Moving device and method for controlling same
First Claim
1. A mobile apparatus equipped with a control device, which moves autonomously by the control device controlling the operation thereof according to a target position trajectory indicating a temporal changing pattern of the target position, the control device comprising:
- a first control processing element which determines whether or not a first moving condition in which the mobile apparatus is capable of moving according to a current target position trajectory without being obstructed by an object, is satisfied, and when it is determined that the first moving condition is not satisfied, determines whether or not a second moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by the object by a displacement of the object according to a first pattern, is satisfied, and also determines whether or not the object belongs to a second classification in which the object is movable by acting of a force from the mobile apparatus; and
a second control processing element which controls the operation of the mobile apparatus so as to move according to the target position trajectory, when it is determined by the first control processing element that the first moving condition is satisfied, and controls the operation of the mobile apparatus so as to move the object according to the first pattern, and so as to return to the current target position trajectory according to need, when it is determined by the first control processing element that the second moving condition is satisfied and at the same time that the object belongs to the second classification.
1 Assignment
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Accused Products
Abstract
Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a second classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The “first moving condition” is a condition that the robot is capable of moving without being obstructed by the object when the robot moves according to a current target position trajectory. The “second moving condition” is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The “second classification” means a classification of the object which is capable of being moved by a force from the robot acting thereon.
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Citations
7 Claims
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1. A mobile apparatus equipped with a control device, which moves autonomously by the control device controlling the operation thereof according to a target position trajectory indicating a temporal changing pattern of the target position, the control device comprising:
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a first control processing element which determines whether or not a first moving condition in which the mobile apparatus is capable of moving according to a current target position trajectory without being obstructed by an object, is satisfied, and when it is determined that the first moving condition is not satisfied, determines whether or not a second moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by the object by a displacement of the object according to a first pattern, is satisfied, and also determines whether or not the object belongs to a second classification in which the object is movable by acting of a force from the mobile apparatus; and a second control processing element which controls the operation of the mobile apparatus so as to move according to the target position trajectory, when it is determined by the first control processing element that the first moving condition is satisfied, and controls the operation of the mobile apparatus so as to move the object according to the first pattern, and so as to return to the current target position trajectory according to need, when it is determined by the first control processing element that the second moving condition is satisfied and at the same time that the object belongs to the second classification. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for controlling a mobile apparatus by a control device of the mobile apparatus, which moves autonomously according to a target position trajectory indicating a temporal changing pattern of the target position, the method comprising:
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determining, using the control device, whether or not a first moving condition in which the mobile apparatus is capable of moving according to a current target position trajectory without being obstructed by an object, is satisfied; when it is determined that the first moving condition is not satisfied, determining, using the control device, whether or not a second moving condition in which the mobile apparatus is capable of moving according to the current target position trajectory without being obstructed by the object by a displacement of the object according to a first pattern, is satisfied; determining, using the control device, whether or not the object belongs to a second classification in which the object is movable by acting of a force from the mobile apparatus; controlling, using the control device, the operation of the mobile apparatus so as to move according to the target position trajectory, when it is determined that the first moving condition is satisfied; and controlling, using the control device, the operation of the mobile apparatus so as to move the object according to the first pattern, and so as to return to the current target position trajectory according to need, when it is determined by a first control processing element of the control device that the second moving condition is satisfied and also that the object belongs to the second classification.
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Specification