[go: up one dir, main page]

WO2018154914A1 - Robot, procédé de commande de robot, programme de commande et support d'enregistrement - Google Patents

Robot, procédé de commande de robot, programme de commande et support d'enregistrement Download PDF

Info

Publication number
WO2018154914A1
WO2018154914A1 PCT/JP2017/043927 JP2017043927W WO2018154914A1 WO 2018154914 A1 WO2018154914 A1 WO 2018154914A1 JP 2017043927 W JP2017043927 W JP 2017043927W WO 2018154914 A1 WO2018154914 A1 WO 2018154914A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
movable
antenna
unit
communication state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/043927
Other languages
English (en)
Japanese (ja)
Inventor
山下　高史
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sharp Corp
Original Assignee
Sharp Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sharp Corp filed Critical Sharp Corp
Priority to JP2019501064A priority Critical patent/JP6697629B2/ja
Publication of WO2018154914A1 publication Critical patent/WO2018154914A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station

Definitions

  • the present invention relates to a robot that is controlled by wireless communication.
  • Japanese Patent Application Laid-Open No. 2004-26883 discloses that even when moving to a place where wireless communication is disconnected, the robot can move to a place where wireless communication can be restored autonomously.
  • a possible mobile robot is disclosed. When the wireless robot is disconnected, the mobile robot searches for a recovery position where wireless communication can be connected based on the wireless environment map, and moves from the self position to the recovery position to perform wireless communication. To recover.
  • Japanese Patent Publication Japanese Patent Laid-Open No. 2008-87102 (published on April 17, 2008)
  • One aspect of the present invention has been made in view of the above problems, and a main object thereof is to provide a technique capable of improving a communication state even when a robot does not move.
  • a robot includes a fixed portion having a plurality of fixed antennas having different directions and a movable portion having a movable antenna, and moves the movable portion.
  • An acquisition unit that acquires a communication state of the movable antenna in a plurality of different orientations; and a selection unit that selects a communication antenna from the plurality of fixed antennas according to the communication state acquired by the acquisition unit; It is equipped with.
  • a robot control method for a robot including a fixed unit having a plurality of fixed antennas having different directions and a movable unit having a movable antenna.
  • the movable part is moved, an acquisition step of acquiring the communication state of the movable antenna in a plurality of different directions, and the plurality of fixed antennas according to the communication state acquired in the acquisition step. Selecting a communication antenna from the inside.
  • the communication state can be improved even when the robot does not move.
  • FIG. 10 is a continuation of the flowchart of FIG. 9.
  • FIG. 1 is a block diagram showing the configuration of the robot 1.
  • the robot 1 is a humanoid robot, and includes a fixed portion 2 corresponding to a trunk portion and a movable portion 3 corresponding to an arm portion.
  • the robot 1 according to the present embodiment is not limited to a humanoid robot, and may be an arbitrary form of robot.
  • the movable part 3 should just be movable with respect to the fixed part 2, and may be a leg part of a humanoid robot. Alternatively, the movable part 3 may be in the form of an animal tail or feather.
  • the fixed unit 2 includes a fixed antenna 4, a fixed antenna 5, an RFFE 7, a transceiver 8, a MODEM 9, a control unit 10, a movable unit power supply circuit 15, a movable unit control circuit 16, and an attitude changing unit 17.
  • the movable part 3 includes a movable antenna 6 and a movable part drive circuit 18.
  • the fixed antenna 4 and the fixed antenna 5 are fixed antennas installed in the fixed part 2, respectively.
  • the fixed antenna 4 and the fixed antenna 5 are respectively directed in different directions, and wireless signals transmitted from the outside of the robot 1 (the types of signals such as control signals, voice call signals and data communication of the robot 1 are not limited).
  • the fixed unit 2 is provided with two antennas, that is, the fixed antenna 4 and the fixed antenna 5, but may be provided with three or more antennas facing different directions. .
  • the movable antenna 6 is an antenna installed in the movable part 3 and receives a radio signal transmitted from the outside of the robot 1. Further, the movable antenna 6 can move with respect to the fixed portion 2 together with the movement of the movable portion 3.
  • the RFFE 7 transmits a radio signal received by the movable antenna 6 to the Transceiver 8, and the Transceiver 8 performs processing such as amplification and frequency conversion on the signal and transmits the signal to the MODEM 9.
  • the MODEM 9 measures the communication state from the signal acquired from the transceiver 8 and transmits the data to the control unit 10. Examples of the communication state measured by the MODEM 9 include a received power level and a communication speed.
  • the movable part power supply circuit 15 supplies electric power for driving the movable part 3 to the movable part drive circuit 18 in accordance with an instruction from the control unit 10.
  • the movable part control circuit 16 operates the movable part drive circuit 18 in accordance with an instruction from the control unit 10.
  • the movable part drive circuit 18 controls the movable part 3 to be driven in accordance with an instruction from the movable part control circuit 16.
  • the movable part drive circuit 18 is provided in the movable part 3, but of course, the movable part drive circuit 18 is provided in the fixed part 2, and the fixed part 2 and the movable part 3 are connected. It is good also as a structure which the movable part 3 operate
  • the posture changing unit 17 drives each part of the robot 1 so as to change the posture of the robot 1.
  • Examples of parts of the robot 1 driven by the posture changing unit 17 include a leg portion (such as a knee or an ankle) and a waist portion of the robot 1.
  • the control unit 10 includes an acquisition unit 11, a selection unit 12, a movable unit control unit 13, and an attitude control unit 14.
  • the acquisition unit 11 acquires the communication state of the movable antenna 6 measured by the MODEM 9 at each position of the movable unit 3 driven by the movable unit driving circuit 18.
  • the selection unit 12 selects a communication antenna from the fixed antenna 5 and the fixed antenna 4 according to the communication state of the movable antenna 6 acquired by the acquisition unit 11, and acquires a radio signal from the selected antenna. Then, the RFFE 7 is instructed. In the present embodiment, the selection unit 12 selects, as a communication antenna, a fixed antenna having a direction corresponding to the direction of the movable antenna when the maximum communication state is acquired among the communication states acquired by the acquisition unit 11. .
  • the movable part control unit 13 controls the movable part drive circuit 18 to drive the movable part 3 via the movable part power supply circuit 15 and the movable part control circuit 16.
  • the posture changing unit 17 performs control so as to change the posture of the robot 1 so that the movable antenna 6 is directed.
  • FIGS. 2 and 3 are flowcharts for explaining an example of the control method of the robot 1 according to the present embodiment.
  • Each step shown in FIGS. 2 and 3 may be started when the robot 1 is activated, or may be started only when the reception state of the radio signal received by the robot 1 falls below a predetermined value. , Can start at any time.
  • 4A is a schematic diagram showing the robot 1 when the movable unit 3 and the movable antenna 6 are moved to the horizontal position (XZ plane)
  • FIG. 4B is a diagram illustrating the movable unit 3 and the movable antenna 6. It is the schematic which shows the robot 1 at the time of moving to a perpendicular position (YZ surface).
  • i is a variable used to indicate the orientation of the movable part 3 and the movable antenna 6 in the horizontal position (XZ plane) (in this embodiment, i takes a value of 0 to 5).
  • H_pos [i] is a list of values indicating the directions of the movable portion 3 and the movable antenna 6 at the horizontal position (XZ plane) corresponding to each i.
  • the direction of the movable part 3 and the movable antenna 6 at the horizontal position (XZ plane) indicated by h_pos [i] is arbitrary.
  • h_pos [0] is the movable part 3 and the movable antenna at the horizontal position (XZ plane).
  • the h_pos [1] may be the direction when the movable unit 3 and the movable antenna 6 are rotated 90 degrees in the one direction from the reference direction at the horizontal position (XZ plane). .
  • h_pos [2] is the direction when the movable part 3 and the movable antenna 6 are rotated 180 degrees in the one direction from the reference direction at the horizontal position (XZ plane), and h_pos [3] is the horizontal In the position (XZ plane), the movable portion 3 and the movable antenna 6 may be oriented in the direction of 270 degrees in the one direction from the reference orientation.
  • V_pos [j] is a list of values indicating the directions of the movable portion 3 and the movable antenna 6 at the vertical position (YZ plane) corresponding to each j.
  • v_pos [0] is the movable part 3 and the movable antenna at the vertical position (YZ plane).
  • v_pos [1] may be the direction when the movable unit 3 and the movable antenna 6 are rotated 90 degrees in the one direction from the reference direction at the vertical position (YZ plane). .
  • v_pos [2] is the direction when the movable part 3 and the movable antenna 6 are rotated 180 degrees in the one direction from the reference direction at the vertical position (YZ plane), and v_pos [3] is the vertical In the position (YZ plane), the movable portion 3 and the movable antenna 6 may be oriented in the direction of 270 degrees from the reference orientation in one direction.
  • rxq [i] and rxq [6 + j] indicate an array for storing the communication state value of the radio signal acquired by the movable antenna 6 in each direction designated by i or j.
  • N_max indicates the address of the array having the maximum value among rxq [i] and rxq [6 + j].
  • the movable part control unit 13 controls the movable part drive circuit 18 to move the movable part 3 to the horizontal position (XZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16 (step S). S1).
  • the movable part control unit 13 moves the movable part so that the orientation of the fixed antenna 4 coincides with the orientation of the movable part 3 and the movable antenna 6 at the horizontal position (XZ plane). 3 is moved.
  • the posture control unit 14 controls the posture changing unit 17, and the posture changing unit 17 determines the direction of the fixed antenna 4 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by h_pos [i]. 3 and the direction of the robot 1 are changed in a state where the directions of the movable antenna 6 and the movable antenna 6 coincide with each other (step S2).
  • a mode in which the posture changing unit 17 changes the direction of the robot 1 in a state in which the orientation of the fixed antenna 4 and the directions of the movable unit 3 and the movable antenna 6 coincide with each other in step S2 will be described. .
  • step S ⁇ b> 2 instead of this form, in the movable part control unit 13, the movable part drive circuit 18 moves only the movable part 3 so that the direction of the movable antenna 6 is the direction indicated by h_pos [i]. You may control as follows.
  • the acquisition unit 11 acquires the communication state rxq [i] of the radio signal received by the movable antenna 6 in the direction indicated by h_pos [i] from the MODEM 9 (step S3).
  • step S5 When the movable part control unit 13 determines that the set i satisfies i ⁇ 6 (YES in step S5), the process returns to step S2, and the movable part control unit 13 determines that i does not satisfy i ⁇ 6. Steps S2 to S5 are repeated until When the movable part control unit 13 determines that the set i does not satisfy i ⁇ 6 (NO in step S5), the process proceeds to step S6.
  • step S5 when i obtained by adding 1 in step S4 is a value of 0 to 5 in step S4, the direction of the movable antenna 6 corresponds to i added in step S2.
  • the movable part 3 is moved so as to be in the direction indicated by h_pos [i].
  • step S3 the control unit 10 acquires the radio state rxq [i] of the radio signal received by the movable antenna 6 after movement. And the control part 10 repeats each said process until i which added 1 in step S4 becomes the value of 6.
  • step S6 the movable part control unit 13 causes the movable part drive circuit 18 to move the movable part 3 to the vertical position (YZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16. Control.
  • the movable part control unit 13 moves the movable part so that the orientation of the fixed antenna 5 and the directions of the movable part 3 and the movable antenna 6 coincide with each other in the vertical position (YZ plane). 3 is moved.
  • the attitude control unit 14 controls the attitude changing unit 17, and the attitude changing unit 17 determines the direction of the fixed antenna 5 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by v_pos [j]. 3 and the direction of the robot 1 are changed in a state in which the directions of the movable antenna 6 and the movable antenna 6 coincide (step S7).
  • a mode in which the posture changing unit 17 changes the direction of the robot 1 in a state where the orientation of the fixed antenna 5 and the directions of the movable unit 3 and the movable antenna 6 coincide with each other in step S7 will be described. .
  • step S7 instead of this form, the movable part control unit 13 causes the movable part drive circuit 18 to move only the movable part 3 so that the direction of the movable antenna 6 is the direction indicated by v_pos [j]. You may control as follows.
  • the acquisition unit 11 acquires the communication state rxq [6 + j] of the radio signal received by the movable antenna 6 in the direction indicated by v_pos [j] from the MODEM 9 (step S8).
  • step S10 When the movable part control unit 13 determines that the set j satisfies j ⁇ 6 (YES in step S10), the process returns to step S7 until the movable part control unit 13 determines that j satisfies j ⁇ 6. The steps S7 to S10 are repeated. When the movable part control unit 13 determines that the set j does not satisfy j ⁇ 6 (NO in step S10), the process proceeds to step S11.
  • step S8 the control unit 10 acquires the radio state rxq [6 + j] of the radio signal received by the movable antenna 6 after movement. And the control part 10 repeats each said process until j which added 1 in step S9 becomes the value of 6.
  • step S11 the selection unit 12 selects rxq [i] acquired by the acquisition unit 11 in step S3 and rxq [6 + j] acquired by the acquisition unit 11 in step S8 (hereinafter, both are collected together).
  • rxq [n]) the value of n that maximizes rxq [n] is set to n_max (step S11).
  • the selection unit 12 determines whether n_max satisfies n_max ⁇ 6 (step S12).
  • the selection unit 12 determines that n_max satisfies n_max ⁇ 6 (YES in step S12, where n is a value of 0 to 5), the selection unit 12 obtains rxq [n_max].
  • the fixed antenna 4 that is a fixed antenna having a direction corresponding to the direction (h_pos [n_max]) is selected as a communication antenna, and the RFFE 7 is instructed to acquire a radio signal from the selected antenna (step S13).
  • the posture control unit 14 controls the posture changing unit 17 based on the setting of n_max by the selection unit 12, and the posture changing unit 17 causes the orientation of the fixed antenna 4 to be the direction indicated by h_pos [n_max]. Then, the orientation of the robot 1 is changed (step S14).
  • step S12 When the selection unit 12 determines in step S12 that n_max does not satisfy n_max ⁇ 6 (NO in step S12, where n is a value between 6 and 11), the acquisition unit 11 acquires rxq [n_max].
  • the fixed antenna 5 that is a fixed antenna having a direction corresponding to the direction of the movable antenna (v_pos [n_max]) is selected as a communication antenna, and the RFFE 7 is instructed to acquire a radio signal from the selected antenna. (Step S15).
  • the posture control unit 14 controls the posture changing unit 17 based on the setting of n_max by the selection unit 12, and the posture changing unit 17 causes the orientation of the fixed antenna 5 to be the direction indicated by v_pos [n_max].
  • the orientation of the robot 1 is changed (step S16).
  • the selection unit 12 selects the fixed antenna 4 or the fixed antenna 5 in the direction corresponding to the direction of the movable antenna when the acquisition unit 11 acquires rxq [n_max], and then the posture change unit 17 Although the orientation of the robot 1 is also changed, the selection unit 12 may perform control to select the fixed antenna 4 or the fixed antenna 5 corresponding to rxq [n_max].
  • the robot 1 includes the fixed unit having a plurality of fixed antennas having different directions and the movable unit having the movable antenna, and moves the movable unit in a plurality of different directions.
  • the communication state of the movable antenna is acquired, and a communication antenna is selected from a plurality of fixed antennas according to the acquired communication state.
  • the movable antenna can be moved, the communication state in various directions can be easily obtained, and the fixed antenna most suitable for communication is selected as the communication antenna according to the communication state. Can do. Therefore, the communication state of the fixed antenna can be improved without changing the position of the robot itself.
  • the robot 20 according to the present embodiment has the same configuration as the robot 1 according to the first embodiment, except that the fixed unit 21 includes the movement control unit 23 of the control unit 22 and the movement unit 24. Have. Therefore, members having the same functions as the members provided in the robot 1 described in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
  • FIG. 5 is a block diagram illustrating a configuration of the robot 20 according to the present embodiment. As shown in FIG. 5, the robot 20 further includes a movement control unit 23 of the control unit 22 and a movement unit 24 in addition to the configuration of the robot 1 according to the first embodiment.
  • the movement control unit 23 of the movement control unit 23 receives the maximum level communication state when the maximum level communication state does not exceed a predetermined level among the communication states acquired by the acquisition unit 11.
  • the moving unit 24 is controlled to move the robot 20 in the direction corresponding to the direction of the movable unit 3.
  • FIGS. 6 and 7 are flowcharts for explaining an example of a control method of the robot 20 according to the present embodiment.
  • FIG. 4B is referred to as a diagram showing a form in which the 3 and the movable antenna 6 are moved to the vertical position (YZ plane).
  • the same variables as those in the first embodiment are used as variables used in the control method of the robot 20 according to the present embodiment.
  • the movable part control unit 13 controls the movable part drive circuit 18 to move the movable part 3 to the horizontal position (XZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16 (step S). S21). Also in this embodiment, the movable part control unit 13 is movable so that the orientation of the fixed antenna 4 and the orientations of the movable part 3 and the movable antenna 6 coincide with each other at the horizontal position (XZ plane). The part 3 is moved.
  • the posture control unit 14 controls the posture changing unit 17, and the posture changing unit 17 determines the direction of the fixed antenna 4 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by h_pos [i]. 3 and the direction of the robot 1 are changed in a state where the directions of the movable antenna 6 and the movable antenna 6 coincide (step S22). Also in the present embodiment, a mode in which the posture changing unit 17 changes the direction of the robot 1 in a state where the direction of the fixed antenna 4 and the directions of the movable unit 3 and the movable antenna 6 coincide with each other in step S22 will be described.
  • step S22 as in the case of the first embodiment, instead of this embodiment, the movable part control unit 13 drives the movable part so that the direction of the movable antenna 6 is the direction indicated by h_pos [i].
  • the circuit 18 may be controlled so as to move only the movable part 3.
  • the acquisition unit 11 acquires the communication state rxq [i] of the radio signal received by the movable antenna 6 in the direction indicated by h_pos [i] from the MODEM 9 (step S23).
  • step S25 When the movable part control unit 13 determines that the set i satisfies i ⁇ 6 (YES in step S25), the process returns to step S22, and the movable part control unit 13 determines that i does not satisfy i ⁇ 6. Steps S22 to S25 are repeated until When the movable part control unit 13 determines that the set i does not satisfy i ⁇ 6 (NO in step S25), the process proceeds to step S26.
  • the movable part control unit 13 causes the movable part drive circuit 18 to move the movable part 3 to the vertical position (YZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16. Control. Also in this embodiment, the movable part control unit 13 is movable so that the orientation of the fixed antenna 5 and the orientation of the movable part 3 and the movable antenna 6 coincide with each other in the vertical position (YZ plane). The part 3 is moved.
  • the attitude control unit 14 controls the attitude changing unit 17, and the attitude changing unit 17 determines the direction of the fixed antenna 5 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by v_pos [j]. 3 and the direction of the robot 1 are changed in a state where the directions of the movable antenna 6 and the movable antenna 6 coincide (step S27). Also in the present embodiment, a mode in which the posture changing unit 17 changes the direction of the robot 1 in a state where the direction of the fixed antenna 5 and the directions of the movable unit 3 and the movable antenna 6 coincide with each other in step S27 will be described.
  • step S27 as in the case of the first embodiment, instead of the present embodiment, the movable part control unit 13 drives the movable part so that the direction of the movable antenna 6 is the direction indicated by v_pos [j].
  • the circuit 18 may be controlled so as to move only the movable part 3.
  • the acquisition unit 11 acquires the communication state rxq [6 + j] of the radio signal received by the movable antenna 6 in the direction indicated by v_pos [j] from the MODEM 9 (step S28).
  • step S30 When the movable part control unit 13 determines that the set j satisfies j ⁇ 6 (YES in step S30), the process returns to step S27 until the movable part control unit 13 determines that j satisfies j ⁇ 6. The steps S27 to S30 are repeated. When the movable part control unit 13 determines that the set j does not satisfy j ⁇ 6 (NO in step S30), the process proceeds to step S31.
  • step S31 the selection unit 12 selects the rxq [i] acquired by the acquisition unit 11 in step S23 and the rxq [6 + j] acquired by the acquisition unit 11 in step S28 (hereinafter, both are collectively shown).
  • rxq [n]) the value of n that maximizes rxq [n] is set to n_max.
  • the selection unit 12 determines whether n_max satisfies n_max ⁇ 6 (step S32).
  • the selection unit 12 determines that n_max satisfies n_max ⁇ 6 (YES in step S32, where n is a value of 0 to 5), the selection unit 12 obtains rxq [n_max].
  • the fixed antenna 4 that is a fixed antenna having a direction corresponding to the direction (h_pos [n_max]) is selected as a communication antenna, and the RFFE 7 is instructed to acquire a radio signal from the selected antenna (step S33).
  • the posture control unit 14 controls the posture changing unit 17 based on the setting of n_max by the selection unit 12, and the posture changing unit 17 causes the orientation of the fixed antenna 4 to be the direction indicated by h_pos [n_max]. Then, the orientation of the robot 1 is changed (step S34).
  • the acquisition unit 11 acquires rxq [n_max].
  • the fixed antenna 5 that is a fixed antenna having a direction corresponding to the direction of the movable antenna (v_pos [n_max]) is selected as a communication antenna, and the RFFE 7 is instructed to acquire a radio signal from the selected antenna. (Step S35).
  • the posture control unit 14 controls the posture changing unit 17 based on the setting of n_max by the selection unit 12, and the posture changing unit 17 causes the orientation of the fixed antenna 5 to be the direction indicated by v_pos [n_max]. Then, the orientation of the robot 1 is changed (step S36).
  • the movement control unit 23 determines whether or not rxq [n_max] set by the selection unit 12 exceeds a predetermined value (step S37).
  • the predetermined value may be an arbitrary value, but is preferably a value of a communication state level sufficient to control communication of the robot 20 by wireless communication.
  • step S37 If the movement control unit 23 determines in step S37 that rxq [n_max] exceeds a predetermined value (YES in step S37), the process is terminated.
  • step S37 If it is determined in step S37 that rxq [n_max] does not exceed the predetermined value (NO in step S37), the movement control unit 23 obtains the maximum level communication state rxq [n_max]. Control is performed so that the moving unit 24 moves the robot 20 in a direction corresponding to the direction of the movable unit 3 (step S38).
  • the direction according to the direction of the movable part 3 when rxq [n_max] is acquired is a direction indicating a good communication state estimated from the direction of the movable part 3 when rxq [n_max] is acquired. obtain.
  • the robot 20 executes the processes of steps S20 to S36 again at the position moved in step S38, and in step S38, until it is determined that rxq [n_max] exceeds a predetermined value in step S38. Steps S20 to S36 are repeated at the position where 20 has moved.
  • step S38 the movement control unit 23 may control the moving unit 24 to move the robot 20 by a predetermined distance. Thereby, it can move to a position where the reception state is good and efficient.
  • step S ⁇ b> 38 the movement control unit 23 may control the moving unit 24 to move the robot 20 by a predetermined distance with reference to map information indicating the terrain outside the robot 1 or radio wave conditions. Good.
  • the robot 20 when the acquired maximum level communication state does not exceed the predetermined level, the robot 20 according to the present embodiment has a direction corresponding to the direction of the movable unit when the maximum level communication state is acquired. Moving.
  • the robot even when the robot is in a position where a communication state exceeding a predetermined level cannot be acquired, the robot itself is moved to a position where the communication state is good according to the direction of the movable part showing a good communication state. As a result, the communication state can be improved.
  • Embodiment 3 The following describes Embodiment 2 of the present invention with reference to the drawings.
  • the robot 30 according to the present embodiment has the same configuration as the robot 20 according to the second embodiment except that the fixing unit 31 includes the recording unit 32. Therefore, members having the same functions as the members provided in the robot 1 described in the first embodiment and members having the same functions as the members provided in the robot 20 described in the second embodiment are denoted by the same reference numerals. Is added and the description is omitted.
  • FIG. 8 is a block diagram showing a configuration of the robot 30 according to the present embodiment. As illustrated in FIG. 8, the robot 30 further includes a recording unit 32 in addition to the configuration of the robot 20 according to the second embodiment.
  • the recording unit 32 associates the communication state of the movable antenna 6 acquired by the acquisition unit 11 with the orientation of the movable unit 3 when the communication state is acquired and the position of the robot 30 when the communication state is acquired. Record the table (information).
  • FIGS. 9 and 10 are flowcharts for explaining an example of a control method of the robot 30 according to this embodiment.
  • FIG. 4B is referred to as a diagram showing a form in which the 3 and the movable antenna 6 are moved to the vertical position (YZ plane).
  • k indicating the number of movement trials executed by the robot 30 is used as a variable used in the method for controlling the robot 30 according to the present embodiment.
  • the arbitrary position here may be a position separated from the position before the movement by a predetermined distance.
  • the acquisition unit 11 acquires the communication state of the radio signal received by the movable antenna 6 from the MODEM 9 (step S42).
  • the acquisition unit 11 determines whether or not the communication state acquired in step S42 exceeds a predetermined value (step S43).
  • the predetermined value here may be an arbitrary value, but is preferably a value of a communication state level sufficient to control communication of the robot 30 by wireless communication.
  • step 43 When it is determined in step 43 that the communication state acquired by the acquisition unit 11 exceeds a predetermined value (YES in step S43), the recording unit 32 displays the communication state acquired by the acquisition unit 11 and the communication state. A table in which the position of the robot 30 at the time of acquisition is associated is recorded, and it is recorded that the communication state at the position is good (step S44), and the process proceeds to step S60 described later.
  • the movable part control unit 13 controls the movable part drive circuit 18 to move the movable part 3 to the horizontal position (XZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16 (step S). S46). Also in this embodiment, the movable part control unit 13 is movable so that the orientation of the fixed antenna 4 and the orientations of the movable part 3 and the movable antenna 6 coincide with each other at the horizontal position (XZ plane). The part 3 is moved.
  • the posture control unit 14 controls the posture changing unit 17, and the posture changing unit 17 determines the direction of the fixed antenna 4 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by h_pos [i]. 3 and the direction of the robot 1 are changed in a state where the directions of the movable antenna 6 and the movable antenna 6 coincide (step S47). Also in the present embodiment, a mode in which the posture changing unit 17 changes the orientation of the robot 1 in a state where the orientation of the fixed antenna 4 and the orientations of the movable unit 3 and the movable antenna 6 coincide with each other in step S47.
  • step S47 as in the case of the first and second embodiments, instead of the present embodiment, the movable part control unit 13 makes the direction of the movable antenna 6 be the direction indicated by h_pos [i].
  • the movable part drive circuit 18 may be controlled so as to move only the movable part 3.
  • the acquisition unit 11 acquires the communication state rxq [i] of the radio signal received by the movable antenna 6 in the direction indicated by h_pos [i] from the MODEM 9 (step S48).
  • step S50 When the movable part controller 13 determines that the set i satisfies i ⁇ 6 (YES in step S50), the process returns to step S47, and the movable part controller 13 determines that i does not satisfy i ⁇ 6. Steps S47 to S50 are repeated until When the movable part control unit 13 determines that the set i does not satisfy i ⁇ 6, the process proceeds to step S51.
  • the movable part control unit 13 causes the movable part drive circuit 18 to move the movable part 3 to the vertical position (YZ plane) via the movable part power supply circuit 15 and the movable part control circuit 16. Control. Also in this embodiment, the movable part control unit 13 is movable so that the orientation of the fixed antenna 5 and the orientation of the movable part 3 and the movable antenna 6 coincide with each other in the vertical position (YZ plane). The part 3 is moved.
  • the attitude control unit 14 controls the attitude changing unit 17, and the attitude changing unit 17 determines the direction of the fixed antenna 5 and the movable unit so that the direction of the movable antenna 6 is the direction indicated by v_pos [j]. 3 and the direction of the robot 1 are changed in a state where the directions of the movable antenna 6 and the movable antenna 6 coincide (step S52). Also in the present embodiment, a mode in which the posture changing unit 17 changes the direction of the robot 1 in a state where the direction of the fixed antenna 5 and the directions of the movable unit 3 and the movable antenna 6 coincide with each other in step S52 will be described.
  • step S52 as in the case of the first embodiment and the second embodiment, instead of this embodiment, the movable part control unit 13 makes the direction of the movable antenna 6 be the direction indicated by v_pos [j].
  • the movable part drive circuit 18 may be controlled so as to move only the movable part 3.
  • the acquisition unit 11 acquires the communication state rxq [6 + j] of the radio signal received by the movable antenna 6 in the direction indicated by v_pos [j] from the MODEM 9 (step S53).
  • step S55 When the movable part control unit 13 determines that the set j satisfies j ⁇ 6 (YES in step S55), the process returns to step S52 until the movable part control unit 13 determines that j satisfies j ⁇ 6. The steps S52 to S55 are repeated. When the movable part control unit 13 determines that the set j does not satisfy j ⁇ 6 (NO in step S55), the process proceeds to step S56.
  • step S56 the selection unit 12 selects the rxq [i] acquired by the acquisition unit 11 in step S48 and the rxq [6 + j] acquired by the acquisition unit 11 in step S53 (hereinafter, both are collected together).
  • rxq [n]) the value of n that maximizes rxq [n] is set to n_max.
  • the selection unit 12 determines whether or not rxq [n_max] set in step S56 exceeds a predetermined value (step S57).
  • the predetermined value here may also be an arbitrary value, but is preferably a value of a communication state level sufficient to control communication of the robot 30 by wireless communication.
  • step S57 When the selection unit 12 determines in step S37 that rxq [n_max] exceeds a predetermined value (YES in step S57), the recording unit 32 acquires the communication state acquired by the acquisition unit 11 and the communication state.
  • a table that associates the position of the robot 30 with h_pos [n_max] or v_pos [n_max] (the direction of the movable antenna 6 when the communication state is acquired) is recorded, and the communication state at the position is good Is recorded (step S58).
  • the recording unit 32 acquires the communication state acquired by the acquisition unit 11 and the communication state.
  • a table that associates the position of the robot 30 with h_pos [n_max] or v_pos [n_max] (orientation of the movable antenna 6 when the communication state is acquired) is recorded, and the communication state at the position is poor. Is recorded (step S59).
  • step S61 If the movement control unit 23 determines that the set k satisfies k> 20 (YES in step S61), the process ends.
  • step S61 If it is determined that k set by the movement control unit 23 does not satisfy k> 20 (NO in step S61), the process returns to step S41, and steps S41 to S61 are executed again.
  • step S61 the movement control unit 23 repeats the steps S41 to S61 at the position where the robot 30 has moved in step S41 until it determines that the set k satisfies k> 20.
  • the movement control unit 23 may control the moving unit 24 to move the robot 30 to a position separated by a predetermined interval. Thereby, a more appropriate table reflecting the actual communication state can be efficiently recorded.
  • the movement control unit 23 refers to the map information indicating the terrain outside the robot 1 or the radio wave condition, and controls the movement unit 24 to move the robot 20 by a predetermined distance. Good.
  • the robot 30 records a table in which the acquired communication state of the movable antenna is associated with the direction of the movable antenna and the position of the robot when the communication state is acquired.
  • the robot 30 when the robot 30 according to the present embodiment recognizes that the communication state is in a bad position by referring to the recorded table, the robot 30 may notify the outside that the communication state is bad. . Thereby, the operation for improving the communication state can be executed without measuring the communication state.
  • control blocks (particularly the control units 10 and 22) of the robots 1, 20 and 30 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or a CPU (Central Processing Unit). It may be realized by software using
  • the robots 1, 20 and 30 include a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only Memory) or a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like.
  • a computer or CPU reads the said program from the said recording medium and runs it.
  • the recording medium a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used.
  • the program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program.
  • an arbitrary transmission medium such as a communication network or a broadcast wave
  • one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.
  • a robot (1, 20, 30) according to aspect 1 of the present invention includes a fixed part (2, 21, 31) having a plurality of fixed antennas having different directions, and a movable part (3) having a movable antenna.
  • An acquisition unit (11) that moves the movable unit and acquires the communication state of the movable antenna in a plurality of different directions, and, according to the communication state acquired by the acquisition unit, among the plurality of fixed antennas
  • a selection unit (12) for selecting a communication antenna for selecting a communication antenna.
  • the communication state of various directions can be acquired easily, and according to the said communication state, the fixed antenna most suitable for communication is a communication antenna. Can be selected. Therefore, the communication state of the fixed antenna can be improved without changing the position of the robot itself.
  • the selection unit includes the movable antenna when the acquisition unit acquires a maximum communication state among the communication states.
  • a fixed antenna having a direction corresponding to the direction may be selected as the communication antenna.
  • the communication state of the fixed antenna can be improved to a communication state corresponding to the maximum communication state of the movable antenna.
  • the robot (1, 20, 30) according to aspect 3 of the present invention includes the posture changing unit (17) that changes the posture of the robot and the direction of the fixed antenna selected by the selection unit in the above-described aspect 1 or 2.
  • Attitude control for controlling the attitude changing unit to change the attitude of the robot so that the orientation of the movable antenna when the acquiring unit acquires the maximum communication state among the communication states is Part (14).
  • the communication state of the fixed antenna can be improved to a communication state equivalent to the maximum level communication state of the movable antenna.
  • the robot (20, 30) according to aspect 4 of the present invention is the above aspect 2 or 3, wherein the moving unit (24) that moves the robot and the maximum level communication among the communication states acquired by the acquisition unit. When the state does not exceed a predetermined level, the moving unit controls the moving unit to move in the direction corresponding to the direction of the movable unit when the acquiring unit acquires the maximum communication state.
  • the robot can be placed at a position where the communication state is good according to the direction of the movable part showing a good communication state.
  • the communication state can be improved by moving itself.
  • the robot (1, 20, 30) according to Aspect 5 of the present invention is the robot according to any one of Aspects 1 to 4, wherein the acquisition unit has one direction of the plurality of fixed antennas and a direction of the movable antenna. May be obtained by moving the movable part in a state in which they are matched, and acquiring the communication state of the movable antenna in a plurality of different directions.
  • the communication state of the movable antenna is acquired in a state where the direction of the fixed antenna and the direction of the movable antenna coincide with each other, the same communication state as that of the fixed antenna can be acquired. Therefore, a fixed antenna suitable for communication can be selected more appropriately.
  • a robot (30) according to an aspect 6 of the present invention is the robot (30) according to any one of the aspects 1 to 5, wherein the communication state acquired by the acquisition unit, the direction of the movable antenna when the communication state is acquired, and the robot A recording unit (32) that records information associated with at least one of the positions may be further provided.
  • the antenna is directed in a good communication state without searching for the antenna direction or the robot position to obtain a good communication state again.
  • the recording unit may record the information for each position of the robot separated by a predetermined interval.
  • a robot control method includes a fixed unit (2, 21, 31) having a plurality of fixed antennas having different directions and a movable unit (3) having a movable antenna.
  • a control method of (1, 20, 30) an acquisition step of moving the movable part and acquiring a communication state of the movable antenna in a plurality of different directions, and according to the communication state acquired in the acquisition step And a selection step of selecting a communication antenna from among the plurality of fixed antennas.
  • the robots 1, 20 and 30 according to each aspect of the present invention may be realized by a computer.
  • the robot is operated as each unit (software element) included in the robots 1, 20 and 30 described above.
  • a control program for the robots 1, 20 and 30 for realizing the robots 1, 20 and 30 by a computer and a computer-readable recording medium on which the control programs are recorded also fall within the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un robot comprenant : une unité fixe (2) qui comporte une pluralité d'antennes fixes (4, 5) présentant des orientations mutuellement différentes ; une unité mobile (3) qui comporte une antenne mobile (6) ; une unité d'acquisition (11) qui amène l'unité mobile (3) à se déplacer, et qui acquiert l'état de communication de l'antenne mobile selon une pluralité d'orientations différentes ; et une unité de sélection (12) qui, en fonction de l'état de communication acquis par l'unité d'acquisition (11), sélectionne l'antenne à utiliser pour une communication, parmi la pluralité d'antennes fixes (4, 5). Même si le robot (1) ne bouge pas, l'état de communication peut être amélioré.
PCT/JP2017/043927 2017-02-23 2017-12-07 Robot, procédé de commande de robot, programme de commande et support d'enregistrement Ceased WO2018154914A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019501064A JP6697629B2 (ja) 2017-02-23 2017-12-07 ロボット、ロボットの制御方法、制御プログラム、および記録媒体

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-032660 2017-02-23
JP2017032660 2017-02-23

Publications (1)

Publication Number Publication Date
WO2018154914A1 true WO2018154914A1 (fr) 2018-08-30

Family

ID=63252469

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/043927 Ceased WO2018154914A1 (fr) 2017-02-23 2017-12-07 Robot, procédé de commande de robot, programme de commande et support d'enregistrement

Country Status (2)

Country Link
JP (1) JP6697629B2 (fr)
WO (1) WO2018154914A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020142362A (ja) * 2019-02-28 2020-09-10 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、通信装置、通信方法、制御プログラム及び記録媒体
JP6837616B1 (ja) * 2020-04-24 2021-03-03 三菱電機株式会社 情報処理装置、情報処理方法及び情報処理プログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007229870A (ja) * 2006-03-01 2007-09-13 Toyota Motor Corp 移動体および移動体制御システム
JP2010245997A (ja) * 2009-04-09 2010-10-28 Panasonic Corp 携帯情報端末
JP2011250355A (ja) * 2010-05-31 2011-12-08 Sumitomo Electric Ind Ltd 通信システム、及び通信装置
JP2015154294A (ja) * 2014-02-14 2015-08-24 シャープ株式会社 アンテナ装置
JP2015184042A (ja) * 2014-03-20 2015-10-22 Ｎｅｃプラットフォームズ株式会社 コミュニケーションロボット、位置検出方法及びプログラム
WO2016017498A1 (fr) * 2014-07-31 2016-02-04 シャープ株式会社 Dispositif d'antenne

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007229870A (ja) * 2006-03-01 2007-09-13 Toyota Motor Corp 移動体および移動体制御システム
JP2010245997A (ja) * 2009-04-09 2010-10-28 Panasonic Corp 携帯情報端末
JP2011250355A (ja) * 2010-05-31 2011-12-08 Sumitomo Electric Ind Ltd 通信システム、及び通信装置
JP2015154294A (ja) * 2014-02-14 2015-08-24 シャープ株式会社 アンテナ装置
JP2015184042A (ja) * 2014-03-20 2015-10-22 Ｎｅｃプラットフォームズ株式会社 コミュニケーションロボット、位置検出方法及びプログラム
WO2016017498A1 (fr) * 2014-07-31 2016-02-04 シャープ株式会社 Dispositif d'antenne

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020142362A (ja) * 2019-02-28 2020-09-10 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、通信装置、通信方法、制御プログラム及び記録媒体
JP6837616B1 (ja) * 2020-04-24 2021-03-03 三菱電機株式会社 情報処理装置、情報処理方法及び情報処理プログラム
WO2021214997A1 (fr) * 2020-04-24 2021-10-28 三菱電機株式会社 Dispositif, procédé et programme de traitement d'informations

Also Published As

Publication number Publication date
JP6697629B2 (ja) 2020-05-20
JPWO2018154914A1 (ja) 2019-11-07

Similar Documents

Publication Publication Date Title
WO2012068913A1 (fr) Dispositif d'antenne, système d'antenne et procédé électrique d'inclinaison d'antenne
US6266577B1 (en) System for dynamically reconfigure wireless robot network
US10312751B2 (en) Wireless power supply control system and method for producing directivity information
JP6697629B2 (ja) ロボット、ロボットの制御方法、制御プログラム、および記録媒体
US11424813B2 (en) Method for determining optimal beam and an electronic device thereof
JP2013197872A (ja) 制御装置及び制御方法
JP2019083502A (ja) アンテナ指向性を調整可能なワイヤレスアクセスポイントシステム、無線信号基地局の指向性制御機能を備えるモバイルデバイス及び無線信号基地局のアンテナ指向性を最適化する方法
US11833664B2 (en) Robot apparatus, control method for robot apparatus, method of manufacturing article using robot apparatus, communication device, communication method, control program, and recording medium
JPWO2020066486A1 (ja) 走行システム、及び、走行システムの制御方法
JP3871085B2 (ja) ディスク装置及びディスク装置の校正方法
CN105721557A (zh) 车载信息传输系统
US10290204B2 (en) Maintenance system and method for maintenance of a door arrangement
EP3064258B1 (fr) Jouet, procédé pour commander un jouet et produit de programme informatique
JP7663702B2 (ja) 通信システム、通信制御回路及び通信方法
KR100983715B1 (ko) 이동체 통신 시스템, 기지국 장치, 이동국 장치, 송신 전력제어 방법, 및 정보 기록 매체
JP4477928B2 (ja) メモリマッピング制御装置、情報記憶制御装置、データ移行方法及びデータ移行プログラム
EP4486006A1 (fr) Système de communication et terminal de communication
JP6901006B2 (ja) 制御装置、制御対象機器、制御システム、制御方法、制御対象機器の制御方法、制御装置のプログラム、および制御対象機器のプログラム
KR101078431B1 (ko) 복수의 서보 모터 제어 방법 및 서보 드라이브
US20180288628A1 (en) Wireless communication control system, wireless communication control apparatus, method for controlling wireless communication, and method for producing directivity information
JP7639187B2 (ja) 通信システム、通信装置、及び通信方法
US20230013213A1 (en) Candidate beam selection for a terminal device
JP2009169602A (ja) Ｒｆｉｄ用アンテナ装置
JP4551884B2 (ja) 双方向に通信する機能を持ったディスク装置
JPWO2006103888A1 (ja) 指向性通信装置、及び、通信方法及び通信プログラム、並びに、指向性通信装置を用いた通信システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17897397

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019501064

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17897397

Country of ref document: EP

Kind code of ref document: A1