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US 10,850,370 B2Granted
Holding device, flight body, and transport system
AssigneeKabushiki Kaisha Toshiba
InventorsJunya Tanaka, Keisuke Kamata, Kohei Nara
Life of this patent
Estimating the term…
Abstract
According to one embodiment, a holding device includes a suction device, a sucker, a light amount sensor, and a controller. The suction device is configured to suction gas. The sucker is configured to communicate with the suction device and to adhere to an object by suction of the suction device. The light amount sensor is configured to two-dimensionally detect an amount of light from the object. The controller is configured to control the suction device on the basis of information detected by the light amount sensor.
Claims16
A holding device, comprising:
- a sucker configured to adhere to an object, the sucker having a cavity:
- a suction device configured to communicate with the sucker and to suction a gas inside the sucker to cause the sucker to adhere to the object;
- an image sensor configured to two-dimensionally detect an amount of light from the object and detect light incident through the cavity;
- and
- a controller configured to determine whether the object is in proximity to the sucker based on a two-dimensional light amount distribution detected by the image sensor and to control the suction device to perform suction when the controller determines that the object is in proximity to the sucker.
2 more elements
A holding device, comprising:
- a sucker configured to adhere to an object;
- a suction device configured to communicate with the sucker and to suction a gas inside the sucker to cause the sucker to adhere to the object;
- an image sensor configured to two-dimensionally detect an amount of light from the object;
- a controller configured to control the suction device based on information detected by the image sensor;
- an adhesion unit comprising the sucker and a support member configured to support the sucker;
- and
- an actuator configured to move the image sensor between a first position at which the image sensor is entirely inside the adhesion unit and a second position at which at least a part of the image sensor is outside the adhesion unit.
4 more elements
A holding device, comprising:
- a sucker configured to adhere to an object;
- a suction device configured to communicate with the sucker and to suction a gas inside the sucker to cause the sucker to adhere to the object;
- an image sensor configured to two-dimensionally detect an amount of light from the object;
- a controller configured to control the suction device based on information detected by the image sensor;
- a switching valve switchable between a first state in which a flow path between the suction device and the sucker is allowed to communicate with an atmospheric pressure space and a second state in which communication between the flow path and the atmospheric pressure space is blocked;
- a drive device configured to perform driving of the suction device and the switching valve;
- and
- a pressure sensor configured to detect a pressure of the gas in the flow path.
5 more elements
A holding device, comprising:
- a sucker configured to adhere to an object;
- a suction device configured to communicate with the sucker and to suction a gas inside the sucker to cause the sucker to adhere to the object;
- a light amount sensor configured to two-dimensionally detect an amount of light from the object;
- a controller configured to control the suction device based on information detected by the light amount sensor;
- a support member configured to support the sucker, wherein the support member has an air hole which communicates with the sucker and the suction device, and the light amount sensor is spaced from the air hole toward the suction device;
- and
- an elastic member configured to support the light amount sensor with respect to the support member.
4 more elements
A transport system, comprising:
- a holding device comprising a sucker configured to adhere to an object, a suction device configured to communicate with the sucker and to suction gas inside the sucker to cause the sucker to adhere to the object, a light amount sensor configured to two-dimensionally detect an amount of light from the object, and a controller configured to control the suction device based on information acquired by the light amount sensor;
- a movement mechanism configured to move the holding device;
- a recognition device configured to recognize the object;
- and
- a movement mechanism controller configured to control the movement mechanism based on an output from the recognition device,
- wherein the controller is further configured to determine an adhesion state between the sucker and the object based on a change in the amount of light detected by the light amount sensor.
3 more elements
A transport system, comprising:
- a holding device comprising a sucker configured to adhere to an object, the sucker having a cavity, a suction device configured to communicate with the sucker and to suction a gas inside the sucker to cause the sucker to adhere to the object, an image sensor configured to two-dimensionally detect an amount of light from the object and to detect light incident through the cavity, and a controller configured to determine whether the object is in proximity to the sucker based on a two-dimensional light amount distribution detected by the image sensor and to control the suction device to perform suction when the controller determines that the object is in proximity to the sucker;
- a movement mechanism configured to move the holding device;
- a recognition device configured to recognize the object;
- and
- a movement mechanism controller configured to control the movement mechanism based on an output from the recognition device.
2 more elements
Dependencies are inferred from the claim text.