1. In an autonomously moving robot which drives while evading obstacles, it comprises:
a memory means for memorizing map information of driving domain and various parameters for driving;
an input instruction means for inputting a destination and a command for moving;
a route forming means for forming a driving route to the destination;
an environmental information acquisition means for acquiring environmental information on the driving route including an object becoming an obstacle;
a driving means for driving it; a self-location recognition means for recognizing a self-location on a basis of information provided by the above environmental information acquisition means and the map information; and
a driving control means for controlling the driving means to arrive at the destination while evading obstacles with recognizing the self-location by the self-location recognition means by oneself; wherein
the above environmental information acquisition means further comprises:
an imaging apparatus for taking an environmental image on the driving route;
an image recognition processing means for extracting an area having a property relating to a region of a human body by arithmetically processing a photographed image data;
a ranging apparatus for detecting an object existing in an environment on the driving route and measuring a range and an orientation of the object;
a range information analyzing means for obtaining a shape of the object by arithmetically processing a range data of the measured object and recognizing the object is a candidate of a person from the shape; and
an environment recognition means for comparing a location of an area having the property extracted by the image recognition processing means with a location of an object which is recognized as a candidate of a person by the range information analyzing means, and recognizing the object as a person when both of them agree with.
2. In the autonomously moving robot described in claim 1, characterized by that
the image recognition processing means arithmetically processing an image data with respect to the orientation of the object obtained by the range information analyzing means, and the environment recognition means performs recognition processes with respect to a portion corresponding to the orientation of the object.
3. The autonomously moving robot described in claim 1, characterized by that
the ranging apparatus performs ranging with respect to an area extracted by the image recognition processing means, and the environment recognition means performs recognition processing with respect to a portion corresponding to the orientation of the extracted area.
4. The autonomously moving robot described in claim 1, characterized by that
the ranging apparatus is comprised of a laser-radar which measures a range to an obstacle by scanning a plane parallel to a driving road surface at a previously set angle.
5. The autonomously moving robot of described in claim 1, characterized by that
the range information analyzing means recognizes an object as a candidate of a person when a width of the object obtained by arithmetically processing the range data is in a previously established region.
6. The autonomously moving robot of described in claim 1, characterized by that
the range information analyzing means recognizes an object as a candidate of a person when a measured range to the object is not coincided with a range to an object on a memorized map.
7. The autonomously moving robot of described in claim 1, characterized by that
the imaging apparatus is a camera mounted on the autonomously moving robot, and coordinate of an image taken by it can be converted to a standard coordinates system of the autonomously moving robot.
8. The autonomously moving robot of described in claim 1, characterized by that
the image recognition processing means includes at least a specific color area detecting unit-for detecting a specific color area from a photographed image data and a shape characteristic processing unit for arithmetically processing with respect to a shape of a specific color area detected by the specific color area detecting unit, and recognizes the specific color area as a candidate of a person when the detected specific color area satisfies shape characteristic condition previously established.
9. The autonomously moving robot of described in claim 1, characterized by that
the environment recognition means calculates a ratio of a planar dimension of an area of a color of human skin detected in the image with respect to a planar dimension of an area of a color of human skin at a range previously established from the autonomously moving robot to a person, and judges whether the detected person awakes the autonomously moving robot or not by comparing the ratio with a threshold value previously established.
10. The autonomously moving robot of described in claim 1, characterized by that
the driving control means controls the driving means to stop when an object recognized as a person exists in a moving direction of the autonomously moving robot and within a range previously established, to evade an obstacle when the object recognized as a person does not exist in the moving direction of the autonomously moving robot, and to proceed the driving when no obstacle exists.
11. The autonomously moving robot of described in claim 1, characterized by that
the driving control means controls the driving means to drive for evading an object recognized as a person with a range previously established when the object recognized as a person exists in a moving direction of the autonomously moving robot.
12. The autonomously moving robot of described in claim 1, characterized by that
the driving control means controls the driving means in a moving speed corresponding to a range or a range and an angle when the object recognized as a person exists in a range previously established.
13. The autonomously moving robot of described in claim 9, characterized by that
the driving control means controls the driving means to approach when it is possible to judge that the person detected awakes the autonomously moving robot, and not to approach to the person detected more than a range previously established.
14. The autonomously moving robot of described in claim 1, characterized by that
the driving control means takes an attention attracting action to a person when it passes near the person detected.
15. The autonomously moving robot of described in claim 1, characterized by that
the image information acquisition means (SIC) photographs a person detected, memorizes its image in the memory means or transmits the image to a remote station.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An electroluminescent device comprising a light emitting layer comprising a boron complex wherein the boron is bonded to a nitrogen atom of a first 5-membered heteroaromatic ring group and to a nitrogen atom of a second 5-membered heteroaromatic ring group, provided that the 5-membered rings are further connected by a methene or an imine bridge to form a six-membered ring, and provided further that at least one of the 5-membered rings contains at least one additional heteroatom that is divalent or trivalent.
2. The device of claim 1, wherein the additional heteroatom is a N, O, S, Se or Te atom.
3. The device of claim 1, wherein the additional heteroatom is a N, O or S atom.
4. The device of claim 1, wherein one five-membered ring is fused to an additional aromatic ring group.
5. The device of claim 1, wherein both five-membered rings are each fused to at least one additional, independently selected, aromatic ring group.
6. The device of claim 1, wherein the bridge is an imine group.
7. The device of claim 1, wherein the bridge is a methene group.
8. The device of claim 1, wherein the boron complex is represented by Formula 1,
wherein:
Ar1 represents the atoms necessary to form a five-membered heteroaromatic ring;
Ar2 represents the atoms necessary to form a five-membered heteroaromatic ring that contains at least one additional heteroatom that is divalent or trivalent;
Y represents N or C\u2014X, wherein X represents hydrogen or a substituent;
L1 and L2 represent independently selected substituents.
9. The device of claim 8, wherein, Ar1 and Ar2 independently represent the atoms necessary to form an imidazole ring group, an oxazole ring group, a thiazole ring group, or a selenazole ring group.
10. The device of claim 8, wherein L1 and L2 represent fluoro substituents.
11. The device of claim 8, wherein Y represents N.
12. The device of claim 8, wherein Y represents C\u2014X, wherein X represents hydrogen or a substituent.
13. The device of claim 1, wherein the boron complex is represented by Formula 2,
wherein:
W1 represents O, S, Se, or N\u2014Ra, wherein Ra is a substituent;
V1 and V2 independently represent hydrogen or an independently selected substituent, provided that V1 and V2 may join together to form a ring group;
Ar1 represents the atoms necessary to form a five-membered heteroaromatic ring group;
Y represents N or C\u2014X, wherein X represents hydrogen or a substituent;
L1 and L2 represent independently selected substituents.
14. The device of claim 13, wherein V1 and V2 independently represent an aryl group or an alkyl group.
15. The device of claim 13, wherein V1 and V2 join together to form an aromatic ring group.
16. The device of claim 1, wherein the boron complex is represented by Formula 3,
wherein:
W1 and W2 independently represent O, S, Se, Te, or N\u2014Ra, wherein Ra is a substituent;
V3-V10 independently represent hydrogen or an independently selected substituent, provided that adjacent substituents may join together to form a ring group;
Y represents N or C\u2014X, wherein X represents hydrogen or a substituent;
L1 and L2 represent independently selected substituents.
17. The device of claim 16, wherein W represents S.
18. The device of claim 16, wherein L1 and L2 represent fluoro substituents.
19. The device of claim 16, wherein, independently, at least two of V3-V6 and at least two of V7-V10 combine to form a ring group.
20. The device of claim 16, wherein Y represents N.
21. The device of claim 16, wherein Y represents C\u2014X, wherein X represents hydrogen or a substituent.
22. The device of claim 1 wherein the layer comprises a host and dopant where the dopant is present in an amount of up to 10 wt % of the host.
23. The device of claim 1 wherein a host material represented by Formula 4 is present in the light-emitting layer,
wherein:
W1-W10 independently represent hydrogen or an independently selected substituent, provided that two adjacent substituents can combine to form rings.
24. The device of claim 23 wherein W9 and W10 independently represent naphthyl groups.
25. The device of claim 23 wherein W9 and W10 represent a naphthyl group and a biphenyl group.
26. The device of claim 23 wherein W9 represents a biphenyl group.
27. The device of claim 1 wherein the boron complex is between 0.5 and 8% by volume of the light-emitting layer.
28. A display comprising the electroluminescent device of claim 1.
29. The device of claim 1 wherein white light is produced either directly or by using filters.
30. An area lighting device comprising the electroluminescent device of claim 1.
31. A process for emitting light comprising applying a potential across the device of claim 1.