Source: http://www.google.com/patents/US20030195658?ie=ISO-8859-1&dq=7565338
Timestamp: 2015-02-02 01:13:35
Document Index: 41218054

Matched Legal Cases: ['arts 110', 'arts 110', 'arts 110', 'arts 110', 'arts 110', 'art 110', 'arts 110', 'art 110', 'arts 110', 'arts 110', 'art 110', 'art 110', 'art 110', 'arts 110']

Patent US20030195658 - System, method, and program for robot control - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsSystem and method for allowing execution of control over robot hardware other than specific robot hardware by using control software that does not have features to be applied to the robot hardware other than the specific hardware designed for control. Execution means 102 for executing control software...http://www.google.com/patents/US20030195658?utm_source=gb-gplus-sharePatent US20030195658 - System, method, and program for robot controlAdvanced Patent SearchPublication numberUS20030195658 A1Publication typeApplicationApplication numberUS 10/410,190Publication dateOct 16, 2003Filing dateApr 10, 2003Priority dateApr 12, 2002Also published asUS7054715Publication number10410190, 410190, US 2003/0195658 A1, US 2003/195658 A1, US 20030195658 A1, US 20030195658A1, US 2003195658 A1, US 2003195658A1, US-A1-20030195658, US-A1-2003195658, US2003/0195658A1, US2003/195658A1, US20030195658 A1, US20030195658A1, US2003195658 A1, US2003195658A1InventorsYosuke TakanoOriginal AssigneeNec CorporationExport CitationBiBTeX, EndNote, RefManReferenced by (4), Classifications (16), Legal Events (3) External Links: USPTO, USPTO Assignment, EspacenetSystem, method, and program for robot controlUS 20030195658 A1Abstract System and method for allowing execution of control over robot hardware other than specific robot hardware by using control software that does not have features to be applied to the robot hardware other than the specific hardware designed for control. Execution means 102 for executing control software makes an inquiry about the presence of robot function means 103 requested by control software 101 through the use of interface recording means 104 and robot function searching means 105. If it has been found that the robot function means 103 is present, the execution means 102 requests the robot function means 103 to perform the motion of a robot. If it has been found that the robot function means 103 is not present, the request is skipped, or the request is made to similar robot function means 103. Alternatively, the request is made to alternative robot function means 103. Images(10) Claims(31)
[0087] In this example, as an alternative to the robot function means associated with �foot. advance�, �mouth. speak (This function is not present)� is specified in the form of the alternative attribute in the robot functioning element. [0088] By adding an argument indicating that �This function is not present.�, this designation calls different robot function means by the name �mouth. speak�. As a result, when the control software 101 commands �foot. advance�, through the robot function means 103 by the name �mouth. speak�, which the robot 100 includes, or through a loudspeaker (the mouth of the robot) driven by an audio synthesizer, a digital-to-analog converter circuit, and a drive circuit, not shown, a speech that �This function is not present.� is given. Incidentally, instead of outputting the speech that �This function is not present.� specified as an alternative in the interface specifications, an imitating motion of the robot function means associated with the original interface specifications such as an imitation sound when advancing on foot (or feet) may also be specified to be outputted from the loudspeaker in the form of a synthetic sound. The robot lacks the robot function means by the name of �foot. advance�, so that the robot 100 which actually cannot advance on foot notifies a user of imitating a motion of advancing on foot (mimicking). The motion of the alternative robot function means is arbitrarily set. [0089] If the alternative robot function means is not specified in the robot functioning element in the form of the attribute (if the robot function means by the name of �foot. advance� is present), the robot function means of the robot functioning element (the robot function means by the name of �foot. advance� in this case) is called for execution of the motion of the robot at step A6. Then, the operation returns to step A1. [0090] Referring to FIG. 4, if it has been found as a result of search at step A4 that a record on the interface specifications of the requested robot function means is not present in the interface recording means 104, and the robot function means is thus not present (If No at step A5), the execution means 102 ignores (skips) a command for calling the robot function means by the control software at step A7. Then, the operation returns to step A1. [0091] In this manner, according to this embodiment, interface specifications that do not present in the robot are recorded in the interface recording means 104 in advance. Then, by recording interface specifications (a functional part, a robot function, and a required argument) of alternative robot function means in the interface specifications, specific robot function means is caused to implement a predetermined motion and function in place of robot function means that is not present. [0092] Next, embodiments about configurations of interconnecting the control software, control and execution means, robot function searching means, interface recording means, and robot function means according to the present invention will be described. In the embodiments to be described below, control for activating robot function means searched for by the robot function means which has received a request from the execution means and then searched in the interface recording means, and control for activating similar robot function means or alternative robot function means when the requested robot function means has not been found as a result of the search are exercised in the same manner as in the first through third embodiments. [0093]FIG. 5 is a block diagram showing a configuration of a fourth embodiment of the present invention. Referring to FIG. 5, in this embodiment, a main body of the robot 100 includes the control software 101, control and execution means 102, and robot function searching means 105, and includes a main body part of the robot 100 and a plurality of detachable attached parts 110. The attached parts 110 are constituted by arms, feet, and a tail, for example. Incidentally, the detachable attached parts 110 may be a single part. The attached parts 110 include the interface recording means 104, and the robot function means 103 for realizing robot motions of the attached parts 110 in their insides. The robot function searching means 105 searches for interface specifications recorded in the interface recording means 104 of an attached part 110, in response to a request from the execution means 102. [0094] In this embodiment, the interface specifications of the robot function means recorded in the interface recording means 104 in each of the attached parts 110 may also be transferred to a memory in the main body, not shown, for storage, when the attached part 110 is attached to the main body or at power on, for example, and the robot function searching means 105 may also search in the memory not shown upon receipt of a request from the execution means 102. [0095]FIG. 6 is a block diagram showing a configuration of a fifth embodiment of the present invention. Referring to FIG. 6, the robot 100 in this embodiment includes the control software 101, execution means 102, robot function searching means 105, and robot function means 103. Interface recording means 304 is provided for a computer 300 connected to the robot 100 via a network 200. Interface specifications recorded in the interface recording means 304 are assumed to be the same as those described in the first through third embodiments. The computer 300 may be a personal computer, or a server. Preferably, the network 200 is constituted by a wireless network, and includes infrared data association (IrDA), Bluetooth for performing wireless communication between the personal computer and a cell phone, a wireless LAN, a mobile communication network, or an Internet, for example. [0096] When receiving a search request (name information of robot function means) from the execution means 102, the robot function searching means 105 searches in the interface recording means 304 on the computer 300 via the network 200 through a communication control device not shown. The execution means 102, which has received the result of the search, calls the searched robot function means 103. If it has been found that the corresponding robot function means 103 is not present, skipping is performed, or control for activating similar robot function means 103 or alternative robot function means 103 is performed in the same manner as in the embodiments described before with reference to FIGS. 1 through 4. If the interface recording means 304 on the computer 300 is searched in this embodiment, the robot function searching means 105 may also give the names to be searched (names of the functional part and the robot function of the robot function means) to searching means on the computer 300, not shown, over the network 200. Then, the searching means on the computer 300 may search in the interface recording means 304, thereby obtaining a result of the search. [0097]FIG. 7 is a block diagram showing a configuration of a sixth configuration of the present invention. Referring to FIG. 7, in this embodiment, the computer 300 connected to the robot 100 via the network 200 includes control software 301, execution means 302, and robot function searching means 305. The robot 100 includes the interface recording means 104 and the robot function means 103. [0098] The computer 300 may be the personal computer, server, or the like. Preferably, the network 200 is constituted by the wireless network described before. [0099] The robot function searching means 305 searches in the interface recording means 104 over the network 200 upon receipt of a request from the execution means 302 on the computer 300. The searched robot function means 103 is then called for execution of the motion of the robot. On the other hand, if it has been found as a result of the search by the robot function searching means 105 that the corresponding robot function means 103 is not present, the execution means 302 skips the request of the software 301, or control for activating similar robot function means 103 or alternative robot function means 103 is performed in the same manner as in the first through third embodiment described with reference to FIGS. 1 through 4. [0100]FIG. 8 is a block diagram showing a configuration of a seventh embodiment of the present invention. Referring to FIG. 8, in this embodiment, the main body of the robot 100 includes the control software 101, execution means 102, interface recording means 104, and robot function searching means 105, and includes the main body part of the robot 100 and a plurality of detachable attached parts 110. Each of the attached parts 110 includes robot function means 103. When an attached part 110 is attached to the main body of the robot, or at power-on, information on interface specifications of the robot function means 103 of the attached part 110 is registered in the interface recording means 104. When the attached part 110 is detached from the main body of the robot, control is exercised so that the information on the interface specifications stored in the interface recording means 104 is deleted from the interface recording means 104 or information indicating deletion (flag information) is added. The detachable attached parts 110 may be a single one. [0101]FIG. 9 is a block diagram showing a configuration of a ninth embodiment of the present invention. Referring to FIG. 9, in this embodiment, the computer 300 connected to the robot 100 via a network 200 includes the control software 301 and the execution means 302, and the robot 100 includes the robot function searching means 105, interface recording means 104, and robot function means 103. [0102] The execution means 302 on the computer 300 activates the robot function searching means 105 on the robot 100 over the network 200 and causes the robot function searching means 105 to search the interface recording means 104. When robot function means 103 has been searched for by the robot function searching means 105, the searched robot function means 103 is called. On the other hand, if it has been found as a result of the search by the robot function searching means 105 that the corresponding robot function means 103 is not present, skipping is performed, or control for activating similar robot function means 103 or alternative robot function means 103 is performed in the same manner as in the embodiments described before with reference to FIGS. 1 through 4. [0103] In this manner, the control software and the execution means may be provided for a computer, demonstrated with the robot 100 via the network or the like, being separate from the interface recording means and the robot function searching means. Replacement of the control software may be performed by replacement of a recording medium (detachable medium) that has recorded the control software. The control software may also be downloaded in the robot from other computer over the network. Alternatively, the control software may also be downloaded to the computer connected to the robot via the network from other computer. [0104] Foregoing descriptions about the present invention were given in conjunction with the embodiments described above. The present invention, however, is not limited to the embodiments described above, and naturally includes various variations and modifications that could be made by those skilled in the art within the scope of the claims of the present invention. [0105] The meritorious effects of the present invention are summarized as follows. [0106] As described above, according to the present invention, by using the control software that does not have features to be applied to robot hardware other than specific robot hardware designed for control, control over the robot hardware other than the specific robot hardware is enabled. [0107] The reason for this is as follows: in the present invention, an inquiry about the presence of robot function means requested by the control software is made. If the robot function means requested by a control software is not present, the request is skipped. Alternatively, if the robot function means requested by the control software is not present, robot function means similar to the requested robot function means is searched for. Still alternatively, robot function means alternative to the requested robot function means is searched for. [0108] It should be noted that other objects, features and aspects of the present invention will become apparent in the entire disclosure and that modifications may be done without departing the gist and scope of the present invention as disclosed herein and claimed as appended herewith. [0109] Also it should be noted that any combination of the disclosed and/or claimed elements, matters and/or items may fall under the modifications aforementioned. Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7555363 *Sep 1, 2006Jun 30, 2009Neato Robotics, Inc.Multi-function robotic deviceUS8275317Apr 26, 2010Sep 25, 2012Rejoice Holding, GpRadio controller system and method for remote devicesUS8483881Sep 1, 2006Jul 9, 2013Neato Robotics, Inc.Localization and mapping system and method for a robotic deviceUS8600304Aug 21, 2012Dec 3, 2013Rejoice Holdings, GpRadio controller system and method for remote devices* Cited by examinerClassifications U.S. Classification700/245, 318/568.11International ClassificationG06F9/54, B25J13/00, G06F9/445, G06F9/00, B25J9/18, G06F13/10, B25J9/16Cooperative ClassificationY10S700/90, B25J9/1602, G05B2219/33105, G05B2219/33125, G05B2219/39379, G05B2219/33053European ClassificationB25J9/16CLegal EventsDateCodeEventDescriptionOct 30, 2013FPAYFee paymentYear of fee payment: 8Oct 28, 2009FPAYFee paymentYear of fee payment: 4Apr 10, 2003ASAssignmentOwner name: NEC CORPORATION, JAPANFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:TAKANO, YOSUKE;REEL/FRAME:013959/0096Effective date: 20030407RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services