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US 11,981,032 B2Granted
Robot control device, method and program for a recovery after an obstruction
AssigneeOMRON Corporation
InventorTakeshi Kojima
Life of this patent
Estimating the term…
Abstract
When occurrence of an obstruction has been detected during action of a robot, a path generation section acquires environment information at a periphery of the robot after obstruction occurred, robot specification information, and safe pose information representing a recovery-pose for the robot, and generates a path of the robot from a pose after obstruction occurred to a safe pose based on the acquired information.
Claims20
A robot control device comprising:
- a memory;
- and
- a processor coupled to the memory, the processor being configured to perform operations comprising:
- acquiring information when occurrence of an obstruction has been detected during action of a robot, the information being environment information at a periphery of the robot after the obstruction occurred, specification information of the robot, and information of a recovery-pose for the robot,
- generating a path of the robot from a pose after the obstruction occurred to the recovery-pose based on the acquired information, and
- controlling action of the robot based on the generated path such that the robot adopts the recovery-pose,
- wherein generating the path of the robot comprises:
- before identifying an obstacle candidate region, setting in advance a cost for each region at the periphery of the robot in accordance with a possibility of an obstacle being present based on a distance from at least one of a floor surface or a center of the robot,
- identifying a region where the environment information after the obstruction occurred is unable to be measured as the obstacle candidate region,
- and
- identifying whether or not an obstacle is present in the obstacle candidate region according to the cost of the obstacle candidate region.
8 more elements
A robot control method comprising:
- acquiring information when occurrence of an obstruction has been detected during action of a robot, this being environment information at a periphery of the robot after the obstruction occurred, specification information of the robot, and information of a recovery-pose for the robot;
- generating a path of the robot from a pose after the obstruction occurred to the recovery-pose based on the acquired information;
- and
- controlling action of the robot based on the generated path such that the robot adopts the recovery-pose,
- wherein generating the path of the robot comprises:
- before identifying an obstacle candidate region, setting in advance a cost for each region at the periphery of the robot in accordance with a possibility of an obstacle being present based on a distance from at least one of a floor surface or a center of the robot,
- identifying a region where the environment information after the obstruction occurred is unable to be measured as the obstacle candidate region,
- and
- identifying whether or not an obstacle is present in the obstacle candidate region according to the cost of the obstacle candidate region.
6 more elements
A non-transitory storage medium storing a robot control program executable by a computer to perform operations comprising:
- acquiring information when occurrence of an obstruction has been detected during action of a robot, the information being environment information at a periphery of the robot after the obstruction occurred, specification information of the robot, and information of a recovery-pose for the robot;
- generating a path of the robot from a pose after the obstruction occurred to the recovery-pose based on the acquired information;
- and
- controlling action of the robot based on the generated path such that the robot adopts the recovery-pose,
- wherein generating the path of the robot comprises:
- before identifying an obstacle candidate region, setting in advance a cost for each region at the periphery of the robot in accordance with a possibility of an obstacle being present based on a distance from at least one of a floor surface or a center of the robot,
- identifying a region where the environment information after the obstruction occurred is unable to be measured as the obstacle candidate region,
- and
- identifying whether or not an obstacle is present in the obstacle candidate region according to the cost of the obstacle candidate region.
6 more elements
Dependencies are inferred from the claim text.