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    • 8. 发明公开
    • CONTROL DEVICE, CONTROL SYSTEM, CONTROL METHOD, AND PROGRAM
    • EP4286114A1
    • 2023-12-06
    • EP21931752.6
    • 2021-12-20
    • OMRON Corporation
    • NING, Xiaoguang
    • B25J19/06
    • A control unit controls a movement of a robot on the basis of movement trajectory information. A detection unit detects a position of the robot and a position of a person. A judgment unit judges whether a first distance between the position of the robot and the position of the person is shorter than a first predetermined distance. A prediction unit predicts a future position of the robot on the basis of the position of the robot and predicts a future position of the person on the basis of the position of the person. In a case in which a second distance between the future position of the robot and the future position of the person is shorter than a second predetermined distance, a modification unit modifies the movement trajectory information such that the second distance is equal to or longer than the second predetermined distance. In a case in which the first distance is shorter than the first predetermined distance, the control unit stops or decelerates the movement of the robot, regardless of whether the movement trajectory information is modified. In a case in which the first distance is equal to or longer than the first predetermined distance and the movement trajectory information is modified, the control unit controls the movement of the robot on the basis of the movement trajectory information after modification.