Robot apparatus, turning method for robot apparatus, and program
First Claim
1. A robot apparatus comprising:
- a moving unit configured to move in a moving plane on flooring, and to turn in a horizontal direction of the flooring about a rotation axis vertical to the flooring;
an imaging unit configured to take images in a direction horizontal to the moving plane, and to rotate in the horizontal direction of the flooring about said axis;
a storage unit configured to store a content of the image taken by the imaging unit, when the moving unit receives a turning request of a command angle;
a detector configured to detect a rotation angle between the stored image content and an actual rotation of the moving unit;
a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in a direction opposite to the direction of the command angle, and to control a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate for a gap determined by comparing the taken image with the stored image content; and
a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector.
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Accused Products
Abstract
A robot apparatus includes a moving unit configured to move in a moving plane on flooring, and turn in horizontal direction of the flooring about a rotation axis vertical to the flooring; an imaging unit configured to take images in a direction horizontal to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis; a storage unit configured to store the image taken by the image processor when the moving unit receives a turning request of a command angle; a detector configured to detect a rotation angle of the imaging unit relative to the moving unit; a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in an opposite direction, and based on a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate a gap determined by comparing the taken image with the stored image; and a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector.
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Citations
14 Claims
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1. A robot apparatus comprising:
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a moving unit configured to move in a moving plane on flooring, and to turn in a horizontal direction of the flooring about a rotation axis vertical to the flooring;
an imaging unit configured to take images in a direction horizontal to the moving plane, and to rotate in the horizontal direction of the flooring about said axis;
a storage unit configured to store a content of the image taken by the imaging unit, when the moving unit receives a turning request of a command angle;
a detector configured to detect a rotation angle between the stored image content and an actual rotation of the moving unit;
a controller configured to control a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction of the command angle and which makes the imaging unit rotate in a direction opposite to the direction of the command angle, and to control a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate for a gap determined by comparing the taken image with the stored image content; and
a stop unit configured to stop the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the rotation angle detected by the detector. - View Dependent Claims (4, 7, 10)
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2. The robot apparatus comprising:
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a moving unit configured to move in a moving plane on flooring, and to turn in a horizontal direction of the flooring about a rotation axis vertical to the flooring;
an imaging unit configured to take images in a direction horizontal to the moving plane, and to rotate about said axis in the horizontal direction of the flooring;
a storage unit configured to store a content of the image taken by the imaging unit, when the moving unit receives a turning request of a command angle;
a 1st controller configured to control a turning of the moving unit at a turning rate and in a turning direction defined by the command angle;
a 2nd controller configured to control a rotating of the imaging unit by rotating the imaging unit at said turning rate and in a direction opposite to the direction defined by the command angle;
a 1st detector configured to detect a direction of a gap determined by comparing the taken image with the stored image content;
a compensation controller configured to control a turning rate in the direction detected by 1st detector;
a 2nd detector configured to detect a rotation angle of the imaging unit relative to the moving unit; and
a stop unit configured to stop the turning of the 1st controller and the rotating of the 2nd controller, when the rotation angle detected by the 2nd detector corresponds to the command angle;
whereinthe moving unit turns based on the turning rate controlled by the 1st controller and the turning rate controlled by the compensation controller, and the imaging unit rotates based on the rotating rate controlled by the 2nd controller. - View Dependent Claims (5, 8, 11)
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3. The robot apparatus comprising:
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a moving unit configured to move in a moving plane on flooring, and to turn in a horizontal direction of the flooring about a rotation axis vertical to the flooring;
an imaging unit configured to take images in a direction horizontal to the moving plane, and to rotate about said axis in horizontal direction of the flooring;
a storage unit configured to store a content of the image taken by the imaging unit, when the moving unit receives a turning request of a command angle;
a 1st controller configured to control a turning of the moving unit at a turning rate and in a turning direction defined by the command angle;
a 2nd controller configured to control a rotating of the imaging unit at a rotating rate and in a direction opposite to the direction defined by the command angle;
a 1st detector configured to detect a direction of a gap determined by comparing the taken image with the stored image content;
a compensation controller configured to control a rotating rate of the imaging unit in a direction opposite to the direction of the gap detected by 1st detector;
a 2nd detector configured to detect a rotation angle of the image processing unit relative to the moving unit; and
a stop unit configured to stop the turning of the 1st controller and the rotating of the 2nd controller, when the rotation angle detected by the 2nd detector corresponds with the command angle;
whereinthe moving unit turns based on the turning rate controlled by the 1st controller, and the imaging unit rotates based on the rotating rate controlled by the 2nd controller and the rotating rate controlled by the compensation controller. - View Dependent Claims (6, 9, 12)
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13. A turning method for a robot apparatus including a moving unit configured to move in a moving plane on flooring, and turn in a horizontal direction of the flooring about a rotation axis vertical to the flooring, and an imaging unit configured to take an image in horizontal direction to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis, comprising;
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storing a content of an image taken by the imaging unit when the moving unit receives a turning request of a command angle;
detecting a rotation angle of the imaging unit against the moving unit;
controlling a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction indicated by the command angle and which makes the image processor rotate in an opposite direction to the direction indicated by the command angle, and based on a rate value which changes turning of the moving unit or rotating of the image processor so as to compensate a gap determined by comparing the taken image with the stored image content; and
stopping the turning of the moving unit and the rotating of the image processor, when the command angle corresponds to the detected rotation angle.
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14. A computer program product which stores program instructions which when executed by a computer control movement of a robot apparatus, said robot apparatus including a moving unit configured to move on flooring, and turn in horizontal direction of the flooring about a rotation axis vertical to the flooring, and an imaging unit configured to take an image in horizontal direction to the moving plane, and rotate in horizontal direction of the flooring about the rotation axis, said program instructions producing execution of the steps comprising;
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storing a content of the image taken by the imaging unit when the moving unit receives a turning request of a command angle;
detecting a rotation angle of the imaging unit against the moving unit;
controlling a turning of the moving unit and a rotating of the imaging unit based on a common value which makes the moving unit turn in a direction indicated by the command angle and which makes the imaging unit rotate in an opposite direction to the direction indicated by the command angle, and based on a rate value which changes turning of the moving unit or rotating of the imaging unit so as to compensate a gap determined by comparing the taken image with the stored image content; and
stopping the turning of the moving unit and the rotating of the imaging unit, when the command angle corresponds to the detected rotation angle.
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Specification