US 8,014,901 B2 · Mobile robot control system

Abstract

In a mobile robot control system, it is configured such that the robot generates time-series data sequentially at a predetermined time interval and transmits them to the external terminal, and the external terminal receives the transmitted time-series data and adds them to the motion command, such that the motion of the robot is determined based on the generated time-series data and the time-series data added to the motion command. With this, it becomes possible to prevent the robot from suddenly starting to move at the time when the communication between the external terminal which is a transmitting source of the motion command and the robot has recovered from disconnection, thereby enabling to avoid making the operator feel unnatural.

Claims12

Dependent claims

A system for controlling a mobile robot having an external terminal that generates motion command and transmits it to the robot, and controlling means provided at the robot for controlling operation of the robot based on the transmitted motion command, wherein:

the robot includes
a. means for generating time-series data sequentially at a predetermined time interval and for transmitting them to the external terminal;
and the external terminal is provided with
b. means for receiving the transmitted time-series data and for adding them to the motion command;
and wherein the controlling means determines the motion of the robot based on the generated time-series data and the time-series data added to the motion command, and controls the motion of the robot in accordance with the transmitted motion command when a difference between a current one of the time-series data generated by the time-series data generating means and the time-series data added to the motion command is equal to or smaller than a predetermined value, and discontinues the motion of the robot when the difference is greater than the predetermined value.

2 more elements

A system for controlling a mobile robot having an external terminal that generates motion command and transmit it to the robot, and controlling means provided at the robot for controlling operation of the robot based on the transmitted motion command, wherein:

the robot includes
a. means for generating time-series data sequentially at a predetermined time interval and for transmitting them to the external terminal;
and the external terminal is provided with
b. means for receiving the transmitted time-series data and storing them;
c. means for discriminating that communication condition between the external terminal and the robot is normal when the transmitted time-series data are received, and for discriminating that the communication condition is faulty when the transmitted time-series data are not received;
d. means for storing the motion command by adding the stored transmitted time-series data thereto, when the communication condition discriminating means discriminates that the communication condition is faulty;
and
e. means for determining as to whether the stored motion command should be transmitted to the robot based on the time-series data added to the stored motion command and a current one of the received time-series data, when the communication condition discriminating means discriminates that the communication condition is normal.

5 more elements

Dependencies are inferred from the claim text.

Mobile robot control system

Life of this patent

Mobile robot control system

Life of this patent

Abstract

Claims12