JP2019109872A - 人工知能に基づくロボット、及びその制御方法 - Google Patents
人工知能に基づくロボット、及びその制御方法 Download PDFInfo
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- 238000013473 artificial intelligence Methods 0.000 title claims description 15
- 238000000034 method Methods 0.000 title claims description 15
- 230000005236 sound signal Effects 0.000 claims description 29
- 239000000463 material Substances 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 11
- 238000012549 training Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (AREA)
- Health & Medical Sciences (AREA)
- Game Theory and Decision Science (AREA)
- Business, Economics & Management (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
- ロボットが位置する画像信号及び/又は音声信号を受取るように配置される受取モジュールと、
前記受取モジュールにカップリングされて、前記画像信号及び/又は音声信号に基づいて、使用者の意図を確定するように配置されるAIモジュールと、
前記ロボットの一部から障害物や地面までの距離を示す位置情報を取り込むように配置されるセンサーモジュールと、
前記受取モジュールと前記AIモジュールにカップリングされて、使用者の意図に基づいて、移動ロボットが位置する部屋の地図を描いて、当該部屋の地図により、測位、ナビゲーションと経路計画を行うように配置されるプロセッサモジュールと、
前記プロセッサモジュールにカップリングされて、制御信号を送信して、使用者の意図により、部屋にいるロボットの経路に沿った移動を制御するように配置される制御モジュールと、
前記制御信号により、モータの運転を制御して、当該ロボットが使用者の意図を実行させる移動モジュールと、
を含む人工知能に基づくロボット。 - 前記受取モジュールは前記ロボットの頂上に設けられ、天井画像を取り込むように配置される請求項1に記載のロボット。
- 前記センサーモジュールは、障害物から前記ロボットの両側までの距離を感知するように配置される赤外線測距センサーと、前記ロボットの高度変化を感知して、前記高度変化による前記ロボットの落下を防止するように配置される赤外線崖センサーと、を含む請求項1に記載のロボット。
- 前記プロセッサモジュールは画像信号と位置信号に基づいて、前記ロボットが第1位置から第2位置までの経路を計画するように配置される請求項1に記載のロボット。
- 前記移動モジュールは低速度モーション、高速度モーションと往復モーションを行う請求項1に記載のロボット。
- 使用者の意図を確定する前に、前記AIモジュールはフロアの材料、部屋のタイプと家具を識別する請求項1に記載のロボット。
- フロアの材料がカーペットである場合、前記ロボットは低速度で前記移動モジュールを駆動させて、並びに清掃吸引力を向上させる請求項6に記載のロボット。
- 使用者の意図を確定する前に、前記AIモジュールは音声信号を識別して、前記音声信号と自然言語とをマッチングさせる請求項1に記載のロボット。
- 受取モジュールにより使用者が入力した画像信号及び/又は音声信号を受取る工程と、
AIモジュールにより前記画像信号及び/又は音声信号に基づく使用者の意図を確定する工程と、
センサーモジュールによりロボットの一部から障害物や地面までの距離を示す位置情報を取り込む工程と、
プロセッサモジュールにより、使用者の意図に基づいて、移動ロボットが位置する部屋の地図を描いて、当該部屋の地図により、測位、ナビゲーションと経路計画を行う工程と、
制御モジュールにより、使用者の意図に基づいて、制御信号を送信して、部屋にいるロボットを経路に沿って移動させるように制御する工程と、
移動モジュールにより、制御信号でモータの運転を制御して、当該ロボットを駆動させて、使用者の意図を実現させる工程と、
を含むロボットの制御方法。 - 使用者の意図を確定する前に、フロアの材料、部屋のタイプと家具を識別する請求項9に記載のロボットの制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/846,127 US20190184569A1 (en) | 2017-12-18 | 2017-12-18 | Robot based on artificial intelligence, and control method thereof |
US15/846,127 | 2017-12-18 |
Publications (1)
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JP2019109872A true JP2019109872A (ja) | 2019-07-04 |
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JP2018012716A Pending JP2019109872A (ja) | 2017-12-18 | 2018-01-29 | 人工知能に基づくロボット、及びその制御方法 |
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US (1) | US20190184569A1 (ja) |
JP (1) | JP2019109872A (ja) |
CN (1) | CN109933061A (ja) |
Cited By (1)
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TWI711014B (zh) * | 2019-08-29 | 2020-11-21 | 行政院原子能委員會核能研究所 | 可用於移動載具以偵測安全或危險區域之系統與方法 |
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CN111331614A (zh) * | 2020-03-19 | 2020-06-26 | 上海陆根智能传感技术有限公司 | 一种基于人工智能的机器人 |
CN111775159A (zh) * | 2020-06-08 | 2020-10-16 | 华南师范大学 | 基于动态人工智能伦理规则的伦理风险防范方法和机器人 |
CN113707139B (zh) * | 2020-09-02 | 2024-04-09 | 南宁玄鸟网络科技有限公司 | 一种人工智能机器人的语音沟通交流服务系统 |
CN112781581B (zh) * | 2020-12-25 | 2023-09-12 | 北京小狗吸尘器集团股份有限公司 | 应用于扫地机的移动至儿童推车路径生成方法、装置 |
CN115364408A (zh) * | 2022-08-12 | 2022-11-22 | 宁波财经学院 | 一种基于Arduino单片机与LabVIEW的智能消防机器人 |
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