Robot and control method thereof
First Claim
1. A control method for a robot having a detection unit and a processing unit, comprising:
- receiving a manual control command by the processing unit from a remote control device and accumulating a duration of issuing the manual control command by the processing unit, wherein the manual control command is adapted to move the robot;
estimating an estimated moving velocity corresponding to the manual control command by the processing unit;
controlling the detection unit to detect a surrounding environment of the robot by the processing unit and generating an autonomous navigation command based on the surrounding environment by the processing unit;
determining a first weighting value associated with the manual control command by the processing unit based on the duration, the estimated moving velocity, and a distance to obstacles;
determining a second weighting value associated with the autonomous navigation command by the processing unit based on the first weighting value;
linearly combining the manual control command and the autonomous navigation command by the processing unit based on the first weighting value and the second weighting value, so as to generate a moving control command; and
moving the robot by the processing unit based on the moving control command.
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Abstract
A robot and a control method thereof are provided. The method includes the following steps: receiving a manual control command from a remote control device, and accumulating a duration of issuing the manual control commands; estimating an estimated moving velocity corresponding to the manual control command; detecting a surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment; determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity and the distance to obstacles; determining a second weighting value associated with the autonomous navigation command based on the first weighting value; linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value to generate a moving control command; and moving based on the moving control command.
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Citations
18 Claims
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1. A control method for a robot having a detection unit and a processing unit, comprising:
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receiving a manual control command by the processing unit from a remote control device and accumulating a duration of issuing the manual control command by the processing unit, wherein the manual control command is adapted to move the robot; estimating an estimated moving velocity corresponding to the manual control command by the processing unit; controlling the detection unit to detect a surrounding environment of the robot by the processing unit and generating an autonomous navigation command based on the surrounding environment by the processing unit; determining a first weighting value associated with the manual control command by the processing unit based on the duration, the estimated moving velocity, and a distance to obstacles; determining a second weighting value associated with the autonomous navigation command by the processing unit based on the first weighting value; linearly combining the manual control command and the autonomous navigation command by the processing unit based on the first weighting value and the second weighting value, so as to generate a moving control command; and moving the robot by the processing unit based on the moving control command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robot, comprising:
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a detection unit, detecting a surrounding environment of the robot; a storage unit, storing a plurality of modules; and a processing unit, coupled to the detection unit and the storage unit, accessing and executing the modules stored in the storage unit, the modules comprising; an accumulating module, receiving a manual control command from a remote control device and accumulating a duration of the manual control command, wherein the manual control command is adapted to move the robot; an estimating module, estimating an estimated moving velocity corresponding to the manual control command; a generating module, controlling the detection unit to detect the surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment; a determining module, determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity, and a distance to obstacles, and determining a second weighting value associated with the autonomous navigation command based on the first weighting value; a combining module, linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value, so as to generate a moving control command; and a moving module, moving the robot based on the moving control command. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification