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US 10,293,484 B2Granted
Robot device and method of controlling the robot device
AssigneeSony Corporation
InventorsWataru Kokubo, Tetsuharu Fukushima, Masakuni Nagano, Satoru Shimizu
Life of this patent
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Abstract
Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.
Claims9
A movable device, comprising:
- a drive unit including a plurality of movable parts;
- a communication unit configured to receive an instruction of a task, wherein the task is related to movement of the plurality of movable parts;
- and
- one or more processors configured to:
- control an operation of the drive unit based on the received instruction;
- set a time period for implementation of the task, wherein the set time period is between a current time instance and a final time instance that is after the current time instance;
- calculate a trajectory of the movable device based on the task, wherein the trajectory is calculated for the time period;
- divide the time period into a plurality of time instances based on the task;
- calculate a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances,
- wherein each of the plurality of restricted areas is a circular area,
- wherein each circular area of a plurality of circular areas encircles the movable device, and
- wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area;
- and
- determine an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
11 more elements
A method, comprising:
- inputting an instruction of a task;
- setting a time period for implementation of the task based on the task,
- wherein the set time period is between a current time instance and a final time instance that is after the current time instance;
- calculating a trajectory of a movable device based on the task, wherein the trajectory is calculated for the time period;
- dividing the time period into a plurality of time instances based on the task;
- calculating a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances,
- wherein each of the plurality of restricted areas is a circular area,
- wherein each circular area of a plurality of circular areas encircles the movable device, and
- wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area;
- and
- determining an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
8 more elements
A non-transitory computer-readable medium having stored thereon, computer-executable instructions, which when executed by a computer cause the computer to execute operations, the operations comprising:
- inputting an instruction of a task;
- setting a time period for implementation of the task based on the task,
- wherein the set time period is between a current time instance and a final time instance that is after the current time instance;
- calculating a trajectory of a movable device based on the task, wherein the trajectory is calculated for the time period;
- dividing the time period into a plurality of time instances based on the task;
- calculating a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances,
- wherein each of the plurality of restricted areas is a circular area,
- wherein each circular area of a plurality of circular areas encircles the movable device, and
- wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area;
- and
- determining an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
8 more elements
Dependencies are inferred from the claim text.