WO2013175839A1 - ロボット装置、端末装置、ロボット装置の遠隔操作システム及びプログラム - Google Patents

ロボット装置、端末装置、ロボット装置の遠隔操作システム及びプログラム Download PDF

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Publication number
WO2013175839A1
WO2013175839A1 PCT/JP2013/057661 JP2013057661W WO2013175839A1 WO 2013175839 A1 WO2013175839 A1 WO 2013175839A1 JP 2013057661 W JP2013057661 W JP 2013057661W WO 2013175839 A1 WO2013175839 A1 WO 2013175839A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
unit
robot cleaner
position information
terminal device
Prior art date
Application number
PCT/JP2013/057661
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
実雄 阪本
Original Assignee
シャープ株式会社
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 シャープ株式会社 filed Critical シャープ株式会社
Priority to CN201380023878.0A priority Critical patent/CN104321709A/zh
Publication of WO2013175839A1 publication Critical patent/WO2013175839A1/ja

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Classifications

    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • 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

Definitions

  • the robot cleaner 301 includes an obstacle detection unit and a position recognition unit, and creates a cleaning map by searching a cleaning range.
  • the obstacle detection unit detects obstacle information such as presence / absence, position, and size of an obstacle, and an infrared sensor or the like is used.
  • the position recognition unit is for recognizing the position of the robot cleaner 301 within the cleaning range, and is an upper imaging unit that captures an image above the robot cleaner 301, an acceleration sensor, an encoder that detects the speed of the wheel motor, or a gyroscope. A sensor is used.
  • FIG. 7 is a block diagram illustrating a main configuration of the robot cleaner 1.
  • components having the same reference numerals as those described above have the same functions and description thereof is omitted.
  • the robot cleaner 1 mainly includes a control unit 19, a storage unit 20, a communication unit 18, an obstacle detection unit 10, a position detection unit 21, an imaging unit 7, an illumination unit 8, an ion generation unit 22, an operation panel 5, and signal reception. Unit 9, electric blower 16, battery 17, and dust collecting unit 30.
  • the robot cleaner 1 includes a side brush 11, a rotating brush 12, a driving wheel 13, and driving units 11d, 12d, and 13d thereof.
  • the movement route may be generated so as to move along the wall of the room.
  • the robot cleaner 1 does not get in the way of the person as compared with the case of moving in the middle of the room. The risk of the robot cleaner 1 colliding with a person can be reduced.
  • FIG. 12 shows that the range P2 where the robot cleaner 1 works is input.
  • the range P2 is a range hatched by a vertical line, and indicates the ranges of the rooms R3 and R4.
  • the user operates the user interface unit 105 to input the range P2.
  • the position information generation unit 107 generates a relative position range of the range P2 with reference to the reference position C as position information.
  • the position information may include information on an obstacle existing in the range P2.
  • the robot cleaner 1 can work in the range input by the user while avoiding the obstacle, and can work efficiently.
  • the robot cleaner 1 does not necessarily have to transmit the result of the work to the terminal device 101.
  • the remote operation processing by the remote operation system 100 ends. Further, either the movement based on the position information in S306 and the execution of the work based on the control command in S307 may be executed first or may be executed simultaneously.
  • the user operates the user interface unit 105 of the terminal device 101 to input a range for the robot cleaner 1 to perform work on the map created by the map creation unit 108.
  • the position information generation unit 107 generates a range of relative positions from a reference position corresponding to a range specified as position information by a user input.
  • the position information may include information on an obstacle existing in the designated range.
  • the control command generation unit 106 generates a control command for moving the robot cleaner 1 and driving the electric blower 16, the side brush 11, the rotating brush 12, and the like according to a user input for cleaning. Then, the communication unit 104 transmits the generated position information and control command to the robot cleaner 1.
  • work performed by remote operation is not limited to cleaning.
  • the work executed by the remote operation is discharge of ions for driving the electric blower 16 and the ion generation unit 22 or the like, or imaging by the imaging unit 7 or the like.
  • the robot cleaner 1 has been described as the robot apparatus.
  • the robot apparatus of the present invention includes a wide variety of robot apparatuses that perform specific work on behalf of the user. .
  • the robot apparatus of the present invention includes a security robot or a pet robot.
  • the robot cleaner 1 receives the position information on the position or range where the robot apparatus is moved from the terminal apparatus 101 and the control command for the robot apparatus, drives the traveling unit based on the position information, Since the position information is generated based on a map of the work area of the robot device created by the terminal device, without performing complicated processing in the robot cleaner 1, Remote operation intended by the user can be executed.
  • the robot cleaner 1 can perform work while avoiding the obstacle. The efficiency of work by the robot cleaner 1 is improved.
  • At least a part of the control unit of the robot apparatus or the terminal apparatus may be configured as hardware by a logic circuit formed on an integrated circuit (IC chip), or realized by software using a CPU (Central Processing Unit) May be.
  • the robot apparatus or the terminal apparatus includes a CPU that executes instructions of a control program for realizing each function, a ROM (read only memory) that stores the program, a RAM (random access memory) that expands the program, and A storage device (recording medium) such as a memory for storing programs and various data is provided.
  • a remote operation system is a remote operation system for a robot apparatus including a robot apparatus and a terminal apparatus, and the robot apparatus is generated based on a work area map of the robot apparatus created by the terminal apparatus.
  • a communication unit that receives position information and a control command for the robot device from the terminal device, a traveling unit that moves the robot device, and a control that drives the traveling unit based on the position information and performs work based on the control command
  • the terminal device generates position information based on the control command generation unit that generates a control command for the robot device, a map creation unit that creates a map of the work area of the robot device, and the work area map
  • a position information generation unit, and a communication unit that transmits a control command and position information to the robot apparatus are provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
PCT/JP2013/057661 2012-05-22 2013-03-18 ロボット装置、端末装置、ロボット装置の遠隔操作システム及びプログラム WO2013175839A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201380023878.0A CN104321709A (zh) 2012-05-22 2013-03-18 机器人装置、终端装置、机器人装置的远程操作系统以及程序

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-116103 2012-05-22
JP2012116103A JP2013242738A (ja) 2012-05-22 2012-05-22 ロボット装置、端末装置、ロボット装置の遠隔操作システム及びプログラム

Publications (1)

Publication Number Publication Date
WO2013175839A1 true WO2013175839A1 (ja) 2013-11-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/057661 WO2013175839A1 (ja) 2012-05-22 2013-03-18 ロボット装置、端末装置、ロボット装置の遠隔操作システム及びプログラム

Country Status (4)

Country Link
JP (1) JP2013242738A (zh)
CN (1) CN104321709A (zh)
TW (1) TWI654961B (zh)
WO (1) WO2013175839A1 (zh)

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EP2929897A1 (en) * 2014-04-09 2015-10-14 Panasonic Intellectual Property Management Co., Ltd. Flying ion spraying apparatus, ion spraying system, and ion spraying method

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KR102158690B1 (ko) 2013-12-27 2020-10-23 엘지전자 주식회사 로봇 청소기, 로봇 청소기 시스템 및 그 제어방법
JP2016042285A (ja) * 2014-08-18 2016-03-31 株式会社東芝 自律型移動体
JP6366064B2 (ja) * 2014-08-19 2018-08-01 東芝ライフスタイル株式会社 電気掃除機
JP5819498B1 (ja) * 2014-08-27 2015-11-24 シャープ株式会社 自律移動体及び自律移動体システム
JP2016191735A (ja) * 2015-03-30 2016-11-10 シャープ株式会社 地図作成装置、自律走行体、自律走行体システム、携帯端末、地図作成方法、地図作成プログラム及びコンピュータ読み取り可能な記録媒体
CN107636548B (zh) * 2015-05-12 2021-08-13 三星电子株式会社 机器人及其控制方法
CN104991463A (zh) * 2015-05-21 2015-10-21 北京云迹科技有限公司 机器人半自主建图方法及系统
KR102427836B1 (ko) 2015-06-26 2022-08-02 삼성전자주식회사 로봇 청소기, 정보 제공 시스템 및 정보 제공 방법
CN105005305B (zh) * 2015-07-22 2018-07-31 上海思依暄机器人科技股份有限公司 受控机器人、遥控设备、机器人系统及所适用的方法
JP7007078B2 (ja) * 2015-10-08 2022-01-24 東芝ライフスタイル株式会社 電気掃除機
JP6648618B2 (ja) * 2016-04-14 2020-02-14 三菱電機株式会社 ごみ回収装置、電気掃除機及び掃除機システム
CN106308686A (zh) * 2016-08-30 2017-01-11 苏州凯丽达电器有限公司 一种用于处理家庭角落的移动清理吸尘车
EP3646842A3 (en) * 2016-11-08 2020-07-29 Optimus Licensing AG Integrated operating room lighting and patient warming system - design and components
CN106364585A (zh) * 2016-11-28 2017-02-01 深圳哈乐派科技有限公司 一种机器人脚部及一种机器人
JP6803281B2 (ja) * 2017-03-28 2020-12-23 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 移動体基地複合体、移動体基地及び移動体誘導方法
CN107139172B (zh) * 2017-05-18 2019-06-25 深圳市微付充科技有限公司 机器人控制方法和装置
JP7100964B2 (ja) * 2017-07-21 2022-07-14 株式会社竹中工務店 清掃システム、及び清掃プログラム
CN107791251A (zh) * 2017-11-22 2018-03-13 深圳市沃特沃德股份有限公司 机器人移动控制方法和机器人
JP2019103618A (ja) * 2017-12-12 2019-06-27 東芝ライフスタイル株式会社 電気掃除機
EP3520686A1 (de) * 2018-02-01 2019-08-07 Vorwerk & Co. Interholding GmbH System mit vitaldatensensor
CN110448223A (zh) * 2018-05-08 2019-11-15 博西华电器（江苏）有限公司 清洁设备的控制方法、控制装置、清洁设备及控制其的系统
JP2020038035A (ja) * 2018-09-04 2020-03-12 株式会社日立製作所 移動型空気清浄機
WO2020050494A1 (en) 2018-09-06 2020-03-12 Lg Electronics Inc. A robot cleaner and a controlling method for the same
US11432697B2 (en) 2018-09-06 2022-09-06 Lg Electronics Inc. Robot cleaner and a controlling method for the same
KR102252034B1 (ko) 2018-09-06 2021-05-14 엘지전자 주식회사 이동 로봇 및 그 제어방법
US11906322B2 (en) 2019-03-01 2024-02-20 Sony Interactive Entertainment Inc. Environment map management device, environment map management system, environment map management method, and program
US11442465B2 (en) 2019-03-15 2022-09-13 Samsung Electronics Co., Ltd. Robot cleaner and control method thereof
CN111829518A (zh) * 2019-04-17 2020-10-27 郑州鼎派电子科技有限公司 一种基于高精度室内定位技术的导航方法及装置
CN110720867A (zh) * 2019-09-19 2020-01-24 深圳市凯木金科技有限公司 扫地机控制系统
JP7351827B2 (ja) 2020-12-17 2023-09-27 トヨタ自動車株式会社 ごみ収集システム
CN112716402A (zh) * 2021-01-05 2021-04-30 安享质(重庆)科技发展有限公司 一种远程控制方法

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JPS63282507A (ja) * 1987-05-14 1988-11-18 Matsushita Electric Ind Co Ltd 搬送台車制御プログラム作成装置
JPH09212238A (ja) * 1996-01-31 1997-08-15 Shizukou Kk 自律走行清掃車両の走行経路設定装置
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JPS63282507A (ja) * 1987-05-14 1988-11-18 Matsushita Electric Ind Co Ltd 搬送台車制御プログラム作成装置
JPH09212238A (ja) * 1996-01-31 1997-08-15 Shizukou Kk 自律走行清掃車両の走行経路設定装置
JP2002085305A (ja) * 2000-09-12 2002-03-26 Toshiba Tec Corp ロボットクリーナ及びロボットクリーナシステム
JP2007226322A (ja) * 2006-02-21 2007-09-06 Sharp Corp ロボットコントロールシステム
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2929897A1 (en) * 2014-04-09 2015-10-14 Panasonic Intellectual Property Management Co., Ltd. Flying ion spraying apparatus, ion spraying system, and ion spraying method
US10149916B2 (en) 2014-04-09 2018-12-11 Panasonic Intellectual Property Management Co., Ltd. Ion spraying apparatus, ion spraying system, and ion spraying method

Also Published As

Publication number Publication date
TWI654961B (zh) 2019-04-01
CN104321709A (zh) 2015-01-28
JP2013242738A (ja) 2013-12-05
TW201350295A (zh) 2013-12-16

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