WO2009075048A1 - リモコン - Google Patents

リモコン Download PDF

Info

Publication number
WO2009075048A1
WO2009075048A1 PCT/JP2008/002827 JP2008002827W WO2009075048A1 WO 2009075048 A1 WO2009075048 A1 WO 2009075048A1 JP 2008002827 W JP2008002827 W JP 2008002827W WO 2009075048 A1 WO2009075048 A1 WO 2009075048A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
remote controller
specified
route
user
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.)
Ceased
Application number
PCT/JP2008/002827
Other languages
English (en)
French (fr)
Inventor
Shinichi Matsunaga
Naohide Ogawa
Kimio Takahashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to EP08858903.1A priority Critical patent/EP2101238B1/en
Priority to US12/521,828 priority patent/US9592610B2/en
Publication of WO2009075048A1 publication Critical patent/WO2009075048A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program 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)

Abstract

ロボットが一定領域からはみ出さず、かつ、物体との接触を回避するように、ユーザがこのロボットの行動を操作することができるリモコンを提供する。ユーザによる指定経路が安定移動要件を満たしている場合、リモコン（２）からロボット（１）に第１指令信号が送信される。これにより、指定経路にしたがってロボット（１）を移動させることができる。一方、ユーザによる指定経路が安定移動要件を満たしていない場合、第１指令信号がリモコン（２）からロボット（１）に送信されない。このため、指定経路にしたがってロボット（１）を移動させること、ひいては、ロボット（１）が指定領域からはみ出たり、物体に接触したりする事態が回避される。
PCT/JP2008/002827 2007-12-10 2008-10-07 リモコン Ceased WO2009075048A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08858903.1A EP2101238B1 (en) 2007-12-10 2008-10-07 Remote controller
US12/521,828 US9592610B2 (en) 2007-12-10 2008-10-07 Remote controller

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007318497A JP5142137B2 (ja) 2007-12-10 2007-12-10 リモコン
JP2007-318497 2007-12-10

Publications (1)

Publication Number Publication Date
WO2009075048A1 true WO2009075048A1 (ja) 2009-06-18

Family

ID=40755299

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002827 Ceased WO2009075048A1 (ja) 2007-12-10 2008-10-07 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 (18)

* Cited by examiner, † Cited by third party
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
BR112013005080A2 (pt) * 2010-09-03 2018-04-24 Aldebaran Robotics dispositivo de controle para um robô móvel
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、机器人及机器人系统
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
US11797016B2 (en) 2020-04-13 2023-10-24 Boston Dynamics, Inc. Online authoring of robot autonomy applications
CN117769484A (zh) * 2021-06-04 2024-03-26 波士顿动力公司 指向移动机器人的自主和远程操作传感器
KR102802665B1 (ko) * 2022-06-16 2025-05-07 한국전자통신연구원 사용자 영역들 간에서의 이동로봇의 이동 제어 방법
WO2024232947A1 (en) 2023-05-08 2024-11-14 Boston Dynamics, Inc. Location based change detection within image data by a mobile robot

Citations (5)

* Cited by examiner, † Cited by third party
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
JP2003340764A (ja) 2002-05-27 2003-12-02 Matsushita Electric Works Ltd 案内ロボット
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
JP2006048472A (ja) * 2004-08-06 2006-02-16 Sharp Corp 自走式移動車
JP2007122304A (ja) * 2005-10-27 2007-05-17 Hitachi Ltd 移動ロボット

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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
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JPH09212229A (ja) * 1996-01-30 1997-08-15 Komatsu Ltd ロボットの教示装置
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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
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
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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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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
JP2003340764A (ja) 2002-05-27 2003-12-02 Matsushita Electric Works Ltd 案内ロボット
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
JP2006048472A (ja) * 2004-08-06 2006-02-16 Sharp Corp 自走式移動車
JP2007122304A (ja) * 2005-10-27 2007-05-17 Hitachi Ltd 移動ロボット

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2101238A4

Also Published As

Publication number Publication date
JP5142137B2 (ja) 2013-02-13
EP2101238A4 (en) 2012-01-25
US9592610B2 (en) 2017-03-14
EP2101238A1 (en) 2009-09-16
EP2101238B1 (en) 2014-04-30
JP2009136988A (ja) 2009-06-25
US20100036527A1 (en) 2010-02-11

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