Environment recognition device and robot

Patent metadata

Field	Value
Publication number	US-9643319-B2
Application number	US-201615042415-A
Country	US
Kind code	B2
Filing date	Feb 12, 2016
Priority date	Feb 17, 2015
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

An environment recognition device ( 20 ) is provided with a first opening ( 20 c 1 ) through which a harness ( 20 g ) passes on a side surface of a frame ( 20 c ) below an environment recognition unit ( 20 a ). An upper base ( 10 ) below the frame ( 20 c ) is provided with a second opening ( 10 b ) through which the harness ( 20 g ) passes. A coupling mechanism ( 21 ) configured to couple the environment recognition unit ( 20 a ) and the upper base ( 10 ) supports the frame ( 20 c ) such that the frame ( 20 c ) is rotatable about an axis parallel to an upper surface of the upper base ( 10 ). A cover ( 21 a ) covers the first opening ( 20 c 1 ), the second opening ( 10 b ), and part of the harness ( 20 g ) extending between the first opening ( 20 c 1 ) and the second opening ( 10 b ).

First claim

What is claimed is:

1. An environment recognition device including
a hollow base,
an environment recognition unit disposed above the base,
an environment recognition unit control circuit disposed in the base and configured to control the environment recognition unit,
a coupling mechanism attached to an upper portion of the base and configured to couple the environment recognition unit to the base, and
a harness configured to electrically connect the environment recognition unit and the environment recognition unit control circuit, the environment recognition device comprising:
a frame extending from a lower surface of the environment recognition unit to the base,
wherein the frame is provided with a first opening through which the harness passes, on a side surface thereof,
the base is provided with a second opening through which the harness passes,
the coupling mechanism supports the frame such that the environment recognition unit is rotatable about an axis parallel to an upper surface of the base, and
a cover configured to cover at least the first opening, the second opening, part of the harness extending between the first and second openings is provided between the base and the environment recognition unit.

2. The environment recognition device of claim 1 , wherein
the base is provided with a water drain hole penetrating the base, below the frame of the environment recognition unit.

3. The environment recognition device of claim 1 , wherein
a drive mechanism configured to rotate the environment recognition unit is provided inside of the frame.

4. The environment recognition device of claim 1 , wherein
a drive mechanism configured to rotate the environment recognition unit is provided inside of the cover.

5. The environment recognition device of claim 1 , wherein
the coupling mechanism supports the frame such that the environment recognition unit is rotatable about a pitch axis relative to the base, and
the environment recognition unit includes a first sensor configured to recognize environment forward of the base, and a pair of right and left second sensors arranged at both sides of the environment recognition unit and configured to recognize environment of sides of the base.

6. The environment recognition device of claim 5 , further comprising:
a second sensor control equipment disposed in the environment recognition unit and configured to control operation of the second sensors, wherein
each second sensor includes:
a hollow support extending laterally from the environment recognition unit;
a driver attached to a lower tip end portion or an upper tip end portion of the support;
a measurer attached to the support at an opposite side to the driver to rotate about a yaw axis; and
a distance sensor harness configured to electrically connect the driver or the measurer with the second sensor control equipment, wherein

the distance sensor harness extends into the environment recognition unit through an inside of the support.

7. A robot comprising:
an environment recognition device including a hollow base;
a joint mechanism; and
a movable link coupled to the base via the joint mechanism, wherein
the environment recognition device comprises:
an environment recognition unit disposed above the base;
an environment recognition unit control circuit disposed inside the base and configured to control the environment recognition unit;
a coupling mechanism attached to an upper portion of the base and configured to couple the environment recognition unit to the base;
a harness configured to electrically connect the environment recognition unit and the environment recognition unit control circuit;
a frame extending from a lower surface of the environment recognition unit to the base, wherein

the frame is provided with a first opening through which the harness passes, on a side surface thereof,
the base is provided with a second opening through which the harness passes,
the coupling mechanism supports the frame such that the environment recognition unit is rotatable about an axis parallel to an upper surface of the base, and
a cover configured to cover at least the first opening, the second opening, part of the harness extending between the first and second openings is provided between the base and the environment recognition unit.

8. The robot of claim 7 , wherein
the movable link includes a plurality of movable links,
the joint mechanism includes a plurality of joint mechanisms each configured to rotatably couple a corresponding one of the plurality of movable links to the base,
the plurality of movable links include a pair of right and left arm links provided at the 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 supports the frame such that the environment recognition unit is rotatable about a pitch axis relative to the base.

Assignees

• Honda Motor Co Ltd

Inventors

• Ono Hiroaki
• Yamasaki Yasuhiro

Classifications

• B25J19/022

  using lasers · CPC title

• B25J19/023 Primary

  including video camera means · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title