US 12,253,863 B2
Method for controlling robot, robot, and recording medium
Hiroshi Yahata, Osaka (JP)
Assigned to Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Mar. 6, 2024, as Appl. No. 18/597,367.
Application 18/597,367 is a continuation of application No. 18/155,801, filed on Jan. 18, 2023, granted, now 11,960,285.
Application 18/155,801 is a continuation of application No. PCT/JP2021/046670, filed on Dec. 17, 2021.
Claims priority of application No. 2020-214232 (JP), filed on Dec. 23, 2020; and application No. 2021-194583 (JP), filed on Nov. 30, 2021.
Prior Publication US 2024/0210944 A1, Jun. 27, 2024
Int. Cl. G05D 1/43 (2024.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G05D 1/00 (2024.01); G05D 1/646 (2024.01)
CPC G05D 1/43 (2024.01) [G01C 21/3461 (2013.01); G01C 21/3652 (2013.01); G05D 1/0212 (2013.01); G05D 1/646 (2024.01)] 7 Claims
OG exemplary drawing
 
1. A method for controlling a robot that accompanies a user, the method comprising:
presetting, by an input from the user, a standard relative position where the robot is to be positioned relative to the user by default;
detecting, through at least one sensor included in the robot, a location and a movement direction of the user who is moving;
driving at least one pair of legs or wheels of the robot to cause the robot to accompany the user in the standard relative position;
specifying, through the at least one sensor, a type and a location of an object around the user while the robot is accompanying the user;
when detecting that a moving body as the object comes into an alert area within a predetermined distance from the user, (i) determining a guard position located between the user and the moving body as a new relative position where the robot is to be positioned relative to the user, and (ii) driving the at least one pair of legs or wheels of the robot to cause the robot to move from the standard relative position to the guard position; and
when detecting, via the at least one sensor, a voice or a gesture from the user indicating that guarding the user is unnecessary, driving the at least one pair of legs or wheels of the robot to cause the robot to return from the guard position to the standard relative position.