WO2009072229A1 - ロボットおよびタスク実行システム - Google Patents

ロボットおよびタスク実行システム Download PDF

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Publication number
WO2009072229A1
WO2009072229A1 PCT/JP2008/002826 JP2008002826W WO2009072229A1 WO 2009072229 A1 WO2009072229 A1 WO 2009072229A1 JP 2008002826 W JP2008002826 W JP 2008002826W WO 2009072229 A1 WO2009072229 A1 WO 2009072229A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
active sensors
task
executed
execution system
Prior art date
Application number
PCT/JP2008/002826
Other languages
English (en)
French (fr)
Inventor
Yuichiro Kawaguchi
Taro Yokoyama
Original Assignee
Honda Motor Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to EP08857151A priority Critical patent/EP2186610B1/en
Priority to US12/674,021 priority patent/US8483930B2/en
Publication of WO2009072229A1 publication Critical patent/WO2009072229A1/ja

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • 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
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

複数のロボットのそれぞれによりタスクが円滑に実行されうるように、他のロボットに搭載されている複数のアクティブセンサの相互干渉を回避することができるロボット等を提供する。複数のロボット（Ｒ）のそれぞれに搭載されているアクティブセンサが相互に干渉する可能性があり、かつ、自己ロボット（Ｒ）により実行されているタスクに対する当該アクティブセンサの寄与度が、他のロボット（Ｒ）により実行されているタスクに対する当該アクティブセンサの寄与度よりも低い状況において、自己ロボット（Ｒ）の当該アクティブセンサの感度が下げられる。タスクへの寄与度が比較的低いアクティブセンサの感度が下げられることにより、アクティブセンサの相互干渉が回避され、かつ、ロボット（Ｒ）による当該タスクに支障が生じる事態が回避されうる。
PCT/JP2008/002826 2007-12-04 2008-10-07 ロボットおよびタスク実行システム WO2009072229A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08857151A EP2186610B1 (en) 2007-12-04 2008-10-07 Robot and task execution system
US12/674,021 US8483930B2 (en) 2007-12-04 2008-10-07 Robot and task execution system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-313056 2007-12-04
JP2007313056A JP5035802B2 (ja) 2007-12-04 2007-12-04 ロボットおよびタスク実行システム

Publications (1)

Publication Number Publication Date
WO2009072229A1 true WO2009072229A1 (ja) 2009-06-11

Family

ID=40717415

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002826 WO2009072229A1 (ja) 2007-12-04 2008-10-07 ロボットおよびタスク実行システム

Country Status (4)

Country Link
US (1) US8483930B2 (ja)
EP (1) EP2186610B1 (ja)
JP (1) JP5035802B2 (ja)
WO (1) WO2009072229A1 (ja)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5526942B2 (ja) * 2010-03-31 2014-06-18 ソニー株式会社 ロボット装置、ロボット装置の制御方法およびプログラム
JP5273213B2 (ja) * 2011-06-27 2013-08-28 株式会社デンソー 走行支援システム及び車両用無線通信装置
JP6397226B2 (ja) * 2014-06-05 2018-09-26 キヤノン株式会社 装置、装置の制御方法およびプログラム
US9457474B1 (en) * 2014-07-03 2016-10-04 Amazon Technologies, Inc. Opening packages at high speeds using robots
US9561829B1 (en) * 2014-09-03 2017-02-07 X Development Llc Robotic leg with multiple robotic feet
JP6569312B2 (ja) * 2015-06-05 2019-09-04 富士通株式会社 処理装置、処理方法及び処理プログラム
US11645444B2 (en) 2016-05-10 2023-05-09 Trustees Of Tufts College Systems and methods enabling online one-shot learning and generalization by intelligent systems of task-relevant features and transfer to a cohort of intelligent systems
US10949940B2 (en) * 2017-04-19 2021-03-16 Global Tel*Link Corporation Mobile correctional facility robots
US10690466B2 (en) 2017-04-19 2020-06-23 Global Tel*Link Corporation Mobile correctional facility robots
CN108367438B (zh) * 2017-07-13 2021-06-04 达闼机器人有限公司 机器人角色切换方法、装置和机器人
JP7275636B2 (ja) * 2019-02-22 2023-05-18 セイコーエプソン株式会社 無人搬送システム及び無人搬送車の自己位置推定方法
CN111436189B (zh) * 2019-06-11 2021-12-10 灵动科技（北京）有限公司 自驱式系统
WO2021166317A1 (ja) * 2020-02-20 2021-08-26 Ｗｈｉｌｌ株式会社 電動モビリティおよび施設内におけるシステム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05158533A (ja) * 1991-11-26 1993-06-25 Internatl Business Mach Corp <Ibm> 能動型センサを備えた移動機械
JP2005221333A (ja) * 2004-02-04 2005-08-18 Hokuyo Automatic Co レンジセンサ及びレンジセンサの相互干渉抑制方法
JP2006192562A (ja) 2004-12-14 2006-07-27 Honda Motor Co Ltd 自律移動ロボット
JP2006231421A (ja) 2005-02-22 2006-09-07 Honda Motor Co Ltd ロボット制御装置、ロボット制御方法およびロボット制御プログラム、ならびに移動ロボット
JP2007187632A (ja) * 2006-01-16 2007-07-26 Fujitsu Ten Ltd レーダー装置
JP2007313056A (ja) 2006-05-26 2007-12-06 Toppan Printing Co Ltd 折り返し片付き濾過器の製造方法

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US20040006566A1 (en) * 2000-11-07 2004-01-08 Matt Taylor System and method for augmenting knowledge commerce
EP1738232A4 (en) * 2004-04-22 2009-10-21 Frontline Robotics ARCHITECTURE OF OPEN CONTROL SYSTEM FOR AUTONOMOUS MOBILE SYSTEMS
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US20080051930A1 (en) * 2006-07-10 2008-02-28 Oh Hilario L Scheduling method for processing equipment

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
JPH05158533A (ja) * 1991-11-26 1993-06-25 Internatl Business Mach Corp <Ibm> 能動型センサを備えた移動機械
JP2005221333A (ja) * 2004-02-04 2005-08-18 Hokuyo Automatic Co レンジセンサ及びレンジセンサの相互干渉抑制方法
JP2006192562A (ja) 2004-12-14 2006-07-27 Honda Motor Co Ltd 自律移動ロボット
JP2006231421A (ja) 2005-02-22 2006-09-07 Honda Motor Co Ltd ロボット制御装置、ロボット制御方法およびロボット制御プログラム、ならびに移動ロボット
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Non-Patent Citations (1)

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Title
See also references of EP2186610A4

Also Published As

Publication number Publication date
US8483930B2 (en) 2013-07-09
EP2186610B1 (en) 2013-01-23
JP5035802B2 (ja) 2012-09-26
EP2186610A1 (en) 2010-05-19
EP2186610A4 (en) 2010-09-22
JP2009136933A (ja) 2009-06-25
US20110106310A1 (en) 2011-05-05

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