A product transfer apparatus is provided. The product transfer apparatus includes an arm unit having a holder unit configured to hold the product, a movement mechanism configured to move in an area between a stock shelf and a product display shelf, an acquisition unit configured to obtain a position of the arm unit, and a control unit configured to control the arm unit, the holder unit, the movement mechanism, and the acquisition unit. The control unit is configured to perform acquiring a position of the arm unit relative to a reference position of the product transfer apparatus, determining whether or not the arm unit is positioned within a predetermined area, and placing the product transfer apparatus in a state of starting operation of moving the product if the arm unit is positioned within the predetermined area.
A management device for managing a product replenishment robot which performs work including holding of a product is provided. The management apparatus includes a receiver unit for receiving a notification, etc. indicating that it is not possible to identify a product as a target of work, transmitted from the product replenishment robot, and a display control unit for enabling an operation screen to be displayed on a display unit based on receipt of a notification by the receiver unit. The operation screen includes a capture image captured by the product replenishment robot and instruction input user interfaces for accepting an instruction of an operator regarding a product shown in the capture image.
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
3.
MERCHANDISE REPLENISHMENT SYSTEM, MANAGEMENT DEVICE, ROTARY RACK, UNPACKING UNIT, AND PACKAGE TRANSFER UNIT
According to one embodiment of the present disclosure, there is provided a merchandise replenishment system 1 including: a rotary rack 200 comprising a plurality of racks 210 on which packages P accommodating merchandise are placed, the plurality of racks 210 being configured to circulate on the rotary rack 200; and a merchandise replenishment robot 100 that performs an action of grasping merchandise accommodated in the packages P placed on the racks 210 of the rotary rack 200 and moving the merchandise to a display shelf.
B65G 1/133 - Storage devices mechanical with article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the circuit being confined in a horizontal plane
B25J 5/02 - Manipulators mounted on wheels or on carriages travelling along a guideway
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B65G 47/84 - Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
4.
Commodity transfer apparatus and control method for same
According to one embodiment of the present disclosure, a product transfer apparatus is provided. The product transfer apparatus includes an arm unit having a holder unit for holding a product, an image capture unit for obtaining image data including at least a portion of the product held by the holder unit for placing the product on a shelf plate of the product display shelf and placed above the front side of the shelf plate by the arm unit, and at least a portion of the shelf plate. The control unit is configured to identify, based on the image data, the relationship between the height of a reference position of the product from an upper surface of the shelf plate and the height of a reference position of the shelf plate, and correct, based on the identified relationship, the height of the reference position of the product relative to the reference position of the shelf plate by operating the arm unit for moving the product.
According to one embodiment of the present disclosure, provided is a product transfer apparatus 1 that transfers a container of a product which has been placed on an inventory shelf to a display shelf. A control unit 150 of the product transfer apparatus 1 is configured to execute the operations of: acquiring a position of a product T on the basis of a position of a holding part 10 when a sensor 30 detects that a change in a pitch angle has occurred in the holding part 10 when a portion of the holding part 10 was brought into contact with the product T; and correcting a position of the product T recognized on the basis of first image data captured by a first camera 50, on the basis of a difference between the position of the product T recognized on the basis of the first image data and the acquired position of product T.
One embodiment of the present invention provides an article moving device 100 that comprises: an arm part 110; a camera 70 for capturing a moving image for monitoring the position of another article 10 being conveyed on a belt conveyor 40; and a processor serving as a control part. The processor is configured to: monitor the position of the other article 10 being conveyed on the belt conveyor 40 on the basis of the moving image; cause the article moving device to move an article 10 to a predetermined reference position; determine whether or not the article moving device 100 can move the article 10 from the predetermined reference position to a movement destination position on the belt conveyor 40 without contacting the other article 10 on the belt conveyor 40; and cause the article moving device 100 to execute an operation of moving the article 10 while the article moving device 100 can perform the moving.
According to one embodiment of the present disclosure, a product transfer apparatus is provided. The product transfer apparatus includes an arm unit having a holder unit for holding a product, an image capture unit for obtaining image data including at least a portion of the product held by the holder unit for placing the product on one of a plurality of lanes provided on a shelf plate of the product display shelf for displaying the product and placed above the one of the lanes by the arm unit, and at least a portion of the shelf plate including a position of the display, and a control unit. The control unit is configured to identify, based on the image data, a positional relationship in a direction in which the plurality of lanes are arranged, between a reference position of the lane for placing the product of the shelf plate, and the product placed above the lane, and correct, based on the identified positional relationship, the position of the product relative to the reference position by operating the arm unit.
One embodiment of the present disclosure provides a management device 200 that is communicably connected to one or more product movement devices that move products T placed on an inventory shelf to a display shelf different from the inventory shelf. The product movement device 1 includes imaging units 50, 60 for acquiring image data including the products T. The management device 200 includes a processor configured to generate a trained model by executing machine learning using image data including each product T, transmitted from at least one product movement device 1, as training data.
A work management apparatus according to an embodiment of the present disclosure includes a control unit. The control unit is configured to perform: obtaining information indicating stay time of a worker who performs work in a workplace including a plurality of areas, in each of the plurality of areas; calculating work actual condition data indicating work time of the work performed in each of the plurality of areas; identifying a substitutable task which is substituted or assisted by introduction of a predetermined device, among a plurality of tasks of the work performed in the workplace; and outputting change information corresponding to a change in the task performed by the worker by introduction of the device, based on relationship between the work time of each of the plurality of tasks indicated by the work actual condition data and the substitutable task.
[Problem] To make it possible to reduce the burden of work to replenish commodities on an inventory shelf for a store salesperson. [Solution] One embodiment of the present disclosure provides a management device 300 that manages commodity replenishment by means of a commodity replenishment robot 100 that performs an operation of gripping a commodity placed on an inventory shelf and moving the commodity to a display shelf, and an operation of gripping a commodity placed on a commodity replenishment shelf and moving the commodity to the inventory shelf. The management device 300 includes a control unit 310 and a storage unit 320. The storage unit 320 stores either sales data including past sales numbers and sales dates and times of commodities, or a trained model generated by executing machine learning by means of a learning device using the sales data. The control unit 310 is configured to execute, on the basis of the sales data or the trained model, the generation of commodity replenishment information relating to commodities to be replenished on the inventory shelf, the commodity replenishment information including placement layout information for placing the commodities to be replenished on the inventory shelf in each region on the commodity replenishment shelf.
Provided is a product identification system for identifying the type of a product to be gripped and moved by a product replenishment robot that moves products. The product identification system includes: a product image acquisition apparatus 200 for acquiring an image of a product; and a control apparatus for identifying the type of the product on the basis of the image of the product acquired by the product image acquisition apparatus. The product image acquisition apparatus 200 includes: a rotary base 210 provided with a rotary table 212 for rotating the product placed thereon; a lifting mechanism 230 for lifting the rotary base 210; and an image acquisition unit 260 for acquiring an image of the product. The control apparatus includes a control unit and a storage unit. The storage unit stores image data of various products, or a trained model generated using image data through execution of machine learning by a learning device. The control unit identifies the type of the product related to the image acquired by the image acquisition part 260, on the basis of the image data or the trained model.
According to one embodiment of the present disclosure, a product transfer apparatus is provided. The product transfer apparatus includes a holder unit for holding a product, an arm unit for moving the holder unit to a stock shelf and a display shelf, a first image capture unit for capturing an image of the display shelf, a second image capture unit for capturing an image of the stock shelf, and a control unit for controlling operation of the arm unit, the holder unit, and the first and second image capture units. The control unit is configured to identify a replenishment target product as a product required to be replenished on the display shelf, based on display shelf capture image data generated by image capturing of the display shelf by the first image capture unit, and identify a position of a stock product corresponding to the replenishment target product in the stock shelf capture image data, based on shelf capture image data generated by image capturing of the stock shelf by the second image capture unit.
[Solution] According to one embodiment of the present disclosure, provided is a product transfer apparatus 1 that transfers, to a display shelf, a container of a product which has been placed on an inventory shelf. A control unit 150 of a product transfer apparatus 1 is configured to carry out: moving a grip part 10 in a first direction that approaches a main body part of a container until the sensor 30 detects the occurrence of a change in pitch angle of the grip part 10; moving the grip part 10, to the position where the grip part 10 can grip a cap part, from the position of the grip part 10 when the occurrence of a change in pitch angle of the grip part 10 has been detected after the grip part 10 has been moved in the first direction; and causing the grip part 10 to grip the cap part of the container.
A data processing apparatus is disclosed which processes data for operating a movable segment of a machine in correspondence with a position of a controller. The data processing apparatus includes a control unit or processor configured to obtain controller information including the position, when an operator operates the movable segment using the controller, obtain capture image data generated by image capturing of the movable segment while the movable segment is operated in correspondence with the position, generate composite image data by superimposing a controller image indicating the position included in the controller information, on an area corresponding to the movable segment on the capture image data, and display the composite image data on a display device viewable by the operator.
A data processing apparatus includes a control unit. The control unit is configured to obtain capture image data generated based on image capturing by a camera provided for a robot, combine at least a portion of display image data of the capture image data obtained at a first time point and at least a portion of past capture image data of the capture image data obtained at a second time point before the first time point to generate composite image data having a wider angle of view than the display image data, and display the composite image data on a display device viewable by an operator of the robot.
Provided is a product moving device 1 comprising: an arm part 20 that is provided with a gripping part 10 which grips a product; a movement mechanism 80 that moves between an inventory shelf and a display shelf; acquisition parts 34, 36 that acquire the position of the arm part 20; and a control part 150 that controls the arm part, the gripping part, the movement mechanism, and the acquisition parts. The control part 150 is configured to: use the acquisition parts to acquire the position of the arm part with respect to the reference position of the product moving device when the product moving device is activated from an operation termination state; determine whether or not the arm part is located in a prescribed region between the inventory shelf and the display shelf; and move the arm part into the prescribed region when the arm part is not located in the prescribed region.
One embodiment of the present invention provides an article moving device 100 comprising: an arm part 110 comprising a holding part 130; an acquisition part 140 for acquiring surrounding environment information; and a processor 155 serving as a control unit. The processor 155 is configured to: cause the acquisition part 140 to acquire surrounding environment information; generate a virtual space including an object in the actual world on the basis of the surrounding environment information; impart, to the object in a virtual world, annotation information including attribute information of the object and information pertaining to the position, the orientation, and the dimensions of the object; receive, with respect to the object present in the virtual world, a first input specifying an article to be moved, and a second input specifying the position or region of the destination of the article; and cause the holding part and the arm part to perform an operation for moving the specified article to the specified position or region in the real world on the basis of the first and second inputs.
According to an embodiment of the present disclosure, provided is a commodity transfer apparatus 1 comprising: an arm part 20 equipped with a gripping part 10 for holding a commodity; an imaging part 60 for acquiring image data that includes at least part of the commodity held by the gripping part 10; and a control part 150. The control part 150 is configured to: cause the imaging part 60 to acquire image data including at least part of a commodity that is positioned above a shelf of a display rack by the arm part 20 while being held by the gripping part 10 for the purpose of being placed on the shelf; and use the image data to determine whether or not the commodity is in an orientation such that same can be placed on the shelf.
One embodiment of the present disclosure provides a commodity transfer apparatus 1 that comprises: an arm 20 equipped with a grasping part 10 for grasping commodities; an imaging unit 60 which acquires image data that contains at least a portion, of a shelf board of a display rack, including a display position and that contains at least a portion of a commodity grasped by the grasping part 10 and arranged, by the arm 20, above one of a plurality of lanes that are for displaying commodities and that are provided on the shelf board of the display rack; and a control unit 150. The control unit 150 is configured so as to execute: identification of, in the arrangement direction of the plurality of lanes, positional relationships between the commodity arranged above the lanes and reference positions of the lanes on which commodities on the shelf board are to be placed, on the basis of the image data; and correction of the position of the commodity, with respect to the reference positions, by operating the arm 20 on the basis of the identified positional relationships.
One embodiment of the present disclosure provides a commodity transfer apparatus 1 that comprises: an arm part 20 equipped with a grasping part 10 for grasping a commodity; an imaging unit 60 for acquiring image data including at least a portion of a commodity which has been grasped by the grasping part 10 so as to be placed on, as display destination, a shelf board of a display rack and which has been disposed by the arm part 20 at the front side on the shelf board, and also including at least a portion of the shelf board; and a control unit 150. The control unit 150 is configured to execute: identifying the relationship between the height of a reference position of the commodity from the top surface of the shelf board and the height of a reference position of the shelf board, on the basis of the image data; and operating the arm part 20 to move the commodity on the basis of the identified relationship and correcting the height of the reference position of the commodity with respect to the reference position of the shelf board.
A work management device 1 according to an embodiment of the present disclosure comprises a control unit 12 configured to execute: acquisition of information indicating the stay time of a worker in each of a plurality of areas, the worker conducting work in a workplace including the plurality of areas; calculation, on the basis of the stay time, of work situation data indicating the work time of the work conducted in each of the plurality of areas; an identification unit 123 that identifies a replaceable work, from among a plurality of works conducted in the workplace, that can be replaced or assisted by introducing a predetermined device; and outputting, on the basis of the relationship between the work time of each of the plurality of works indicated by the work situation data and the replaceable work, of change information corresponding to a change in the work conducted by the worker that will be caused by the introduction of the device.
According to an embodiment disclosed herein, there is provided a management device 2 that manages a product replenishment robot 1 that performs operations including gripping of articles. The management device 2 includes a reception unit that receives a notification or the like, indicating that an article to be worked on cannot be specified, transmitted from the product replenishment robot 1; and a display control unit 262 that enables an operation screen 931 to be displayed on a display unit on the basis of the reception of the notification by the reception unit. The operation screen 931 includes a captured image (932) captured by the product replenishment robot 1, and instruction input user interfaces (933, 934) for accepting an operator's instructions regarding articles shown in the captured image.
G06F 3/0481 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
G06Q 30/06 - Buying, selling or leasing transactions
23.
MERCHANDISE MOVEMENT DEVICE, MERCHANDISE MOVEMENT SYSTEM, AND METHOD FOR CONTROLLING MERCHANDISE MOVEMENT DEVICE
One embodiment of the present disclosure provides a merchandise movement device 1 comprising: a gripping part 10 that grips merchandise; an arm part 20 that moves the gripping part to an inventory shelf and a display shelf; a first imaging unit 50 that images the display shelf; a second imaging unit 60 that images the inventory shelf; and a control unit 151 that controls operations of the arm part, the gripping part, and the first and second imaging units. The control unit 151 is configured to: identify merchandise to be replenished, which is merchandise requiring replenishment on the display shelf, on the basis of display shelf-imaged image data generated by the first imaging unit imaging the display shelf; and to identify the position of inventory merchandise corresponding to the merchandise to be replenished in inventory shelf-imaged image data on the basis of shelf-imaged image data generated by the second imaging unit imaging the inventory shelf.
A data processing device 1 according to one embodiment of the present disclosure processes data for operating a movable part of a device in accordance with the position of a controller, and includes a control unit 13 configured so as to execute: the acquisition of controller information including a position when an operator uses the controller to operate the movable part; the acquisition of captured image data generated by an imaging device imaging the movable part during the operation of the movable part in accordance with the position; the generation of synthesized image data by superposing a controller image indicating the position included in the controller information onto a region corresponding to the movable part in the captured image data; and the display of the synthesized image data by a display device visible to the operator.
H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
B25J 3/00 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
A data processing device 1 according to an embodiment of the present disclosure is provided with a control unit 13 configured to perform: acquiring captured image data generated on the basis of capturing of an image by a camera 31 provided in a robot 3; synthesizing display image data comprising at least a part of the captured image data acquired at a first point in time, and past captured image data comprising at least a part of the captured image data acquired at a second point in time earlier than the first point in time, to generate synthesized image data having a view field greater than that of the display image data; and causing the synthesized image data to be displayed on a display device 21 viewable by an operator U of the robot 3.
In a control apparatus that controls communication of a telexistence system including a slave robot and an operating device, a state acquisition part repeatedly acquires status reports respectively from the operating device, the slave robot, and a plurality of virtual routers that connect the operating device and the slave robot while communication between the operating device and the slave robot is established. A path determination part determines a communication path for transmitting a control instruction for controlling the motion of the slave robot to the slave robot on the basis of the acquired status reports when the state acquisition part acquires the status reports. An instruction transmitting part transmits an instruction for forming the communication path determined by the path determination part to each of the plurality of virtual routers.
A robot control apparatus includes a selection part that selects a scenario to be used which an operator who operates a robot uses while operating the robot from among a plurality of scenario candidates in which an elapsed time since the robot has started an action and action contents of the robot are associated with each other, and a robot control part that controls the robot on the basis of the scenario to be used.
A slave robot moves in conjunction with a change of a posture of an operator in a remote control system. A capture device acquires a signal indicating a posture of an operator's body. A control apparatus includes a receiving controller that receives a signal indicating a posture of the slave robot from the slave robot and receives the signal indicating the posture of the operator's body from the capture device, a posture comparing part that acquires a posture error indicating a difference between the posture of the slave robot and the posture of the operator, and a motion connecting part that transmits, to the slave robot, an operation signal for operating the slave robot generated on the basis of the change in the posture of the operator on a condition that the posture error is within a predetermined threshold range.
A control device 1 that controls communications over a telexistence system that comprises a slave robot and an operation device. When communication has been established between the operation device and the slave robot, a status acquisition unit 110 repeatedly acquires status reports from each of the operation device, the slave robot, and a plurality of virtual routers that connect the operation device and the salve robot. When a status report has been acquired by the status acquisition unit 110, on the basis of the acquired status report, a path determination unit 111 determines a communication path for transmitting control instructions for controlling the actions of the slave robot to the slave robot. An instruction transmission unit 112 transmits instructions for constructing the communication path determined by the path determination unit 111 to each of the plurality of virtual routers.
A control device 1 comprises: an information acquisition section 131 for acquiring operation information indicating the content of an operation by an operator U operating a robot 2; a selection section 132 for selecting one or more assisting processes from among a plurality of candidate assisting processes for assisting in the operation by the operator; an assisting process section 133 for assisting the operator U by executing a selected assisting process being the one or more assisting processes selected by the selection section 132; and a robot control section 134 for controlling the robot 2 using information corresponding to a type of the selected assisting process created on the basis of the operation information while the assisting process section 133 is executing the selected assisting process.
This management device 1 has: an information acquisition unit 131 that acquires state information indicating the state of a robot 2 or the state of an operator U when the operator U is operating the robot 2; a determination unit 132 that compares the state of the robot 2 or the state of the operator U indicated by the state information with a preset reference level, thereby determining the degree of competence with which the operator U is operating the robot 2; and a storage control unit 133 that associates the degree of competence with operator identification information for identifying the operator U, and stores the degree of competence in a storage unit 12.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Industrial robots; robotic arms for industrial purposes. Computer software; computer firmware; computer hardware;
application software; computer hardware and computer
software for autonomous vehicles; electronic components;
radio apparatus and instruments; radio communication
machines and apparatus; wireless communication apparatus;
wireless communication devices for voice, data or image
transmission. Software as a service [SaaS]; computer software consultancy;
development of computer software; industrial research,
testing and analysis services; scientific research, testing
and analysis services.
33.
RESERVATION DEVICE, RESERVATION METHOD, AND RESERVATION SYSTEM
A reservation device 1 has: an operator information acquisition unit 131 for acquiring work information that indicates the content of work executed using one of a plurality of robots 2, in association with an operator ID for identifying an operator U who operates a robot 2; a selection unit 133 for selecting a use robot used by the operator U from the plurality of robots 2 on the basis of the content of work indicated by the work information; and a reservation processing unit 134 for causing a robot ID for identifying the use robot selected by the selection unit 133 and a reservation period for which the use robot is enabled for use to be stored by a storage unit 12 in association with the operator ID.
A robot control device 1 according to the present invention comprises: a selection unit 132 for selecting a usage scenario, which is used by an operator operating a robot 2 while the robot 2 is being operated, from among a plurality of scenario candidates in which the time elapsed since operation of the robot 2 began and the specific actions performed by the robot 2 have been associated; and a robot control unit 133 for controlling the robot 2 on the basis of the usage scenario.
According to the present invention, a terminal device has: a transmission unit which transmits, to a robot, operator state information indicating the state of a user operating the robot; a receiving unit which receives, from the robot, robot state information indicating the state of the robot; a sensation imparting unit which imparts a predetermined sensation to the user; and a control unit which, when a delay time required for the receiving unit to receive the robot state information after the transmission unit transmits the operator state information is no longer than a predetermined time, controls the sensation imparting unit so as to impart a sensation based on the robot state information to the user, and when the delay time is longer than the predetermined time, controls the sensation imparting unit to impart, to the user, a sensation based on virtual state information that indicates an estimated robot state.
This control device has: a user information acquisition unit which acquires first user posture information that indicates the posture of a first user operating a robot; a pre-change robot information acquisition unit which, on the basis of the first user posture information, acquires pre-change posture information, which indicates the posture of the robot before the posture of the robot is changed; and a determination unit which determines, as the posture of the robot, a target posture, which is different from the posture of the first user, on the basis of the pre-change posture information and the first user posture information that is acquired by the user information acquisition unit at the time when the robot took the pre-change posture indicated by the pre-change posture information.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Industrial robots; industrial robots in the nature of industrial robotic arms for remote operation; industrial robots in the nature of industrial robotic arms with grasp function to operate objects with high degree of freedom Downloadable computer software for computer system and application development, deployment and management; downloadable computer software for operating robots by remote control; downloadable computer software and firmware for operating system programs; downloadable computer firmware for operating robots by remote control; computer hardware; downloadable computer application software for operating robots by remote control; computer hardware and downloadable computer operating software for autonomous vehicles; electronic and optical communications instruments and components, namely, optical data links; radio apparatus and instruments, namely, radio transceivers, radio-frequency antennas; wireless communication devices for voice, data or image transmission; radio communication machines and apparatus, namely, amplifiers for wireless communications, antennas for wireless communications apparatus; wireless communication apparatus, namely, phase shifters for communications apparatus, digital transmitters Software as a service (SaaS) services featuring software in the field of operating robots by remote control; computer software consultancy; developing computer software; industrial research, testing and analysis services in the field of operating robots by remote control; scientific research, testing and analysis services in the field of operating robots by remote control
38.
REMOTE CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND PROGRAM
In this remote control system, a slave robot operates in association with changes in the posture of an operator. A capture device acquires a signal indicating the posture of the body of the operator. A control device comprises: a reception control unit 120 that receives, from the slave robot, a signal indicating the posture of the slave robot and that receives, from the capture device, the signal indicating the posture of the body of the operator; a posture comparison unit 122 that acquires a posture error indicating the difference between the posture of the slave robot and the posture of the operator; and an operation linking unit 123 that transmits, to the slave robot, an operation signal for causing the slave robot to operate that has been generated on the basis of a change in the posture of the operator under the condition that the posture error be within a prescribed threshold range.
According to the present invention, a terminal device 21 has: a transmission unit 131 which transmits, to a robot, operator state information indicating the state of a user 11 operating the robot; a receiving unit 132 which receives, from the robot, robot state information indicating the state of the robot; a sensation imparting unit 114 which imparts a predetermined sensation to the user 11; and a control unit 115 which, when a delay time required for the receiving unit 132 to receive the robot state information after the transmission unit 131 transmits the operator state information is no longer than a predetermined time, controls the sensation imparting unit 114 so as to impart a sensation based on the robot state information to the user 11, and when the delay time is longer than the predetermined time, controls the sensation imparting unit 114 to impart, to the user 11, a sensation based on virtual state information that indicates an estimated robot state.
B25J 3/00 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G06F 13/00 - Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
H04N 21/438 - Interfacing the downstream path of the transmission network originating from a server, e.g. retrieving encoded video stream packets from an IP network
H04N 21/44 - Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs
40.
CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL SYSTEM
This control device 36 has: a user information acquisition unit 361 which acquires first user posture information that indicates the posture of a first user operating a robot 20; a pre-change robot information acquisition unit 362 which, on the basis of the first user posture information, acquires pre-change posture information, which indicates the posture of the robot 20 before the posture of the robot 20 is changed; and a determination unit 365 which determines, as the posture of the robot 20 , a target posture, which is different from the posture of the first user, on the basis of the pre-change posture information and the first user posture information that is acquired by the user information acquisition unit 361 at the time when the robot 20 took the pre-change posture indicated by the pre-change posture information.
