Environment recognition unit and robot

{
  "publication_number": "US9871957B2",
  "country": "US",
  "kind": "B2",
  "title": "Environment recognition unit and robot",
  "abstract": "An environment recognition unit (20 a) includes a frame (201), cameras (202) arranged on a front side in the frame (201), a camera control circuit (207) disposed on a back side in the frame (201), a pair of LRFs (205) arranged laterally to the frame (201). The frame (201) includes a first duct (208) provided adjacent to the camera control circuit (207), and a second duct (210) provided adjacent to the cameras (202).",
  "claims": [
    "1. An environment recognition unit comprising: a frame; a camera disposed at a forward side in the frame and configured to capture an image in a forward direction from the frame; a control circuit disposed at a backward side in the frame, at a position backward from the camera, and configured to control the camera; a pair of distance sensors arranged at sides of the frame; a first cooling mechanism provided adjacent to the control circuit at the backward side in the frame; and a second cooling mechanism provided adjacent to the camera at the forward side in the frame.",
    "2. The environment recognition unit of claim 1, further comprising: a light source configured to illuminate in the forward direction from the frame, wherein the light source is disposed adjacent to the second cooling mechanism at a position a forward of the second cooling mechanism in the frame.",
    "3. The environment recognition unit of claim 1, wherein one of the first cooling mechanism and the second cooling mechanism is a duct, and at least one opening of the duct is positioned on a lower side or the back side in the frame.",
    "4. The environment recognition unit of claim 1, wherein one of the first cooling mechanism and the second cooling mechanism is a duct, and a sealing mechanism is attached between an opening of the duct and the frame.",
    "5. The environment recognition unit of claim 1, further comprising: a distance sensor control circuit disposed in the frame and configured to control operation of the distance sensors, wherein each of the distance sensors includes a hollow support extending laterally from the frame, a driver attached to a lower or upper portion of a tip end portion of the support, a measurer attached to a portion of the support opposite to the driver to rotate about a yaw axis, and a distance sensor harness electrically connecting the driver or the measurer to the distance sensor control circuit, and the distance sensor harness extends into the frame through an inside of the support.",
    "6. A robot comprising: a base; an environment recognition unit; and a coupling mechanism configured to rotatably couple the environment recognition unit to the base, wherein the environment recognition unit includes a frame, a camera disposed at a forward side in the frame and configured to capture an image in a forward direction from the frame, a control circuit disposed at a backward side in the frame, at a position backward from the camera, and configured to control the camera, a pair of distance sensors arranged at sides of the frame, a first cooling mechanism provided adjacent to the control circuit at the backward side in the frame, and a second cooling mechanism provided adjacent to the camera at the forward side in the frame.",
    "7. The robot of claim 6, wherein the environment recognition unit is disposed above the base, and the coupling mechanism couples the environment recognition unit and the base such that the environment recognition unit is configured to rotate about a pitch axis or a roll axis relative to the base.",
    "8. The robot of claim 6, further comprising: a plurality of movable links; and a plurality of joint mechanisms each coupled such that a corresponding one of the movable links is configured to rotate relative to the base, wherein the plurality of movable links include a pair of right and left arm links provided at an upper portion of the base, and a pair of right and left leg links provided at a lower portion of the base, the robot is switchable between a two-legged walking mode using only the leg links or the arm links and a four-legged walking mode using the leg links and the arm links, and the coupling mechanism couples the environment recognition unit and the base such that the environment recognition unit is configured to rotate about a pitch axis or a roll axis relative to the base.",
    "9. The environment recognition unit of claim 1, wherein the first cooling mechanism is one of a duct and a radiator; and the second cooling mechanism is one of a duct and a radiator.",
    "10. The robot of claim 6, wherein the first cooling mechanism is one of a duct and a radiator; and the second cooling mechanism is one of a duct and a radiator."
  ],
  "description_excerpt": "Field of the Invention\n\nThe present invention relates to an environment recognition unit configured to recognize ambient environment and to a robot.\n\nDescription of the Related Art\n\nConventionally, there is a robot including, as in a human, a base serving as a body, a head provided at an upper portion of the base, arms extending from the base, and hands each provided as an end effector at a corresponding one of tip end portions of the arms.\n\nA robot configured such that an environment recognition unit using a distance sensor such as a laser range finder (hereinafter referred to as an “LRF”) is disposed at a head in order to recognize environment in an area where a task(s) is performed using end effectors has been known as the robot of this type (see, e.g., Japanese Patent Laid-Open No. 2011-212818).\n\nIn the case where a human operates the conventional robot to perform a task(s) using the end effectors of the robot, it has been demanded that not only the distance sensor such as the LRF but also a camera are mounted on the environment recognition unit to sufficiently recognize environment in the working area.\n\nHowever, in the case of mounting the camera, a satisfactory cooling function is required for the environment recognition unit in order to cool the camera.\n\nThe conventional robot is not configured considering waterproofing from rainwater etc. For this reason, in order to enhance waterproof properties, the method of enhancing frame airtightness in an entire environment recognition unit or the method of covering, with a cover, the entirety of a robot using an environment recognition unit may be employed.",
  "cpc": [
    "H04N 7/181",
    "G01B 11/026",
    "G01B 11/25",
    "G01S 17/88",
    "G06K 9/00664",
    "G06V 20/10",
    "H04N 23/52",
    "H04N 23/57",
    "H04N 5/2257",
    "H04N 5/232",
    "H04N 7/185",
    "Y10S 901/01"
  ],
  "ipc": [
    "B25J 9/16",
    "G06K 9/00",
    "H04N 5/225",
    "H04N 5/232",
    "H04N 7/18",
    "G01B 11/02",
    "G01B 11/25",
    "G01S 17/88",
    "G05B 15/00"
  ],
  "assignees": [
    "Honda Motor Co Ltd"
  ],
  "inventors": [
    "Hiroaki Ono",
    "Yasuhiro Yamasaki",
    "Ryuma Ujino",
    "Minami Asatani"
  ],
  "filing_date": "2016-02-12",
  "publication_date": "2018-01-16",
  "grant_date": "2018-01-16",
  "priority_date": "2015-02-17",
  "application_number": "US-201615042409-A",
  "family_id": "56622487",
  "cited_by_count": 1,
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}