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US 10,799,806 B2Granted
Robot
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsMichiko Sasagawa, Seiya Higuchi, Ryouta Miyazaki, Kento Ogawa
Life of this patent
Estimating the term…
Abstract
In a robot, after a first value indicating acceleration in the up-and-down axis direction output from an acceleration sensor exceeds a certain threshold value, when any of the first value indicating the acceleration in the up-and-down axis direction, a second value indicating the acceleration in the front-and-back axis direction, and a third value indicating the acceleration in the left-and-right axis direction is determined to exhibit variation exceeding a certain width for a fixed period, the robot determines that a housing of the robot is being held by a user.
Claims22
A robot comprising:
- a housing;
- a frame disposed inside the housing;
- a display, fitted to the frame, that displays at least part of a face of the robot;
- drive wheels, fitted to the frame, that contact an inner surface of the housing and cause the housing to rotate;
- a weight driver, fitted to the frame, that causes a weight to move back and forth in a certain direction;
- an acceleration sensor that senses acceleration in three axis directions, an up-and-down axis direction, a front-and-back axis direction, and a left-and-right axis direction;
- and
- a control circuit that communicates with the acceleration sensor to determine a state of the housing based on acceleration values sensed by the acceleration sensor in the three axis directions, wherein
- the control circuit is configured to determine that the housing is being held by a user:
- after a first value indicating acceleration in the up-and-down axis direction output from the acceleration sensor to the control circuit is determined to exceed a certain threshold value, and
- when any of the first value indicating the acceleration in the up-and-down axis direction, a second value indicating the acceleration in the front-and-back axis direction, and a third value indicating the acceleration in the left-and-right axis direction exhibit variation exceeding a certain width for a fixed period.
8 more elements
A robot, comprising:
- a housing;
- a frame disposed inside the housing;
- a display, fitted to the frame, that displays at least part of a face of the robot;
- a weight driver, fitted to the frame, that causes a weight to move back and forth in a certain direction;
- an acceleration sensor that senses acceleration in three axis directions, an up-and-down axis direction, a front-and-back axis direction, and a left-and-right axis direction;
- and
- a control circuit that communicates with the acceleration sensor to determine a state of the housing based on acceleration values sensed by the acceleration sensor in the three axis directions, wherein
- the control circuit is configured to cause the weight to move in a movement direction of the housing:
- after the acceleration sensor outputs to the control circuit a first value indicating acceleration in the up-and-down axis direction and the control circuit determines that the first value exceeds a certain threshold value,
- when the control circuit determines that any of the first value indicating the acceleration in the up-and-down axis direction, a second value indicating the acceleration in the front-and-back axis direction, and a third value indicating the acceleration in the left-and-right axis direction exhibit variation exceeding a certain width for a fixed period, and
- when the control circuit determines, during a sampling period before and after a time at which the first value indicating the acceleration in the up-and-down axis direction is determined, that the second value indicating the acceleration in the front-and-back axis direction and the third value indicating the acceleration in the left-and-right axis direction output from the acceleration sensor exceeded the certain threshold value.
8 more elements
A robot comprising:
- a housing;
- a frame disposed inside the housing;
- a display, fitted to the frame, that displays at least part of a face;
- drive wheels, fitted to the frame, that contact an inner surface of the housing and cause the housing the rotate;
- an acceleration sensor that senses acceleration in three axis directions, an up-and-down axis direction, a front-and-back axis direction, and a left-and-right axis direction;
- and
- a control circuit that communicates with the acceleration sensor to determine a state of the housing based on acceleration values sensed by the acceleration sensor in the three axis directions, wherein
- the control circuit is configured to cause the drive wheels to rotate and thereby cause the housing to move in a movement direction of the housing:
- after the acceleration sensor outputs to the control circuit a first value indicating acceleration in the up-and-down axis direction and the control circuit determines that the first value exceeds a certain threshold value,
- when the control circuit determines that any of the first value indicating the acceleration in the up-and-down axis direction, a second value indicating the acceleration in the front-and-back axis direction, and a third value indicating the acceleration in the left-and-right axis direction exhibit variation exceeding a certain width for a fixed period, and
- when the control circuit determines, during a sampling period before and after a time at which the first value indicating the acceleration in the up-and-down axis direction is determined, that the second value indicating the acceleration in the front-and-back axis direction and the third value indicating the acceleration in the left-and-right axis direction output from the acceleration sensor exceeded the certain threshold value.
8 more elements
Dependencies are inferred from the claim text.