Robot and method of controlling the same

• US 10,232,519 B2
• Filed: 07/29/2014
• Issued: 03/19/2019
• Est. Priority Date: 08/30/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Terada, Koji
• Primary Examiner(s): Tran, Khoi H
• Assistant Examiner(s): Nguyen, Robert T
• Application Number:
  US14/914,506
• Publication Number:
  US 20160214263A1
• Time in Patent Office: 1,694 Days
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An object of the present invention is to provide a robot that can improve safety even when the robot is operated in an unobserved region and a method of controlling the robot. The robot according to the present invention operates while observing a surrounding environment. The robot includes environmental information obtaining means for obtaining environmental information on the environment around the robot and control means for reducing a driving force of the robot when the robot is operated in the unobserved region, in which region the environmental information thereof has not been obtained by the environmental information obtaining means.

Claims

1. A method of controlling a robot that operates while observing a surrounding environment, the method comprising:

obtaining environmental information on the environment around the robot to dictate observed and unobserved regions, wherein the unobserved region is a region in which environmental information has not been obtained by the environmental information obtaining sensor;

determining as to whether the robot is operating in the observed or the unobserved region; and

reducing a speed at which the robot moves when it is determined that the robot is operating in the unobserved region,

wherein the robot is operated in a free region when operating within the observed region and it has been determined that an obstacle is not present based on the environmental information,

wherein the robot is operated in a prohibited region when operating within the observed region and it has been determined that an obstacle is present based on the environmental information,

wherein when the robot is operated in the prohibited region, reducing the speed at which the robot moves, so that the speed at which the robot moves will be lower than the speed at which the robot moves when the robot is operated in the unobserved region.

2. A robot operating while observing a surrounding environment comprising:

an environmental information obtaining sensor configured to obtain environmental information on the environment around the robot to dictate observed and unobserved regions, wherein the unobserved region is a region in which environmental information has not been obtained by the environmental information obtaining sensor; and

a controller configured to reduce a speed at which the robot moves when the robot is operated within the unobserved region,

wherein the robot is operated in a free region when operating within the observed region and it has been determined that an obstacle is not present based on the environmental information,

wherein the robot is operated in a prohibited region when operating within the observed region and it has been determined that an obstacle is present based on the environmental information,

wherein when the robot is operated in the prohibited region, the controller reduces the speed at which the robot moves, so that the speed at which the robot moves will be lower than the speed at which the robot moves when the robot is operated in the unobserved region.

3. The robot according to claim 2, wherein

the controller does not reduce the speed at which the robot moves when the robot is operated in a free region in which the environmental information of the free region has been obtained by the environmental information obtaining sensor and it has been determined that no obstacle is present based on the environmental information.

4. The robot according to claim 3, wherein

the robot comprises a storage to store region information, the region information indicating to which one of the unobserved region, the prohibited region, and the free region each region around the robot belongs,

the controller determines to which one of the unobserved region, the prohibited region, and the free region the region around the robot belongs based on the environmental information obtained by the environmental information obtaining sensor and updates the region information according to a result of the determination, and

the controller determines to which one of the unobserved region, the prohibited region, and the free region a region in which the robot operates belongs based on the region information.

5. The robot according to claim 2, wherein

when the robot is operated in the unobserved region, the controller reduces the speed at which the robot moves in such a way that the greater a volume of the robot included in the unobserved region, the greater a degree of a reduction in the speed at which the robot moves.

6. The robot according to claim 2, wherein

when the robot is operated in the unobserved region, the controller reduces the speed at which the robot moves in such a way that the shorter a distance between the prohibited region and the robot, the greater a degree of a reduction in the speed at which the robot moves.

7. The robot according to claim 2, wherein

the robot further includes an arm,

a case in which the robot is operated indicates a case in which the arm included in the robot is operated, and

a moving speed of the arm included in the robot is reduced as the speed at which the robot moves.

8. The robot according to claim 2, wherein

the robot is a movable robot, and

a case in which the robot is operated is a case in which the robot is moved.

9. The robot according to claim 2, wherein

the robot operates by feedback control, and

the controller reduces a gain of the feedback so as to reduce the speed at which the robot moves.