Robot device, remote control method of robot device, and program

• US 10,105,843 B2
• Filed: 03/18/2011
• Issued: 10/23/2018
• Est. Priority Date: 03/26/2010
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Shirado, Hirokazu, Suto, Yasuhiro, Kito, Takashi, Tanaka, Akichika, Nagasaka, Kenichiro
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US13/051,478
• Publication Number:
  US 20110238211A1
• Time in Patent Office: 2,776 Days
• Field of Search: 700257, 700264
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: G05B 2219/39381 Map task, application to behaviour, force tracking, singularity to motion to actuator

Abstract

There is provided a robot device including a behavior plan unit that detects a current status of the robot device or an external environment and that decides one behavior plan of a plurality of behavior plan candidates as a future behavior plan, based on the current status, and a display control unit that decides one display pattern of a plurality of previously prepared display pattern candidates as display content to be displayed on a remote control device that remotely controls the robot device based on the decided behavior plan and that cause the remote control device to display the display pattern decided by the behavior plan unit.

Claims

1. A device, that is remotely controlled by a remote control device, comprising:

circuitry configured to;

determine a behavior of the device;

select a robot view from a plurality of predetermined display pattern candidates when the determined behavior of the device corresponds to gripping a target object; and

switch selection from the robot view to another one of the plurality of predetermined display pattern candidates based on another determined behavior of the device.

2. The device according to claim 1, wherein the circuitry is configured to:

recognize an environment of the device,

generate an environment map based on the recognized environment,

specify a position of the device or the remote control device based on the environment map, and

determine the behavior of the device based on the position of the device or the remote control device.

3. The device according to claim 2, wherein

the position is a position of the remote control device, and

the circuitry is configured to:

receive the position of the remote control device from the remote control device; and

determine the behavior of the device based on the position of the remote control device.

4. The device according to claim 3, wherein the circuitry is configured to:

recognize current task content of the device, and

determine the behavior of the device based on the current task content of the device.

5. The device according to claim 1, wherein the circuitry is configured to:

recognize a position of the device, and

determine the behavior of the device based on the recognized position of the device.

6. The device according to claim 1, wherein the plurality of predetermined display pattern candidates include an environmental map, a target object display, and the robot view.

7. The device according to claim 6, wherein the target object display includes a list of display target objects that are task candidates or movement destinations of the device.

8. The device according to claim 6, wherein the robot view includes an image taken by a camera mounted on the device.

9. The device according to claim 1, wherein the behavior of the device is determined by the remote control device.

10. The device according to claim 1, wherein the behavior of the device is at least one of movement, the gripping of the target, or transferring the object.

11. The device according to claim 1, wherein the circuitry is configured to:

detect a current status of the device in an environment; and

determine the behavior of the device based upon the current status of the device.

12. The device according to claim 1, wherein the circuitry is configured to transmit display content, based on the selected robot view of the plurality of predetermined display pattern candidates, to be displayed on a display of the remote control device.

13. The device according to claim 12, wherein the circuitry is configured to transmit another display content, based on the another one of the plurality of predetermined display pattern candidates after the selection is switched from the robot view to the another one of the plurality of predetermined display pattern candidates, to be displayed on the display of the remote control device.

14. A remote control method of a remotely-controllable device, comprising:

determining, by circuitry of the device, a behavior of the device;

selecting, by the circuitry of the device, a robot view from a plurality of predetermined display pattern candidates when the determined behavior of the device corresponds to gripping a target; and

switching, by the circuitry of the device, selection from the robot view to another one of the plurality of predetermined display pattern candidates based on another determined behavior of the device.

15. A non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a processor of a remotely-controllable device, cause the device to execute a method comprising:

determining a behavior of the device;

selecting a robot view from a plurality of predetermined display pattern candidates when the determined behavior of the device corresponds to gripping a target; and

switching selection from the robot view to another one of the plurality of predetermined display pattern candidates based on another determined behavior of the device.

16. A remote control device comprising:

circuitry configured to;

determine a behavior of a device that is remotely controlled by the remote control device;

receive first display content to be displayed on a display of the remote control device from the device, wherein the first display content corresponds to a robot view that is selected from a plurality of predetermined display pattern candidates when the determined behavior of the device corresponds to gripping a target; and

receive second display content to be displayed on the display of the remote control device from the device after selection is switched from the robot view to another one of the plurality of predetermined display pattern candidates that is selected based on another determined behavior of the device.

17. A system comprising:

a remote control device; and

a device, that is remotely controlled by the remote control device, including circuitry configured to;

determine a behavior of the device;

select a robot view from a plurality of predetermined display pattern candidates when the determined behavior of the device corresponds to gripping a target; and

switch selection from the robot view to another one of the plurality of predetermined display pattern candidates based on another determined behavior of the device.