Robot and method for controlling the same

• US 8,209,074 B2
• Filed: 02/05/2008
• Issued: 06/26/2012
• Est. Priority Date: 02/16/2007
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation), Toshiba Digital Solutions Corporation (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Sonoura, Takafumi
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): TSUI, KYLE KAHUNG
• Application Number:
  US12/068,347
• Publication Number:
  US 20080201014A1
• Time in Patent Office: 1,603 Days
• Field of Search: 700/253, 700/255, 700/245, 700/258, 700/259, 382/153, 701/23, 901/46, 901/1
• US Class Current: 701/23
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A robot includes: a main body; a traveling mechanism attached to the main body to move the main body; an image pickup device which picks up an image of an object in a space including a traveling plane; an object detector which detects the object existing in the space based on an image picked up by the image pickup device; a distance calculator which calculates a distance to the object detected by the object detector; a degree of caution setting device which sets a degree of caution with respect to the object detected by the object detector based on the image picked up by the image pickup device and the distance calculated by the distance calculator; and a controller which controls the traveling mechanism based on the degree of caution set by the degree of caution setting device and the distance calculated by the distance calculator.

Claims

1. A robot, comprising:

a main body;

a traveling mechanism configured to be attached to the main body and to move the main body;

an image pickup device configured to pick up an image of an object in a space including a traveling plane;

an object detector configured to detect the object in the space based on the image picked up by the image pickup device;

a distance calculator configured to calculate a distance to the object detected by the object detector;

an obstacle decision part configured to make a decision whether the object detected by the object detector is an obstacle based on the distance to the object calculated by the distance calculator;

a traveling object decision part configured to make a decision whether the obstacle is a traveling object based on the image picked up by the image pickup device and the distance calculated by the distance calculator, and to make a decision, if the obstacle is judged to be a traveling object, whether the traveling object is a person based on the image picked up by the image pickup device;

a caution requiring person decision part configured to make a decision whether the traveling object is a person against whom caution should be taken, based on the image picked up by the image pickup device and the distance calculated by the distance calculator;

an approach permissible distance setting part configured to set an approach permissible distance from the object detected by the object detector based on the image picked up by the image pickup device and the distance calculated by the distance calculator, the approach permissible distance setting part being configured to place no restrictions on the approach permissible distance from the object when the object detected by the object detector is not an obstacle, to set the approach permissible distance to a first distance when the object detected by the object detector is an obstacle and is not a traveling object, to set the approach permissible distance to a second distance greater than the first distance when the object detected by the object detector is a traveling object and is not a person, to set the approach permissible distance to a third distance greater than the second distance when the object detected by the object detector is a person and is not a person against whom caution should be taken, and to set the approach permissible distance to a fourth distance greater than the third distance when the object detected by the object detector is a person against whom caution should be taken, the approach permissible distance setting part being further configured to set a degree of caution with respect to the object, wherein the approach permissible distance setting part places no restrictions on the degree of caution when the object detected by the object detector is not an obstacle, sets the degree of caution to a first level when the object detected by the object detector is an obstacle and is not a traveling object, to set the degree of caution to a second level when the object detected by the object detector is a traveling object and is not a person, sets the degree of caution to a third level when the object detected by the object detector is a person and is not a person against whom caution should be taken, and sets the degree of caution to a fourth level when the object detected by the object detector is a person against whom caution should be taken;

a velocity setting part configured to set a velocity of the main body based on the approach permissible distance and the degree of caution set by the approach permissible distance setting part; and

a controller configured to control the traveling mechanism so as to cause the traveling velocity of the main body to become the velocity set by the velocity setting part.

2. A control method for a robot including a main body, a traveling mechanism configured to be attached to the main body and to move the main body, an image pickup device configured to pick up an image of an object in a space including a traveling plane, an object detector configured to detect the object in the space based on the image picked up by the image pickup device, and a distance calculator configured to calculate a distance to the object detected by the object detector, the control method comprising:

making a decision whether the obstacle is a traveling object based on the image picked up by the image pickup device and the distance calculated by the distance calculator, and to make a decision, if the obstacle is judged to be a traveling object, whether the traveling object is a person based on the image picked up by the image pickup device;

making a decision whether the traveling object is a person against whom caution should be taken, based on the image picked up by the image pickup device and the distance calculated by the distance calculator;

setting an approach permissible distance from the object detected by the object detector based on the image picked up by the image pickup device and the distance calculated by the distance calculator, the setting of the approach permissible distance comprising;

placing no restrictions on the approach permissible distance from the object when the object detected by the object detector is not an obstacle,

setting the approach permissible distance to a first distance when the object detected by the object detector is an obstacle and is not a traveling object,

setting the approach permissible distance to a second distance greater than the first distance when the object detected by the object detector is a traveling object and is not a person,

setting the approach permissible distance to a third distance greater than the second distance when the object detected by the object detector is a person and is not a person against whom caution should be taken, and

setting the approach permissible distance to a fourth distance greater than the third distance when the object detected by the object detector is a person against whom caution should be taken;

setting a degree of caution with respect to the object, the setting of the degree of caution comprising;

placing no restrictions on the degree of caution when the object detected by the object detector is not an obstacle;

setting the degree of caution to a first level when the object detected by the object detector is an obstacle and is not a traveling object;

setting the degree of caution to a second level when the object detected by the object detector is a traveling object and is not a person;

setting the degree of caution to a third level when the object detected by the object detector is a person and is not a person against whom caution should be taken; and

setting the degree of caution to a fourth level when the object detected by the object detector is a person against whom caution should be taken;

setting a velocity of the main body based on the approach permissible distance set by the setting of the approach permissible distance and the degree of caution set by the setting of the degree of caution; and

controlling the traveling mechanism so as to cause the traveling velocity of the main body to become the velocity set by setting of the velocity of the main body.

3. A robot, comprising:

a main body;

a driving mechanism attached to the main body and configured to move the main body; and

a camera,

wherein the robot is configured to;

detect an object based on an image picked up by the camera;

calculate a distance to the detected object;

determine whether the detected object is an obstacle based on the calculated distance;

determine whether the obstacle is a traveling object based on the image picked up by the camera and the calculated distance, and, if the obstacle is determined to be a traveling object, determine whether the traveling object is a person based on the image picked up by the camera;

determine whether the traveling object is a person against whom caution should be taken, based on the image picked up by the camera and the calculated distance;

set an approach permissible distance from the detected object based on the image picked up by the camera and the calculated distance, wherein no restrictions are placed on the approach permissible distance from the object when the object is determined not to be an obstacle;

the approach permissible distance is set to a first distance when the object is determined to be an obstacle, but not a traveling object;

the approach permissible distance is set to a second distance greater than the first distance when the object is determined to be a traveling object, but not a person;

the approach permissible distance is set to a third distance greater than the second distance when the object is determined to be a person, but not a person against whom caution should be taken; and

the approach permissible distance is set to a fourth distance greater than the third distance when the object is determined to be a person against whom caution should be taken;

set a degree of caution with respect to the object, wherein no restrictions are placed on the degree of caution when the object detected by the object detector is not an obstacle, the degree of caution is set to a first level when the object detected by the object detector is an obstacle and is not a traveling object, the degree of caution is set a second level when the object detected by the object detector is a traveling object and is not a person, the degree of caution is set to a third level when the object detected by the object detector is a person and is not a person against whom caution should be taken, and the degree of caution is set to a fourth level when the object detected by the object detector is a person against whom caution should be taken; and

set a velocity of the main body based on the approach permissible distance and the degree of caution.