An electric power-steering device has a speed-reducing mechanism (17) for reducing the speed of an output shaft (16) of an electric motor (15). The speed-reducing mechanism (17) has an internal gear (39) engaged and rotated with the output shaft (16) and an external gear (40) with which the internal gear (39) internally meshes. A drive pulley (41) rotatable together with the external gear (40) and a driven pulley (42) provided so as to surround a steering shaft are connected by an endless belt (43). Speed reduction is obtained by the internal gear (39) and the external gear (40), and the speed-reducing mechanism (17) as a whole achieves a high reduction ratio without greatly reducing the diameter of the drive pulley (41).

Electric power-steering device

An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.

Autonomous floor-cleaning robot

An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Navigational control system for a robotic device

An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

Autonomous coverage robot

An autonomous coverage robot includes a chassis having forward and rearward portions and a drive system carried by the chassis. The forward portion of the chassis defines a substantially rectangular shape. The robot includes a cleaning assembly mounted on the forward portion of the chassis and a bin disposed adjacent the cleaning assembly and configured to receive debris agitated by the cleaning assembly. A bin cover is pivotally attached to a lower portion of the chassis and configured to rotate between a first, closed position providing closure of an opening defined by the bin and a second, open position providing access to the bin opening. The robot includes a body attached to the chassis and a handle disposed on an upper portion of the body. A bin cover release is actuatable from substantially near the handle.

Compact autonomous coverage robot

The ambulatory robot is provided with front legs and rear legs that are constituted so that the lengths from the origins of the front legs and the rear legs to their terminal portions can be varied. In walking, the front legs and the rear legs are rotated and the lengths of the front legs and the rear legs are changed so that the front legs are raised from the ground surface while the rear legs are maintained in contact with the ground. Then, the front legs and the rear legs are rotated and the lengths of the legs are changed so that the front legs raised from the ground surface are replaced on the ground in the direction of ambulation and the rear legs that were maintained in contact with the ground are raised from the ground surface. Then, the front legs and the rear legs rotate and the lengths of the legs change so that the rear legs so raised from the ground surface are replaced on the ground in the direction of ambulation. Control in this manner is repeated while maintaining the trunk in a substantially erect posture as the ambulatory robot walks.

Ambulatory robot and ambulation control method for same

This invention relates to the controlling of the travel of a crawler vehicle and aims at resolving the issue of making a crawler vehicle travel on an ungraded land with the crawlers effectively gripping the road surface. According to the present invention, the loads imparted to crawlers (12FL, 12FR, 12RL, 12RR) are detected, and, on the basis of the results of this detection, the sum of the loads on a pair of crawlers (12FL, 12RR) at the front left and rear right sides of a vehicle and the sum of the loads on a pair of crawlers (12FR, 12RL) at the front right and rear left sides thereof are computed. When a difference between the sums thus computed has become not lower than a predetermined level, it means that diagonal stack occurs. In such a case, the pivots (14) of a pair of crawlers having smaller loads are driven in a direction in which the loads imparted to the same crawlers increase, so that the floated pair of crawlers contact the road surface, these crawlers thus capable of providing an effective driving force. This invention is used mainly when a natural disaster rescue crawler vehicle travels on an outdoor ungraded land.

Traction controller for crawler vehicles

PROBLEM TO BE SOLVED: To prevent dynamic roll-over of a flying body which has double inversion type rotational blades at the time of taking-off, and easily perform various control with a simple structure. SOLUTION: At least two area adjustment means 33 are arranged on a lower side of two horizontal rotational blades 25, 26, so as to be opposed to each other in a vertical shaft 23 each of the adjustment means 33 can be freely adjusted in its projection area receiving downward air flow generated by the rotation of the rotational blades 25, 26. Projection areas of the opposed adjustment means 33 are decreased by the same rate during ascending, while they are increased by the same rate during descending. By so controlling the adjustment means 33, a flying body 20 is controlled.

Unmanned and freely controlled flying body with low speed

PURPOSE: To enable a robot to stably carry out dynamic walk by rotating a fore leg and a hind leg so that one of the fore leg and the hind leg is made into contact with the ground while the other one thereof is lifted up from the ground surface, and by changing the lengths of both legs which are therefore alternately made into contact with the ground in a walking direction. CONSTITUTION: The length of a hind leg 4 is shortened so as to shift the center C of gravity toward the hind leg 4, and accordingly, a substantial part of the weight is exerted to the hind leg 4. Then, the length of a fore leg 3 is shortened while a shoulder joint motor and an elbow joint motor are rotated so that a body 2 is raised in an upright direction I, and accordingly, the front leg 3 is lifted from the ground surface. Then, the robot 1 starts inclining in a direction K about the axis connecting between the ground contact points 4a, 4a of the hind leg 4 as a rotational fulcrum axis, and accordingly, the length of the fore leg 3 is shortened and swung in a direction H. Next, the fore leg 3 is extended so as to be made into contact with the ground in an walking direction. Then, the hind leg 4 is turned in the walking direction about the fore leg 3 as a fulcrum. The above-mentioned steps are repeated.

Device and method for controlling walking of walking robot

PURPOSE: To measure the distance quickly by comparing two images picked up simultaneously from the same one target object for only a partial picture element within a specific range in reference to spot light instead of the total picture elements of image. CONSTITUTION: Spot light L with a brightness greater than external light is projected toward a target object 3. Then, by retrieving maximum brightness points PML and PMR from images 14 and 15 picked up by two image pick-up means 1 and 2, coordinate positions (XML, YML) and (XMR, YMR) on the images 14 and 15 of the projection points PML and PMR of the spot light L are obtained for each of the images 14 and 15 picked up by each of the image pick-up means 1 and 2. A partial image located within specific ranges Ar and A'r near the spot light projection points PML and PMR is extracted from the total images 14 and 15 which are picked up by each of the image pick-up means 1 and 2, the extracted partial images Ar and A'r are compared by image processing, and coordinate positions PL (XL, YL) and PR (XR, YR) on the images 14 and 15 of the target object 3 are obtained by each of the image pick-up means 1 and 2. COPYRIGHT: (C)1995,JPO

Distance measuring instrument

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