JP5142137B2 - リモコン - Google Patents
リモコン Download PDFInfo
- Publication number
- JP5142137B2 JP5142137B2 JP2007318497A JP2007318497A JP5142137B2 JP 5142137 B2 JP5142137 B2 JP 5142137B2 JP 2007318497 A JP2007318497 A JP 2007318497A JP 2007318497 A JP2007318497 A JP 2007318497A JP 5142137 B2 JP5142137 B2 JP 5142137B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- route
- designated
- processing element
- operation processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000006399 behavior Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
判定結果が否定的であることを要件として前記ロボットに前記指定経路の終点または始点
および終点が共通で前記安定移動要件を満たす経路を目標経路として探索させ、かつ、前
記目標経路が探索された場合には前記ロボットを前記目標経路にしたがって移動させる一
方、前記目標経路が探索されなかった場合には前記ロボットに移動を停止させるまたは停止状態を維持させるための第2指令信号を前記ロボットに送信することを特徴とする。
第2操作処理要素が、前記安定移動要件に関する前記判定結果、または、前記第2指令信
号により定義される前記ロボットの行動態様を出力装置を通じて出力することを特徴とす
る。
ように腕部12を動かす等、その後の行動をユーザに予告するように動作させてもよい。たとえば、第1指令信号に応じてロボット1に追従対象であるユーザに対して「そちらに向かいます」等の音声を出力させ、案内対象であるユーザに対して「私についてきてください」等の音声を出力させてもよい。また、第2指令信号に応じてロボット1に「別の道を通っていきます」等の音声を出力させ、目標経路が伸びる方向に頭部11の正面を向かせるように動作させてもよい。
Claims (4)
- 自律的に移動するロボットをユーザに遠隔操作させるためのリモコンであって、
前記ユーザにより入力装置を通じて入力された指定経路を認識し、指定領域の境界と、前記指定領域に存在する物体の位置および外形とをさらに認識する第1操作処理要素と、
前記第1操作処理要素による認識結果に基づき、前記ロボットが前記指定領域からはみ出さず、かつ、前記物体に接触する可能性が低い状態で移動可能であるという安定移動要件を前記指定経路が満たしているか否かを判定し、当該判定結果が肯定的であることを要件として前記ロボットを前記指定経路にしたがって移動させるための第1指令信号を前記ロボットに送信する第2操作処理要素と、を備えることを特徴とするリモコン。 - 請求項1記載のリモコンにおいて、
前記第2操作処理要素が、前記判定結果が否定的であることを要件として前記ロボットに前記指定経路の終点または始点および終点が共通で前記安定移動要件を満たす経路を目標経路として探索させ、かつ、前記目標経路が探索された場合には前記ロボットを前記目標経路にしたがって移動させる一方、前記目標経路が探索されなかった場合には前記ロボットに移動を停止させるまたは停止状態を維持させるための第2指令信号を前記ロボットに送信することを特徴とするリモコン。 - 請求項2記載のリモコンにおいて、
前記第2操作処理要素が、前記ロボットが移動している場合には前記ロボットを減速または停止させた上で前記目標経路を探索させるための前記第2指令信号を前記ロボットに送信することを特徴とするリモコン。 - 請求項2又は3に記載のリモコンにおいて、
前記第2操作処理要素が、前記安定移動要件に関する前記判定結果、または、前記第2
指令信号により定義される前記ロボットの行動態様を出力装置を通じて出力することを特
徴とするリモコン。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007318497A JP5142137B2 (ja) | 2007-12-10 | 2007-12-10 | リモコン |
US12/521,828 US9592610B2 (en) | 2007-12-10 | 2008-10-07 | Remote controller |
PCT/JP2008/002827 WO2009075048A1 (ja) | 2007-12-10 | 2008-10-07 | リモコン |
EP08858903.1A EP2101238B1 (en) | 2007-12-10 | 2008-10-07 | Remote controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007318497A JP5142137B2 (ja) | 2007-12-10 | 2007-12-10 | リモコン |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009136988A JP2009136988A (ja) | 2009-06-25 |
JP5142137B2 true JP5142137B2 (ja) | 2013-02-13 |
Family
ID=40755299
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007318497A Expired - Fee Related JP5142137B2 (ja) | 2007-12-10 | 2007-12-10 | リモコン |
Country Status (4)
Country | Link |
---|---|
US (1) | US9592610B2 (ja) |
EP (1) | EP2101238B1 (ja) |
JP (1) | JP5142137B2 (ja) |
WO (1) | WO2009075048A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101667032B1 (ko) * | 2009-10-30 | 2016-10-17 | 삼성전자 주식회사 | 로봇의 경로 계획 장치 및 그 방법 |
KR101667031B1 (ko) * | 2009-11-02 | 2016-10-17 | 삼성전자 주식회사 | 로봇의 경로 계획 장치 및 그 방법 |
JP2011201002A (ja) | 2010-03-26 | 2011-10-13 | Sony Corp | ロボット装置、ロボット装置の遠隔制御方法及びプログラム |
US20120041599A1 (en) * | 2010-08-11 | 2012-02-16 | Townsend William T | Teleoperator system with master controller device and multiple remote slave devices |
WO2012028744A1 (en) * | 2010-09-03 | 2012-03-08 | Gostai | Mobile robot |
JP6062200B2 (ja) * | 2012-10-01 | 2017-01-18 | シャープ株式会社 | 機器制御装置、および自走式電子機器 |
KR101428877B1 (ko) * | 2012-12-05 | 2014-08-14 | 엘지전자 주식회사 | 로봇 청소기 |
US9561829B1 (en) * | 2014-09-03 | 2017-02-07 | X Development Llc | Robotic leg with multiple robotic feet |
JP6545472B2 (ja) * | 2015-01-27 | 2019-07-17 | 蛇の目ミシン工業株式会社 | ロボット |
JP2018120524A (ja) * | 2017-01-27 | 2018-08-02 | 日本精工株式会社 | 案内用ロボット |
CN107390685B (zh) * | 2017-07-14 | 2020-10-16 | 深圳市优必选科技有限公司 | 一种机器人的回充控制方法、机器人及机器人*** |
US10575699B2 (en) * | 2018-01-05 | 2020-03-03 | Irobot Corporation | System for spot cleaning by a mobile robot |
JP7124797B2 (ja) * | 2019-06-28 | 2022-08-24 | トヨタ自動車株式会社 | 機械学習方法および移動ロボット |
JP7356829B2 (ja) * | 2019-07-10 | 2023-10-05 | ヤンマーパワーテクノロジー株式会社 | 自動走行システム |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6195414A (ja) * | 1984-10-17 | 1986-05-14 | Hitachi Ltd | 移動車の経路探索方式 |
JP2525046B2 (ja) * | 1988-10-19 | 1996-08-14 | 株式会社ロボテック研究所 | 移動体の遠隔制御システム |
US5461292A (en) * | 1994-07-18 | 1995-10-24 | Zondlo; Robert | Remote controlled guidance system for working vehicle |
US6574536B1 (en) * | 1996-01-29 | 2003-06-03 | Minolta Co., Ltd. | Moving apparatus for efficiently moving on floor with obstacle |
JPH09212229A (ja) * | 1996-01-30 | 1997-08-15 | Komatsu Ltd | ロボットの教示装置 |
JPH09212225A (ja) * | 1996-01-30 | 1997-08-15 | Komatsu Ltd | ロボットの教示装置 |
US5987383C1 (en) * | 1997-04-28 | 2006-06-13 | Trimble Navigation Ltd | Form line following guidance system |
US6633800B1 (en) * | 2001-01-31 | 2003-10-14 | Ainsworth Inc. | Remote control system |
JP3906743B2 (ja) | 2002-05-27 | 2007-04-18 | 松下電工株式会社 | 案内ロボット |
KR100483548B1 (ko) * | 2002-07-26 | 2005-04-15 | 삼성광주전자 주식회사 | 로봇 청소기와 그 시스템 및 제어 방법 |
JP2004299025A (ja) | 2003-04-01 | 2004-10-28 | Honda Motor Co Ltd | 移動ロボット制御装置、移動ロボット制御方法及び移動ロボット制御プログラム |
JP2005211359A (ja) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | 自律走行ロボットクリーナーシステム |
JP4646943B2 (ja) * | 2004-07-13 | 2011-03-09 | パナソニック株式会社 | ロボット |
KR100641113B1 (ko) | 2004-07-30 | 2006-11-02 | 엘지전자 주식회사 | 이동로봇 및 그의 이동제어방법 |
JP4264395B2 (ja) | 2004-08-06 | 2009-05-13 | シャープ株式会社 | 自走式移動車 |
JP2006113858A (ja) * | 2004-10-15 | 2006-04-27 | Mitsubishi Heavy Ind Ltd | 移動体の遠隔操作支援方法及びシステム |
JP4462156B2 (ja) * | 2005-03-15 | 2010-05-12 | パナソニック電工株式会社 | 自律移動装置 |
JP4375320B2 (ja) * | 2005-10-27 | 2009-12-02 | 株式会社日立製作所 | 移動ロボット |
WO2008013568A2 (en) * | 2005-12-30 | 2008-01-31 | Irobot Corporation | Autonomous mobile robot |
JP2007226322A (ja) * | 2006-02-21 | 2007-09-06 | Sharp Corp | ロボットコントロールシステム |
JP4577247B2 (ja) * | 2006-03-22 | 2010-11-10 | トヨタ自動車株式会社 | 移動体及びその制御方法 |
US8326469B2 (en) * | 2006-07-14 | 2012-12-04 | Irobot Corporation | Autonomous behaviors for a remote vehicle |
-
2007
- 2007-12-10 JP JP2007318497A patent/JP5142137B2/ja not_active Expired - Fee Related
-
2008
- 2008-10-07 WO PCT/JP2008/002827 patent/WO2009075048A1/ja active Application Filing
- 2008-10-07 EP EP08858903.1A patent/EP2101238B1/en not_active Not-in-force
- 2008-10-07 US US12/521,828 patent/US9592610B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2101238A1 (en) | 2009-09-16 |
US9592610B2 (en) | 2017-03-14 |
EP2101238B1 (en) | 2014-04-30 |
JP2009136988A (ja) | 2009-06-25 |
US20100036527A1 (en) | 2010-02-11 |
EP2101238A4 (en) | 2012-01-25 |
WO2009075048A1 (ja) | 2009-06-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5142137B2 (ja) | リモコン | |
US8204679B2 (en) | Mobile apparatus, control device and control program | |
US8103383B2 (en) | Mobile apparatus, control device and control program | |
JP4316477B2 (ja) | 移動ロボットの追従方法 | |
US7873438B2 (en) | Mobile apparatus and control program therefor | |
US7529622B2 (en) | Mobile apparatus, and control method thereof, control program and supervisory system therefor | |
JP5768273B2 (ja) | 歩行者の軌跡を予測して自己の回避行動を決定するロボット | |
JP5035802B2 (ja) | ロボットおよびタスク実行システム | |
JP5208649B2 (ja) | 移動装置 | |
US7571026B2 (en) | Mobile apparatus, and control method thereof, control program and supervisory system therefor | |
JP2004299025A (ja) | 移動ロボット制御装置、移動ロボット制御方法及び移動ロボット制御プログラム | |
JP4968684B2 (ja) | 目標経路設定支援システム | |
JP2018163614A (ja) | 自律移動装置、自律移動方法およびプログラム | |
JP5763384B2 (ja) | 移動予測装置、ロボット制御装置、移動予測プログラムおよび移動予測方法 | |
JP5063549B2 (ja) | 移動装置 | |
US12032377B2 (en) | Mobility aid robot navigating method and mobility aid robot using the same | |
JP2006231447A (ja) | 指示位置または特定物の確認方法及び座標獲得方法並びに装置 | |
JP4577697B2 (ja) | 移動装置および移動装置システム | |
JP3768957B2 (ja) | 移動ロボットの経路設定方法 | |
JP2015104788A (ja) | 移動装置 | |
JP2022132902A (ja) | 移動体の制御システム、移動体、移動体の制御方法、およびプログラム | |
JP7258438B2 (ja) | ロボット、ロボット制御プログラムおよびロボット制御方法 | |
JP2010009370A (ja) | 移動体制御システムおよび移動体制御方法 | |
JP2008257532A (ja) | 移動装置、ならびにその制御方法、制御プログラムおよび監督システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20091126 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20111206 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120206 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120717 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20121023 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20121113 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20151130 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5142137 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |