Mobile robot control system

• US 7,970,492 B2
• Filed: 07/10/2006
• Issued: 06/28/2011
• Est. Priority Date: 07/22/2005
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company), Adelaide Research & Innovation Pty Ltd. (University of Adelaide)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kawaguchi, Yuichiro, Matsushima, Kuniaki
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Sample; Jonathan L.
• Application Number:
  US11/988,994
• Publication Number:
  US 20090254216A1
• Time in Patent Office: 1,814 Days
• Field of Search: 700/245, 700/246
• US Class Current: 700/246
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/39432 Direct robot control, click on mouse on variety of display command buttons
• CPC Class Codes: G05B 2219/40168 Simulated display of remote site, driven by operator interaction
• CPC Class Codes: G05B 2219/40479 Use graphic display, layout of robot path, obstacles to indicate interference

Abstract

In a mobile robot control system, it is configured to input at least one of the desired position and orientation of the robot at a time when the robot reaches the desired position by manipulation of the operator, to control the motion of the robot based on the inputted desired position and orientation, and to display a first image indicative of the inputted desired position and orientation by numeric values or language including at least the numeric values and a second image indicative of the inputted desired position and orientation by graphics on a display. With this, the operator can check the desired position and orientation of the robot with both of the numeric values and graphics. As a result, it becomes possible to prevent the operator from manipulating erroneously and operate the robot to be moved or turned as desired by the operator.

Claims

1. A system for controlling motion of a mobile robot such that the robot moves to a desired position, comprising:

a. means provided to be manipulated by an operator for inputting at least one of the desired position and orientation of the robot at a time when the robot reaches the desired position;

b. means for displaying an image indicative of the inputted desired position and orientation on a display;

c. means for controlling the motion of the robot based on the inputted desired position and orientation;

d. means for setting an upper limit of a distance from a current position of the robot to the desired position; and

e. means for invalidating the inputted desired position when the distance exceeds the upper limit;

and the means for displaying displays a first image indicative of the inputted desired position and orientation by numeric values or language including at least the numeric values and a second image indicative of the inputted desired position and orientation by graphics composed of arrows whose directions and lengths are changeable.

2. The system according to claim 1, wherein the means for inputting includes:

f. means provided to be manipulated by the operator for inputting at least one of the desired position and orientation by the numeric values;

and the means for displaying changes the graphics displayed on the second image based on the desired position and orientation inputted by the numeric values.

3. The system according to claim 1, wherein the means for inputting includes:

g. means provided to be manipulated by the operator for inputting at least one of the desired position and orientation by the graphics;

and the means for displaying changes the numeric values displayed on the first image based on the desired position and orientation inputted by the graphics.

4. The system according to claim 1, further including:

h. means for acquiring surrounding information of the robot; and

i. means for determining whether the robot can move based on the inputted desired position and orientation and the acquired surrounding information;

and the means for displaying displays a third image indicative of a result of the movability determination on the display.

5. The system according to claim 1, wherein the means for displaying displays the robot with the graphics on the second image.

6. The system according to claim 1, wherein the means for displaying generates a motion image of the robot based on amount of motion of the robot, and displays the motion image with the graphics on the second image.

7. A method of controlling motion of a mobile robot such that the robot moves to a desired position, comprising the steps of:

a. inputting at least one of the desired position and orientation of the robot at a time when the robot reaches the desired position;

b. displaying an image indicative of the inputted desired position and orientation on a display;

c. controlling the motion of the robot based on the inputted desired position and orientation;

d. setting an upper limit of a distance from a current position of the robot to the desired position; and

e. invalidating the inputted desired position when the distance exceeds the upper limit;

and the step of displaying displays a first image indicative of the inputted desired position and orientation by numeric values or language including at least the numeric values and a second image indicative of the inputted desired position and orientation by graphics composed of arrows whose directions and lengths are changeable.

8. The method according to claim 7, wherein the step of inputting includes the step of:

f. inputting at least one of the desired position and orientation by the numeric values;

and the step of displaying changes the graphics displayed on the second image based on the desired position and orientation inputted by the numeric values.

9. The method according to claim 7, wherein the step of inputting includes the step of:

g. inputting at least one of the desired position and orientation by the graphics;

and the step of displaying changes the numeric values displayed on the first image based on the desired position and orientation inputted by the graphics.

10. The method according to claim 7, further including the steps of:

h. acquiring surrounding information of the robot; and

i. determining whether the robot can move based on the inputted desired position and orientation and the acquired surrounding information;

and the step of displaying displays a third image indicative of a result of the movability determination on the display.

11. The method according to claim 7, wherein the step of displaying displays the robot with the graphics on the second image.

12. The method according to claim 7, wherein the step of displaying generates a motion image of the robot based on amount of motion of the robot, and displays the motion image with the graphics on the second image.