot to face said respective sub-areas of said first and second areas and generate sensing signals of levels corresponding to the amount of light rays impinging onto said respective photo-sensing means through said corresponding sub-areas of said first and second areas, and in which;

said first, second and third position signals are binary coded signals representing the presence of the other robots of said group within said respective sub-areas of said first and second areas, which binary coded signals are formed on the basis of a set of said sensing signals of said photo-sensing means.

17. Robots movable in a group according to claim 16, in which:

said identifying means further includes;

first comparing means for comparing the levels of said sensing signals corresponding to said sub-areas of said first area with a first reference voltage whose level is determined so that, when said photo-sensing means receive the light rays radiating from said light-radiating means of the other robots of the group which are present within said sub-areas of said first area, said respective first comparing means will output the output signals of a certain level, and

said first position signal being a first binary coded signal representing the presence of the other robots of the group within said sub-areas of said first area, said first binary coded signal being formed on the basis of a set of the output signals of said first comparing means.

18. Robots movable in a group according to claim 16, in which:

said identifying means further includes;

second comparing means for comparing the levels of said sensing signals corresponding to said sub-areas of said second area with a second reference voltage whose level is established so that, when said photo-sensing means receive the light rays radiating from said light-radiating means of the other robots of said group which are present within said sub-areas of said second area, said respective second means deliver out the output signals of a certain level; and

third comparing means for comparing the levels of any two signals, for all such signals, of said sensing signals corresponding to said sub-areas of said second area, and for delivering out the output signals of a certain level when such two sensing signals are different in level from each other;

said second position signal being formed as a second binary coded signal representing the presence of the other robots of said group within said sub-areas of said second area, on the basis of said output signals of said third comparing means.

19. Robots movable in a group according to claim 16, in which:

said first and second areas, when combined, include plural fan-shaped areas diverging at a certain radius from substantially the center of said robot, said first area including portions of said fan-shaped areas located within a first distance from said center of said robot, said second area consisting of those portions of said fan-shaped areas located beyond said first distance from said center of said robot, and in which;

said photo-sensing means are positioned substantially at said center of said robot.

20. Robots movable in a group according to claim 15, in which:

said run-away mode signal generating means includes;

first means for receiving said first binary coded signal from said identifying means and for thereby decoding said received first binary coded signal into a corresponding decimal signal, said run-away mode signal being formed, by a logical method, based on said decimal signal of said run-away mode signal generating means, and in which;

said run-after mode signal generating means includes;

second means for receiving said second binary coded signal from said identifying means and for thereby decoding said received second binary signal into another corresponding decimal signal, said run-after mode signal being formed, by a logical method, based on said another decimal signal.

21. Robots movable in a group according to claim 19, in which:

said photo-sensing means corresponding to said sub-areas of said second area are common to some of said photo-sensing means corresponding to said sub-areas of said first area.

23. Robots movable in a group according to claim 13, each of said robots further comprising:

boundary detecting means for detecting the boundary of a movement area wherein said robots in group are allowed to move around and for thereby generating a boundary sensing signal representing the fact that the robot is positioned close to said boundary; and

in which;

said mode control means further includes;

boundary mode signal generating means operatively associated with said boundary detecting means for generating a boundary mode signal upon receipt of said boundary detecting signal; and

gate means for being rendered to the closed state upon receipt of said boundary mode signal;

said random mode signal, said run-away mode signal and said run-after mode signal which are delivered out, through said gate means, from said mode control means, and in which;

said moving means actuates said robot, upon receipt of said boundary mode signal from said mode control means, to move in a boundary mode of movement away from said boundary of said movement area.

24. A robot movable by itself within a given movement area without use of any guiding means for guiding the movement of the robot, comprising:

boundary detecting means for detecting the boundary of said movement area and for thereby delivering a boundary detecting signal representing the fact that the robot is positioned close to said boundary;

random signal generating means for generating a random signal;

mode control means for receiving said boundary detecting signal and said random signal and thereby generating a boundary mode signal upon receipt of said boundary detecting signal, and also generating a random mode signal in the absence of said boundary detecting signal; and

moving means for receiving said boundary mode signal and said random mode signal and for thereby causing said robot, upon receipt of said random mode signal, to move in a random mode of movement, and also causing said robot, upon receipt of said boundary mode signal, to move in a boundary mode of movement,

whereby in said random mode of movement the robot moves randomly in irregular directions in response to said random mode signal and,

in said boundary mode of movement the robot moves away from said boundary which has been detected by said boundary detecting means.

25. A robot according to claim 24, in which:

said boundary detecting means includes;

a sensing coil for sensing an electro-magnetic field radiating along said boundary of said moving area and for thereby inducing a voltage;

an amplifier for amplifying said induced voltage in said sensing coil; and

a comparator for comparing the level of said output of said amplifier with a reference voltage having a certain level which level is such that, when said sensing coil approaches very close to said boundary, said comparator will deliver out the output signal as said boundary detecting signal.

26. A robot according to claim 25, in which:

said random signal generating means includes;

at least two shift registers;

a generator for generating a shifting pulse for said shift registers;

phase invertors and exclusive OR gates arranged in series circuits,

plural signals outputted from said respective shift registers being respectively fed, through said series circuits of the phase invertors and the exclusive OR gates, back to the input sides of said respective shift registers, said random signals being taken out from arbitrary points in said series circuits.

27. A robot according to claim 24, in which:

said moving means includes;

a pair of motors fixed on said robot;

a pair of wheels which are respectively connected to the rotary shafts of said motors for rotation in accordance with the rotation of said rotary shafts; and

a motor driving circuit for receiving said boundary mode signal and said random mode signal and for thereby driving one or both of said motors in response to said boundary mode signal and said random mode signal, said wheels being desposed substantially at opposite positions with respect to the center axis of said robot.

28. A robot according to claim 24, in which:

said mode control means includes gate means for being rendered to the closed state upon receipt of said boundary detecting signal, said random signal being delivered out as said random mode signal, through said gate means, from said mode control means.

29. A method for controlling the movements of robots movable in a group, comprising:

identifying the relative positions between one of said robots and the other robots of the group and thereby generating a position signal representing the relative positions between said one of said robots and said the other robots of the group;

selecting one mode of movement, at a time, out of at least two different modes in accordance with said position signal; and

moving this robot in said one mode which is selected.

30. A method according to claim 29, in which:

said at least two modes include a random mode, a runaway mode for avoiding the collision of said one of the robots against the other robots of the group, and a run-after mode for running after the other robots of the groups,

selecting said run-away mode whenever said one of said robots identifies the presence of the other robots within a first area near this one of said robots to avoid the collision thereof against the othe robots,

selecting said run-after mode whenever said one of said robots identifies the absence of the other robots within said first area and the presence of said other robots within a second area located beyond said first area, causing said one of said robots to run after the other robots, and

selecting said random mode whenever said one of said robots identifies the absence of the other robots in not only the first area but also the second area, causing said one of said robots to move randomly in irregular directions.

31. A method according to claim 30, in which:

said at least two modes further include a second run-away mode to keep the robots from surpassing a boundary which limits the range in which these robots are allowed to move, and

at the arrival of any one of said robots at the boundary, said second run-away mode is selected in priority to the remaining three of the modes.

32. A method according to claim 30, in which:

when said run-away mode is selected, said one of the robots is halted temporarily, and thereafter when said one of the robots identifies that said other robots are still present in said first area, said one of the robots is caused to move away from the other robots.