JPWO2019240208A5 - - Google Patents
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- JPWO2019240208A5 JPWO2019240208A5 JP2020525643A JP2020525643A JPWO2019240208A5 JP WO2019240208 A5 JPWO2019240208 A5 JP WO2019240208A5 JP 2020525643 A JP2020525643 A JP 2020525643A JP 2020525643 A JP2020525643 A JP 2020525643A JP WO2019240208 A5 JPWO2019240208 A5 JP WO2019240208A5
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- 239000003550 marker Substances 0.000 claims description 54
- 238000009434 installation Methods 0.000 claims 7
- 238000012800 visualization Methods 0.000 claims 5
- 238000003384 imaging method Methods 0.000 claims 2
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
Description
(17)上記の課題を解決するため、実施形態のロボット制御プログラムは、コンピュータに、周囲の空間を撮影する撮影機能と、前記撮影機能において撮影された撮影画像に含まれる所定のマーカを認識するマーカ認識機能と、認識された前記マーカに基づき移動機構による移動を制御する移動制御機能とを実現させる。
(18) 実施形態のロボットにおいて、前記マーカ認識部は、前記マーカとして、あらかじめ登録された対象を認識してもよい。
(19) 前記マーカの種類には、第１マーカと、前記第１マーカとは異なる第２マーカとがあり、
前記第１マーカは、前記撮影画像に前記第１マーカが含まれていたことを条件として、前記移動機構による前記移動が制御されるマーカであり、
前記第２マーカは、前記撮影画像に前記第２マーカが含まれるか、又は、前記撮影画像に前記第２マーカが含まれていなくとも、過去に前記第２マーカが検出された位置であることを条件として、前記移動機構による前記移動が制御されるマーカであってもよい。
(17) In order to solve the above problem, the robot control program of the embodiment recognizes on the computer a shooting function for shooting the surrounding space and a predetermined marker included in the shot image shot by the shooting function. A marker recognition function and a movement control function for controlling movement by a movement mechanism based on the recognized marker are realized.
(18) In the robot of the embodiment, the marker recognition unit may recognize a target registered in advance as the marker.
(19) The types of the markers include a first marker and a second marker different from the first marker.
The first marker is a marker whose movement is controlled by the movement mechanism on condition that the captured image contains the first marker.
The second marker is a position where the second marker is detected in the past even if the captured image contains the second marker or the captured image does not include the second marker. May be a marker whose movement is controlled by the movement mechanism.
Claims (19)
周囲の空間を撮影する撮影部と、
前記撮影部において撮影された撮影画像に含まれる所定のマーカを認識するマーカ認識部と、
認識された前記マーカに基づき前記移動機構による移動を制御する移動制御部と
を備える、ロボット。
Movement mechanism and
The shooting section that shoots the surrounding space and
A marker recognition unit that recognizes a predetermined marker included in a captured image captured by the imaging unit, and a marker recognition unit.
A robot including a movement control unit that controls movement by the movement mechanism based on the recognized marker.
The robot according to claim 1, wherein the movement control unit prohibits entry by the movement based on the recognized marker.
The robot according to claim 1 or 2, wherein the movement control unit limits the speed of the movement based on the recognized marker.
The robot according to any one of claims 1 to 3, wherein the movement control unit controls the movement based on the recognized installation position of the marker.
The robot according to claim 4, wherein the movement control unit sets a limited range based on the installation position and limits the movement in the limited range.
The robot according to claim 5, wherein the movement control unit sets a predetermined range as the limiting range on the back side of the installation position or around the installation position.
認識された複数の前記設置位置に基づき前記移動を制限する、請求項4から6のいずれか一項に記載のロボット。
When the movement control unit has a plurality of recognized markers, the movement control unit may be used.
The robot according to any one of claims 4 to 6, which restricts the movement based on the plurality of recognized installation positions.
The robot according to claim 7, wherein the movement control unit limits the movement based on a line segment connecting the recognized first marker installation position and the recognized second marker installation position.
The robot according to any one of claims 1 to 8, wherein the movement control unit controls the movement based on the recognized type of the marker.
The robot according to any one of claims 1 to 9, wherein the movement control unit controls the movement based on a recorded marker.
The robot according to claim 10, wherein the movement control unit controls the movement based on the recorded marker when the marker is not recognized in the captured image.
生成された前記空間データに基づいて、前記空間に含まれる空間要素を可視化した可視化データを生成する可視化データ生成部と、
生成された前記可視化データを利用者端末に対して提供する可視化データ提供部と
をさらに備える、請求項1から11のいずれか一項に記載のロボット。
A spatial data generation unit that generates spatial data that recognizes the space based on the captured image captured by the imaging unit.
A visualization data generation unit that generates visualization data that visualizes spatial elements contained in the space based on the generated spatial data.
The robot according to any one of claims 1 to 11, further comprising a visualization data providing unit that provides the generated visualization data to a user terminal.
前記空間データ生成部は、取得された前記指定に係る領域において
再撮影された前記撮影画像に基づいて前記空間を再認識する、請求項12に記載のロボット。
Further provided with a designation acquisition unit for acquiring the designation of the area included in the provided visualization data from the user terminal.
The robot according to claim 12, wherein the spatial data generation unit re-recognizes the space based on the captured image re-photographed in the acquired region according to the designation.
前記移動制御部は、前記状態情報にさらに基づき前記移動を制御する、請求項1から13のいずれか一項に記載のロボット。
Further, a state information acquisition unit for acquiring state information indicating the state of the movement destination in the movement is provided.
The robot according to any one of claims 1 to 13, wherein the movement control unit further controls the movement based on the state information.
第1イベントを検出する第1イベント検出部と、
第2イベントを検出する第2イベント検出部と、
アクションを実行するアクション実行部と
をさらに備え、
前記第1イベントが検出されると、前記マーカの前記位置の付近へ移動し、前記第2イベントが検出されると、前記マーカ、前記第1イベント及び前記第2イベントのうちの少なくとも1つに対応する前記
アクションを実行する、請求項1から14のいずれか一項に記載のロボット。
A marker information storage unit that stores the position of the marker,
The first event detector that detects the first event, and
The second event detector that detects the second event, and
It also has an action execution unit that executes actions.
When the first event is detected, it moves to the vicinity of the position of the marker, and when the second event is detected, it becomes at least one of the marker, the first event, and the second event. The robot according to any one of claims 1 to 14, which performs the corresponding action.
前記撮影ステップにおいて撮影された撮影画像に含まれる所定のマーカを認識するマーカ認識ステップと、
認識された前記マーカに基づき移動機構による移動を制御する移動制御ステップと
を含む、ロボット制御方法。
Shooting steps to shoot the surrounding space and
A marker recognition step for recognizing a predetermined marker included in a shot image shot in the shooting step, and a marker recognition step.
A robot control method including a movement control step for controlling movement by a movement mechanism based on the recognized marker.
周囲の空間を撮影する撮影機能と、
前記撮影機能において撮影された撮影画像に含まれる所定のマーカを認識するマーカ認識機能と、
認識された前記マーカに基づき移動機構による移動を制御する移動制御機能と
を実現させるための、ロボット制御プログラム。
On the computer
A shooting function that shoots the surrounding space and
A marker recognition function that recognizes a predetermined marker included in a shot image shot by the shooting function, and a marker recognition function.
A robot control program for realizing a movement control function that controls movement by a movement mechanism based on the recognized marker.
請求項1から15のいずれか一項に記載のロボット。The robot according to any one of claims 1 to 15.
前記第１マーカは、前記撮影画像に前記第１マーカが含まれていたことを条件として、前記移動機構による前記移動が制御されるマーカであり、The first marker is a marker whose movement is controlled by the movement mechanism on condition that the captured image contains the first marker.
前記第２マーカは、前記撮影画像に前記第２マーカが含まれるか、又は、前記撮影画像に前記第２マーカが含まれていなくとも、過去に前記第２マーカが検出された位置であることを条件として、前記移動機構による前記移動が制御されるマーカである、The second marker is a position where the second marker is detected in the past even if the captured image contains the second marker or the captured image does not include the second marker. Is a marker whose movement is controlled by the movement mechanism on the condition that
請求項1から15又は請求項18のいずれか一項に記載のロボット。The robot according to any one of claims 1 to 15 or claim 18.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2023202283A JP2024020582A (en) | 2018-06-13 | 2023-11-29 | Robot, method of controlling the same, and program |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018113083 | 2018-06-13 | ||
| JP2018113083 | 2018-06-13 | ||
| PCT/JP2019/023433 WO2019240208A1 (en) | 2018-06-13 | 2019-06-13 | Robot, method for controlling robot, and program |
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| JP2023202283A Division JP2024020582A (en) | 2018-06-13 | 2023-11-29 | Robot, method of controlling the same, and program |
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| Publication Number | Publication Date |
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| JPWO2019240208A1 JPWO2019240208A1 (en) | 2021-06-24 |
| JPWO2019240208A5 true JPWO2019240208A5 (en) | 2022-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2020525643A Pending JPWO2019240208A1 (en) | 2018-06-13 | 2019-06-13 | Robots and their control methods, as well as programs |
| JP2023202283A Pending JP2024020582A (en) | 2018-06-13 | 2023-11-29 | Robot, method of controlling the same, and program |
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| JP2023202283A Pending JP2024020582A (en) | 2018-06-13 | 2023-11-29 | Robot, method of controlling the same, and program |
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| Country | Link |
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| JP (2) | JPWO2019240208A1 (en) |
| WO (1) | WO2019240208A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11493930B2 (en) * | 2018-09-28 | 2022-11-08 | Intrinsic Innovation Llc | Determining changes in marker setups for robot localization |
| WO2022034686A1 (en) * | 2020-08-14 | 2022-02-17 | 日本電気株式会社 | Operating range setting device, operating range setting method, and recording medium |
| CN115705064B (en) * | 2021-08-03 | 2024-05-24 | 北京小米移动软件有限公司 | Following control method and device of foot-type robot and robot |
| WO2023119566A1 (en) * | 2021-12-23 | 2023-06-29 | 本田技研工業株式会社 | Transport system |
| WO2023204025A1 (en) * | 2022-04-20 | 2023-10-26 | パナソニックＩｐマネジメント株式会社 | Movement management system, movement management method, and program |
| WO2024004453A1 (en) * | 2022-06-28 | 2024-01-04 | ソニーグループ株式会社 | Moving body control information generating method, moving body control information generating device, moving body, and moving body control system |
| TW202420010A (en) * | 2022-07-15 | 2024-05-16 | 日商Ｔｈｋ股份有限公司 | Autonomous mobile robot and system for controlling autonomous mobile robot |
| CN116755464B (en) * | 2023-05-17 | 2024-04-16 | 贵州师范学院 | Mobile robot control method based on Internet of things |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0854927A (en) * | 1994-08-10 | 1996-02-27 | Kawasaki Heavy Ind Ltd | Landmark deciding method and device |
| JPH1011135A (en) * | 1996-06-27 | 1998-01-16 | Ohbayashi Corp | Mark recognizing horizontal conveyance system |
| WO2011052826A1 (en) * | 2009-10-30 | 2011-05-05 | 주식회사 유진로봇 | Map generating and updating method for mobile robot position recognition |
| JP5862344B2 (en) * | 2012-02-10 | 2016-02-16 | 富士通株式会社 | Image processing apparatus, prior information update method, and program |
| WO2016103562A1 (en) * | 2014-12-25 | 2016-06-30 | 村田機械株式会社 | Traveling vehicle system and traveling state changing method |
| JP6619967B2 (en) * | 2015-08-21 | 2019-12-11 | シャープ株式会社 | Autonomous mobile device, autonomous mobile system, and environmental map evaluation method |
| DE112017001573B4 (en) * | 2016-03-28 | 2020-01-30 | Groove X, Inc. | Autonomous robot that performs a greeting action |
| JP6850107B2 (en) * | 2016-11-02 | 2021-03-31 | 東芝ライフスタイル株式会社 | Autonomous electric cleaner |
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2019
- 2019-06-13 WO PCT/JP2019/023433 patent/WO2019240208A1/en active Application Filing
- 2019-06-13 JP JP2020525643A patent/JPWO2019240208A1/en active Pending
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- 2023-11-29 JP JP2023202283A patent/JP2024020582A/en active Pending
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