Title:
INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING SYSTEM, INFORMATION PROCESSING METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/259600
Kind Code:
A1
Abstract:
Provided are a device and a method that make it possible to promptly modify an approaching area, which is defined as a robot work area, when a new obstacle that is not on a predefined map occurs. This device comprises: a differential obstacle detection unit that detects, on the basis of information from a sensor that acquires travel environment information for a robot, a differential obstacle corresponding to a difference from an obstacle recorded on a predefined map; and an approaching area modification unit that generates a modified approaching area by modifying, while taking the differential obstacle into consideration, a preset approaching area which is an area recorded on the predefined map, and determined to be an area in which work is executable by the robot without contacting the obstacle. The approaching area modification unit determines, for a sampling point set inside the preset approaching area, whether or not work is executable by the robot without contacting the differential obstacle, and generates the modified approaching area.
More Like This:
Inventors:
MIYAGAWA HIROSHI (JP)
Application Number:
PCT/JP2022/003020
Publication Date:
December 15, 2022
Filing Date:
January 27, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J5/00; B25J13/00; G05D1/02
Foreign References:
| JP2017047518A | 2017-03-09 | |||
| JP2020093364A | 2020-06-18 |
Other References:
ITO, KEISUKE ET AL.: "ROMBUNNO.3N2-2 Grasping position determination for mobile manipulation considering the movable area of the arm and the movement of the robot", PROCEEDINGS OF THE 29TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN; SEPTEMBER 7 TO 9, 2011, ROBOTICS SOCIETY OF JAPAN, JP, vol. 29, 7 September 2011 (2011-09-07) - 9 September 2011 (2011-09-09), JP, pages 1 - 4, XP009541831
KIMITOSHI YAMAZAKI, MASAHIRO TOMONO, TAKASHI TSUBOUCHI, SHIN’ICHI YUTA: "3E17 Motion Planning for a Mobile Manipulator with Several Grasping Postures", PREPRINTS OF THE 24TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN; OKAYAMA, JAPAN; SEPTEMBER 14-16, 2006, ROBOTICS SOCIETY OF JAPAN, JP, vol. 24, 14 September 2006 (2006-09-14) - 16 September 2006 (2006-09-16), JP, pages 1 - 4, XP009541556
JUNYA FUJIMOTO; KEI OKADA; MASAYUKI INABA: "Spatially Expanded IK to Search Reaching Method and Location of Humanoids", THE 24TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN PROCEEDINGS CD-ROM; SEPTEMBER 14 - 16, 2006, ROBOTICS SOCIETY OF JAPAN, JP, vol. 24, 14 September 2006 (2006-09-14) - 16 September 2006 (2006-09-16), JP, pages 1H12 - 1H12-4, XP009541835
KIMITOSHI YAMAZAKI, MASAHIRO TOMONO, TAKASHI TSUBOUCHI, SHIN’ICHI YUTA: "3E17 Motion Planning for a Mobile Manipulator with Several Grasping Postures", PREPRINTS OF THE 24TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN; OKAYAMA, JAPAN; SEPTEMBER 14-16, 2006, ROBOTICS SOCIETY OF JAPAN, JP, vol. 24, 14 September 2006 (2006-09-14) - 16 September 2006 (2006-09-16), JP, pages 1 - 4, XP009541556
JUNYA FUJIMOTO; KEI OKADA; MASAYUKI INABA: "Spatially Expanded IK to Search Reaching Method and Location of Humanoids", THE 24TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN PROCEEDINGS CD-ROM; SEPTEMBER 14 - 16, 2006, ROBOTICS SOCIETY OF JAPAN, JP, vol. 24, 14 September 2006 (2006-09-14) - 16 September 2006 (2006-09-16), JP, pages 1H12 - 1H12-4, XP009541835
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
Download PDF:
Previous Patent: PURE WATER PRODUCTION METHOD AND PURE WATER PRODUCTION APPARATUS
Next Patent: MAGNETIC FIELD MEASURING INSTRUMENT
Next Patent: MAGNETIC FIELD MEASURING INSTRUMENT