Control apparatus, control method, robot apparatus and program
AssigneeSony Corporation
InventorYudai Yuguchi
Life of this patent
Estimating the term…
Abstract
Provided is a control apparatus including: an assessment unit configured to assess whether a relevant element is represented by environment information acquired from a sensor or not; and an environment information setting unit configured to, in a case where the assessment unit has assessed that the relevant element is represented by the environment information, switch the environment information to acquired-in-advance environment information in which the relevant element is not included.
Claims26
A control apparatus comprising:
- an assessment unit configured to assess whether or not a relevant element is represented by environment information newly acquired from a sensor at a current time;
- an update unit configured to update the environment information not obstructed by the relevant element and in which the relevant element is assessed not to be included, as newest acquired-in-advance environment information, the newest acquired-in-advance environment information being acquired from the sensor at a time prior to the current time;
- an environment information setting unit configured, in a case where the assessment unit has assessed that the relevant element is represented by the environment information newly acquired from the sensor, to switch a portion of the environment information newly acquired from the sensor to the newest acquired-in-advance environment information;
- and
- a control unit configured to execute a control function in dependence upon the environment information,
- wherein the assessment unit, the update unit, the environment information setting unit, and the control unit are each implemented via at least one processor.
A control method comprising:
- assessing whether or not a relevant element is represented by environment information newly acquired from a sensor at a current time;
- updating the environment information not obstructed by the relevant element and in which the relevant element is assessed not to be included, as newest acquired-in-advance environment information, the newest acquired-in-advance environment information being acquired from the sensor at a time prior to the current time;
- switching, in a case where the assessing assesses that the relevant element is represented by the environment information newly acquired from the sensor, a portion of the environment information newly acquired from the sensor to the newest acquired-in-advance environment information;
- and
- executing a control function in dependence upon the environment information.
A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer, causes the computer to execute a control method, the method comprising:
- assessing whether or not a relevant element is represented by environment information newly acquired from a sensor at a current time;
- updating the environment information not obstructed by the relevant element and in which the relevant element is assessed not to be included, as newest acquired-in-advance environment information, the newest acquired-in-advance environment information being acquired from the sensor at a time prior to the current time;
- switching, in a case where the assessing assesses that the relevant element is represented by the environment information newly acquired from the sensor, a portion of the environment information newly acquired from the sensor to the newest acquired-in-advance environment information;
- and
- executing a control function in dependence upon the environment information.
Dependencies are inferred from the claim text.