Robot device and method of controlling the robot device
First Claim
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1. A movable device, comprising:
- a drive unit including a plurality of movable parts;
a communication unit configured to receive an instruction of a task, wherein the task is related to movement of the plurality of movable parts; and
one or more processors configured to;
control an operation of the drive unit based on the received instruction;
set a time period for implementation of the task, wherein the set time period is between a current time instance and a final time instance that is after the current time instance;
calculate a trajectory of the movable device based on the task, wherein the trajectory is calculated for the time period;
divide the time period into a plurality of time instances based on the task;
calculate a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances,wherein each of the plurality of restricted areas is a circular area,wherein each circular area of a plurality of circular areas encircles the movable device, andwherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area; and
determine an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
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Abstract
Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.
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Citations
9 Claims
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1. A movable device, comprising:
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a drive unit including a plurality of movable parts; a communication unit configured to receive an instruction of a task, wherein the task is related to movement of the plurality of movable parts; and one or more processors configured to; control an operation of the drive unit based on the received instruction; set a time period for implementation of the task, wherein the set time period is between a current time instance and a final time instance that is after the current time instance; calculate a trajectory of the movable device based on the task, wherein the trajectory is calculated for the time period; divide the time period into a plurality of time instances based on the task; calculate a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances, wherein each of the plurality of restricted areas is a circular area, wherein each circular area of a plurality of circular areas encircles the movable device, and wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area; and determine an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method, comprising:
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inputting an instruction of a task; setting a time period for implementation of the task based on the task, wherein the set time period is between a current time instance and a final time instance that is after the current time instance; calculating a trajectory of a movable device based on the task, wherein the trajectory is calculated for the time period; dividing the time period into a plurality of time instances based on the task; calculating a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances, wherein each of the plurality of restricted areas is a circular area, wherein each circular area of a plurality of circular areas encircles the movable device, and wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area; and determining an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
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9. A non-transitory computer-readable medium having stored thereon, computer-executable instructions, which when executed by a computer cause the computer to execute operations, the operations comprising:
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inputting an instruction of a task; setting a time period for implementation of the task based on the task, wherein the set time period is between a current time instance and a final time instance that is after the current time instance; calculating a trajectory of a movable device based on the task, wherein the trajectory is calculated for the time period; dividing the time period into a plurality of time instances based on the task; calculating a plurality of restricted areas for movement of the movable device such that each of the plurality of restricted areas corresponds to a respective time instance of the divided plurality of time instances, wherein each of the plurality of restricted areas is a circular area, wherein each circular area of a plurality of circular areas encircles the movable device, and wherein each of the plurality of circular areas partially overlaps a corresponding adjacent circular area; and determining an operation space of the movable device along the calculated trajectory based on the plurality of restricted areas.
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Specification