JP2000153478A - Robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily generate or change a program into complicated operation interconnected with plural part operations by constituting a middle operation routine as aggregation of routines for regulating operation with respective robot parts, and regulating a condition with respective part operations by an operation condition regulating command. SOLUTION: An upper operation program describes desired upper motion by selecting/arranging proper one from a preprepared middle operation command. A program generation screen is opened in a display unit 211, a upper operation command is inputted by using an input device 208, and a upper operation program name is imparted to the input content to be stored in upper operation program storage part of a storage device 207. A stored upper operation program is displayed on the program generation screen, and a upper operation command is added, eliminated and inserted on the basis of input from the input device 208 to correct/edit a program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a robot system.

[0002]

2. Description of the Related Art When various articulated robots, such as a robot that imitates a human motion, perform a predetermined operation, the driving amount of each actuator for driving the robot is conventionally determined by programming the operation. A method of individually setting the time series is adopted. In this case, in the operation of a certain robot, when the movements of a plurality of robot parts occur simultaneously or in cooperation, the drive amount of the actuator must be specified for each of the robot parts. For example, taking the action of "walking" as an example, this involves, in addition to the movement of both feet, the movement of swinging the arm and raising and lowering the shoulder, and a program of the operation of each part is individually assembled. And if you want to program a more complex higher-level action, such as "go one step forward and thank and go down and return to the original place"
The programming operation is performed by disassembling the higher-order operation into lower-order operations such as “go one step forward”, “grate”, and “one step down”.

In the above-described conventional method, since the drive amounts of a large number of actuators and the operation order of the actuators must be set for each robot part, it takes a long time to perform a programming operation, and efficiently creates a complicated program for a higher-order operation. It is hard to say that it is suitable for. Further, when it is desired to change the contents of the higher-order operation, it is necessary to rewrite the program or data at the drive amount level of each actuator, and this operation takes time. That is, since it is not so easy to change the contents of the operation of the robot, there is a difficulty in lacking flexibility in various operations of the robot.

To solve this problem, Japanese Patent Laid-Open Publication No.
Japanese Patent Application Publication No. 314524 proposes a control method using the following hierarchical control program. In this control program, lower-level operation data is formed in units of drive data relating to driving of actuators provided in a plurality of robot parts, and a plurality of lower-level operation data are integrated to define a basic operation routine of the robot. To build. In addition, a middle-level operation command is made to correspond to each of the middle-level operation routines, and a higher-level operation program is defined by a combination of the middle-level operation commands. Then, while reading the higher-order operation program in units of the above-mentioned middle-level operation commands, the driving of each actuator is controlled based on a combination of the middle-level operation routines corresponding to the read-out middle-level operation commands.

[0005]

In the above method, when it is desired to increase the number of intermediate operation routines that define the basic operation of the robot, the intermediate operation routine to be newly added is replaced by a lower one each time. It must be created back to the unit of motion data. Since the work of creating this medium-level operation routine can be performed only at the lower-level operation data level that is difficult to intuitively understand, it requires specialized knowledge and a high degree of skill in programming work, and it is difficult for ordinary users. Is extremely difficult to handle. In particular, in the case of a composite operation in which different part operations are linked to each other, setting operation conditions such as timing is particularly troublesome.
In this case, not only is programming time consuming, but it is also not easy to grasp
The realization of the intended robot operation involves even more difficulties. Therefore, it is good that simple programming is realized by using the middle operation command. However, in view of the above circumstances, a person other than an expert can step up the frame of the middle operation command (basic operation) prepared in advance by one step. There is a disadvantage that it cannot be exceeded, and the flexibility is poor.

An object of the present invention is to make it easy to create or change a program even when a robot performs a complicated operation in which a plurality of parts are linked, and to realize the intended robot operation as desired. It is to provide a robot system which can be used.

[0007]

Means for Solving the Problems and Action / Effects To solve the above problems, a robot system of the present invention grasps a higher-order robot operation as a combination of several basic operations, and controls each robot required for the basic operation. A part operation program module (hereinafter, referred to as a part operation module) that defines an operation of a part (hereinafter, also simply referred to as a part) is formed in units of drive data relating to driving of an actuator provided in the robot part, and the part operation is performed. As a hierarchical program in which a middle-level operation routine that defines a basic operation is formed by combining a plurality of modules, and a higher-level operation program that defines a higher-order robot operation is formed by a combination of the middle-level operation routines.
A robot operation program is described, a medium operation routine storage unit that stores a medium operation routine, and a medium operation command associated with each medium operation routine,
A higher-order operation program storage unit that stores a higher-order operation program defined by a combination of these middle-order operation commands; and a program reading unit that reads the higher-order operation program stored in the higher-order operation program storage unit in units of a middle-order operation command. And, based on a combination of the middle operation routine corresponding to each read middle operation command, based on the combination of the actuator operation control unit that controls the drive of the actuator, the part operation module constituting the middle operation routine An operation condition definition command including an operation start timing definition command that defines an operation start timing of a corresponding part operation is included.The actuator operation control unit performs the basic operation or the operation according to the operation condition defined by the operation condition definition command. Controls driving of actuators related to part movement And wherein the door.

In this robot system, the middle-level operation routine is configured as a routine for defining the operation of each robot part, that is, a collection of part operation modules, and furthermore, a condition definition command is used to define conditions for each part operation. To do. Since this operation condition defining command includes an operation start timing defining command that defines the operation start timing of the basic operation or the part operation, when a plurality of part operations are simultaneously and cooperatively combined,
By defining the start timing for each operation by the operation start timing defining command, the operation of a certain part can be started later than the other parts, or the operation of a specific part can be started after the completion of a certain operation, and Makes it possible to easily specify complicated operations such as starting operations of specific parts at the same time.

As a result, the task of creating the middle-level operation routine can be intuitively grasped easily, so that even a general user who does not have specialized knowledge and a high level of skill in programming can easily handle the task. Can be done, and the range of programming can be expanded. On the other hand, since the middle-level operation routine is configured in units of operation modules for each part, we want to change only the operation of a specific part to another operation,
Or even if there is a request to not perform the operation of the part, or to add a new part operation,
It can be easily dealt with by replacing, deleting and adding the part operation module. In any case, even when making the robot perform complex movements combining multiple part movements, it is extremely easy to create or change the program, and it is easy to see the program and understand the entire program. It can be realized as desired.

[0010] The operation start timing defining command may give an operation start timing based on a time elapsed from a predetermined time origin. In this case, the operation timing can be easily defined by grasping the time by, for example, timer measurement.

In the above-mentioned robot system, the robot is configured such that at least a part of the plurality of robot parts has a skeleton having a plurality of skeleton units and an actuator disposed between the skeleton units. it can. In this case, at least a part of the plurality of part operation modules is a driving data creation device having the following requirements, that is, a series of model images in which the operation of the model corresponding to the robot operation is recorded over time. Image display means for displaying an image of a skeleton, skeleton positioning means for aligning the skeleton image with respect to the model image on the display means, and skeletons which are respectively aligned with the model images preceding and succeeding each other on the time axis A teaching operation created by editing drive data created in units of frame-by-frame operation for each part of the robot by a drive data creation device including data calculation means for calculating drive data based on the displacement of the image. It can be a routine part.

According to this method, for example, a certain basic operation is actually performed by a human model, and this is recorded as a series of images in frame units, and a skeleton image of the robot is aligned with each image. Accordingly, the skeleton image is positioned with respect to the model image at each specific time of the model operation that changes over time, and drive data is calculated based on the skeleton displacement between adjacent images. In other words,
Intuitive drive data generation is possible with the image of directly teaching the movement of the model to the robot. Therefore, lower operation data for each part included in the intermediate operation can be collectively obtained, and if the intermediate operation command is added and stored in the storage unit, it can be used as it is as the intermediate operation routine. Become. The operation for creating the drive data is mainly performed by the operation of aligning the skeleton image with the model image on the screen of the image display means, so that the contents are easy to understand. Since there is no need to set the drive amount one by one,
A large amount of drive data required for creating a higher-level operation program can be obtained rationally and easily.

In this case, an operation start timing defining command is used as a reference, based on the operation of a part defined by the teaching operation routine, and the start time of the part operation,
The operation start timing can be given based on either the end time or the specific frame position passing time. This is convenient when it is desired to set the timing based on the operation of a specific part. In particular, since the setting of the linked operation timing between the parts becomes easy, the programming of a complicated operation can be performed more easily.

Next, when a teaching operation routine is created by the above-described drive data creation device, for example, there is a robot part where it is difficult or impossible to calculate drive data from a skeleton image aligned with a model image. There are cases (for example, movement of a wrist, finger, eyes, mouth, etc., lighting of a lamp, etc.). The robot part (non-teaching part) in which the driving data creation device does not create the teaching operation routine part due to the above factors in the middle-level operation routine.
When the part operation module is included, the positioning instruction routine portion of the non-teaching part corresponding to the part operation module can be incorporated in the program.
Further, a non-taught portion drive data generating means for generating drive data of the actuator of the corresponding non-taught portion based on the contents of the positioning command routine can be provided.

In the above configuration, when the operation of the non-taught portion where data cannot be created by the drive data creating device is incorporated, the drive data of the actuator of the corresponding non-taught portion is stored in the program based on the contents of the positioning instruction routine. It will be automatically generated during execution. As a result, it is not necessary to prepare drive data for various non-taught parts in advance, and the incorporation of the part operation of the non-taught parts becomes very simple, so that the trouble of programming can be saved. In this case, the positioning instruction routine
The information may include positioning information for designating at least one of the movement start position, the movement end position, and the movement speed of the corresponding non-teaching region. For example, when the non-teaching part moves only between two predetermined positions with respect to a specific part of the robot, such as rotation of an eye, opening and closing of a mouth, and insertion and removal of a tongue, or only a simple rotational movement. In a case where the driving data is not performed, the drive data can be generated without any problem using such simple positioning information.

An operation start timing setting means is provided for setting the operation start timing of a corresponding basic operation or a part operation to a predetermined default start time when no operation start timing defining command is given. be able to. For example, in the above-described combination-type middle operation routine or the like, when it is desired to start operations of several parts at the same time at the default start time (for example, the start of program execution), the above-described means is particularly provided. Since the intended operation is performed without specifying the timing for those parts, the program can be simplified.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the overall configuration of a robot system 200 according to an embodiment of the present invention.
01, a robot control unit 202, and a drive data creation device 1, which are respectively a communication interface 2
03 and 152 via a communication line 150.

The robot control unit 202 includes a CPU 204, a RAM 205 and a ROM 206 connected thereto, a storage device 207 including a hard disk device, an input device 208 such as a keyboard, a display control unit 210, and the like.
The display control unit 210 includes a display device 21 such as a CRT.
1 is connected, and a communication interface 203 is connected to the CPU 204.

The storage device 207 functions as a standard operation routine storage unit, a middle operation routine storage unit, and a part operation module storage unit. Also, the CPU 204
It functions as a program reading unit, a program expanding unit, and a non-taught area driving data generating unit. Furthermore, RAM2
Reference numeral 05 functions as a work area of the CPU 204 and a development storage unit.

The robot 201 is configured as, for example, a robot that mimics the movement of a human, and includes a skeleton 19 in which skeleton units 20 to 30 are connected to each other by joint mechanisms 31 to 37 as shown in FIG. This skeleton is composed of, for example, the following robot parts (hereinafter, parts A, B, C,...)
Etc.). -Head (20): Equipped with eyes 20a and mouth 20c. As shown in FIG. 3, the opening 20c can be opened and closed by an actuator (not shown). In addition, mouth 2
A tongue 20d is provided inside 0c so that it can be moved in and out by an actuator (not shown). As shown in FIG. 4, the eye part 20a is provided so as to be rotatable left and right by an actuator (not shown). An eyelid portion 20e that covers or opens the eye portion 20a is provided so as to be drivable by an actuator (not shown).
Further, a speaker 192 (sound output unit) shown in FIG. 1 is also built in, and can output a voice such as a voice synthesized by the voice synthesis unit 191 according to a command from the CPU 204. In this specification, the audio output unit is also regarded as one of the parts, and the audio output thereby is also regarded as one of the operations. -Torso: includes shoulder 21, spine 22, and hip 23. Left and right arms: provided with a humerus 24, a lower humerus 25, and a hand 29, respectively. Each finger of the hand portion 29 can be bent and stretched independently to be driven, so that various hand shapes such as “Goo”, “Joki”, and “Par” of Janken can be made. . Left and right legs: provided with upper limb bone 26, lower limb bone 27, and foot 30, respectively.

Then, as shown in FIG.
Is provided with a calculation / drive control unit (calculation / drive control means) 212 corresponding to each of the above-mentioned parts (in the drawings, simply represented by A, B, C, etc.), and a robot control unit. 202 are connected to the CPU 204.
An actuator 213 included in each part is connected to the calculation / drive control unit 212. The types of actuators (pulse motors, servomotors, piston cylinders, etc.) and the number of shafts, the degree of freedom of shaft rotation, and the range of shaft rotation or piston sliding provided in each of the joint mechanisms 31 to 37 in FIG. Are set individually for each skeleton unit.

Next, as shown in FIG. 5, the storage device 207 of the robot control unit 202 (FIG. 1) stores a higher-order operation program storage unit 300, a middle-order operation routine storage unit 302, a part operation module storage unit 304, Medium-level operation command analysis program storage unit 306, non-taught portion drive data generation program storage unit 308, system program storage unit 31
2 are formed, and each store a corresponding program or routine (or data).

The operation of each program is as follows. (1) Upper-level operation program: A desired higher-level operation is described by selecting and arranging an appropriate command from among middle-level operation commands prepared in advance. For example, if the robot 201 wants to perform a series of high-order actions such as "turn right, walk four steps, turn right, take one and a half steps, and take a karate chop pose", this is called "turn right". "Right leg half step",
It is grasped as a combination of several basic motions such as “one step of the left leg”. In the higher-level operation program, the operation command statements 300a each including a middle-level operation command that defines a basic operation constituting the higher-level operation are arranged in a predetermined order reflecting the execution order, for example, the execution order. . In the present embodiment, the middle-level operation command included in the operation statement is described in a form including the definition name of the basic operation.

(2) Intermediate operation routine: Combination of module names (operation specifying information) PM11, PM12} of a part operation program module (part operation module) that defines the operation of each robot part required for the corresponding basic operation Are stored in association with the definition names 1, 2, 3,. (3) Part operation module: As shown in FIG. 6, the module includes drive data groups of actuators included in parts A, B, C,... Of the robot 201 in FIG. Information) 1, 2, {} and module names (operation specifying information) PM11, PM12}. Each drive data includes displacement data of both ends of the skeleton unit driven by each actuator at each time, but may be angle data between skeleton units. On the other hand, the drive data may be a drive amount of each actuator for each time.

(4) Medium-level operation command analysis program:
The higher-level operation program is read in units of the medium-level operation command, and the corresponding medium-level operation routine is sequentially activated. (5) System program: Provides an operating environment of the upper operation program on the CPU 204 and an environment for rewriting or newly creating the upper operation program. Specifically, a program creation screen is opened on the display device 211 (FIG. 1), and the higher-level operation command is input using the input device 208 in FIG.
8 (described later), a name of a higher-level operation program is given to the input content, and stored in the higher-level operation program storage unit 300 of the storage device 207. Also, the stored higher-level operation program is displayed on a program creation screen, and upper-level operation commands are added, deleted, inserted, and the like based on an input from the input device 208, and the program is corrected and edited. On the other hand, this system program also performs a process of expanding a later-described standard-change-type middle operation routine or a complex-type middle operation routine into a part operation module. Note that these types of middle-level operation routines are stored in the higher-level operation program storage unit 300 in the form of a definition routine 300b and incorporated in the higher-level operation program. That is, a part of the storage unit 300 also functions as a middle operation routine storage unit. (6) Non-taught area drive data generation program: described later.

On the other hand, as shown in FIG. 7, in the RAM 205, a higher-order operation program storage section 205a, a middle-level operation command analysis program storage section 205b, a middle-level operation routine storage section (I) 205c, and a middle-level operation routine storage section (I
I) 205d and the like are formed and store the corresponding programs, data, etc. read from the storage device 207, respectively. The storage units 205c and 205d
Is loaded with each part operation module included in the middle operation routine related to execution (for the standard modified middle operation routine or the complex middle operation routine, the part operation module is stored in the middle operation routine development memory area 205g). It is loaded after being expanded into the form of operation module). The reason why two (or three or more) intermediate operation routine storage sections are provided for (I) and (II) is that the intermediate operation routine to be executed next is read in advance and stored. Storage device 2 when the robot 201 moves to the next operation.
This is to reduce the delay of the response based on the data reading from 07.

As shown in FIG. 8, the calculation / drive control unit 212 includes a CPU 214, a RAM 215, and an R
The ROM 216 stores a drive amount calculation program 216a. Then, the calculation / drive control unit 212 drives the drive data DA1, DA received from the robot control unit 202 with the execution of the middle operation routine.
, Etc., the drive amount of each actuator 213 (FIG. 1) connected to the CPU 214 is calculated in chronological order, and based on the calculation result, each actuator 213
Drive. The calculation method will be described later.

FIG. 9 is a block diagram showing an example of the configuration of the drive data creation device 1. The drive data creation device 1 includes a CPU 2, a ROM 3, and a RAM that constitute drive data calculation means.
And an image capture control unit 6, a display control unit 7, an input device interface 8, a program storage device 9 storing a control program for controlling the entire device, and a drive data storage device 10. , A moving image data storage device 11. The input device interface 8 includes a mouse 12 and a keyboard 1 as skeleton positioning means having a click button 12a (input unit).
3 are connected. The display controller 7 is connected to a CRT 14 as image display means. On the other hand, the image capture control unit 6 is connected to a video playback device (VTR) 15 and has a VRAM 16 and a data transfer processor 17.
And the image display data stored in the VRAM 16 can be directly transferred to the display control unit 7 via the bus 18.

Next, the skeleton 1 of the robot 201 shown in FIG.
Some of the skeletal units forming 9 form a set, and a predetermined constraint condition is set for the relative positional relationship between the skeletal units included in the set. For example, taking the skeletal unit constituting both legs as an example, as shown in FIG. 10, the lower limb bone 27 moves only in a plane P formed by a straight line along the upper limb bone 26 and a straight line perpendicular to the hip bone 23. The constraint conditions are set (note that the joint mechanisms 35 and 36 (FIG. 2) are not shown in FIG. 10).
Therefore, if the upper end position of the upper limb bone 26 and the lower end position of the lower limb bone 27 are designated, the position of the connection point (portion corresponding to the knee) between them is automatically determined according to the above-described constraint condition.

Next, the operation of the robot system 1 of this embodiment will be described in detail. When a higher-level operation program name is designated and activated by the input device 208 or the like in FIG.
As shown in the flowchart of FIG. 5, the first middle operation command of the upper operation program is read in M1, and M1 is read.
In step 2, the corresponding middle-level operation routine is stored in the middle-level operation routine storage (I) 205c of the RAM 205. next,
A signal is issued to the stored middle-level operation routine to activate it (M3). Further, during execution of the middle operation routine, the next middle operation command is read in M4,
In M5, the corresponding middle-level operation routine is stored in the vacant middle-level operation routine storage unit (in this case, the storage unit (I
I)). Further, if a middle-level processing completion signal has been transmitted from the middle-level operation routine (storage section (I) side) that is being started and executed in M6, the storage section (II) 20
A start signal is transmitted to the middle-level operation routine stored in 5d (M7). If the next middle operation command is present in M8, the process returns to M4, the next command is read, and the corresponding middle operation routine is stored in an empty storage unit (in this case, the storage unit (I)). Thereafter, by repeating the same processing, the higher-level operation program is executed in units of middle-level operation commands. If the next middle operation command does not exist or is the end command, the process ends (M9).

Next, regarding the processing on the middle-level operation routine side, as shown in the flowchart of FIG. 12, upon receiving a start signal from the higher-level operation program side, drive data of the actuator of each part is read (B1). , B
2) The drive data described as displacement data for each time of the actuator is calculated by the calculation / drive control unit 21 of each part.
2 are transmitted in chronological order (B3). Then, on the calculation / drive control unit 212 side, the drive amount calculation program 216a
Based on (FIG. 8), the drive amount of each actuator is calculated based on the displacement data, and the actuators are driven based on the calculation result.

As a method of calculating the driving amount, for example,
A method based on the following principle can be adopted. First, in the skeleton 19 shown in FIG. 2, an index is given to both end positions of each skeleton unit, for example, as shown in FIG. 13 (W1). -Head 20: H, f1. -Shoulder 21: A1, H and H, A2. -Spine 22: G and H. Here, G is used as a reference position when calculating the drive amount of the actuator from the displacement of each skeleton unit. -Hip 23: L1 and L2. G is positioned at the midpoint of the line connecting L1 and L2. Humerus 24, lower humerus 25: A1, Ae1, Ah1 and A2, Ae2, Ah2. Upper limb bone 26, lower limb bone 27: L1, Lk1, Lf1 and L2, Lk2, Lf2. Then, the displacement data is calculated as the displacement at both ends of each skeleton unit.

For example, for the left leg in FIG.
As schematically shown in FIG. 14A, when the position of the point G is unchanged and the positions of L1 and Lk1 at a certain time T1 move to L1 ′ and Lk1 ′ at the next time T2, a line segment G
Rotational movement is performed on L1 and the line segment L1Lk1, and the line segment GL1 is superimposed on the line segment GL1 'as shown in FIG.
Then, by calculating the angle θ between the line segment L1Lk1 at the time T1 and the line segment L1′Lk1 ′ at the time T2 from the spatial coordinates of each point after the rotational movement, both skeleton units (that is, the upper arm portion 26) are calculated. And the rotation angle of each axis of the actuator disposed between the lower leg 27). By sequentially performing the processing for obtaining the rotational movement of the skeleton unit and the rotation angle of the second skeleton unit in the direction toward the end of the skeleton, the drive amount of the actuator included in each joint mechanism is sequentially calculated. Becomes In the above explanation,
The actuator is configured by a motor, and the first and second skeleton units perform only relative rotational movement by rotation of the motor shaft.However, when a piston rod or the like is used as an actuator, the In some cases, relative translation between the skeletal units is performed by expansion and contraction of the piston. In such a case, in addition to the rotation angle of the second skeleton unit,
The translation distance is also calculated.

In this way, the drive amount of the actuator is calculated, and when a series of drive of the actuator based on the drive data of the middle operation routine is completed, the drive amount calculation program 216a outputs a lower processing completion signal to the middle operation routine. Sent to the routine side. On the middle operation routine side,
In response to this in B4 of FIG. 12, a middle-level processing completion signal is transmitted to the higher-level operation program (B5). When the drive amount of the actuator itself is transmitted as drive data, the above-described calculation processing on the calculation / drive control unit side becomes unnecessary.

FIG. 15 shows a robot 2 based on the above flow.
13 shows a specific execution example of the higher-order operation of No. 01. That is, the high-order operation of “walking four steps” is described in FIGS.
As shown in the figure, "Right leg half step" (definition name "WALK
2 ")," one step left leg "(definition name" WALK3 "),
The program includes four basic operations, “one step on the right leg” (definition name “WALK4”) and “half step on the left leg” (definition name “WALK5”). It is formed using an operation command sentence using a command (including the corresponding definition name). For example, the part motions constituting the basic motion of the first “right leg half step” are “half stepping” and “down front” for the respective parts of the right leg and the left arm, and the corresponding part The drive data of the related actuator included in the operation module is transmitted to the calculation / drive control unit 212 in chronological order (transmission control is performed by the above-described system program). The calculation / drive control unit 212 calculates the drive amount based on the transmitted drive data, drives the corresponding actuator, and shifts to the execution of the next middle operation command content “left leg one step”. .

The following is a more detailed description with reference to specific program examples. FIG. 18 shows that "turn right and walk four steps,
This is an example of a program for performing a high-order operation such as "turn right, take a step and a half, and take a karate chop pose." As described above, the program is composed of the operation instruction routine and the definition routine.

In this embodiment, the operation instruction routine is obtained by arranging one or a plurality of operation instruction statements in the order of execution. In an operation instruction statement, it is determined that the operation instruction routine is an intermediate operation routine of a defined basic operation. The command shown is “motion
n "command, and the motion <do: =""definitionname"> defines a middle operation command for instructing execution of the middle operation routine indicated by the definition name. Then, the operation command statements by such a middle-level operation command are arranged in the execution order (note that each statement is not given a line number,
The execution order may be specified by giving a line number.) Note that the definition name of the basic operation in each middle-level operation command is shown in parentheses at the end of each sentence.

Here, among the middle-level operation routines, for the combination-type middle-level operation routine or the standard-change-type middle-level operation routine, the definition name of the corresponding format is adopted. Is prefixed with specific character information, for example, "@", to distinguish it from other types of middle-level operation routines. And
With respect to the middle-level operation routine having such a definition name, a definition routine for defining the contents of the middle-level operation routine is written in the program (if it is not written, an error is determined). Note that the definition name of the basic operation is identified in a predetermined display format (in this embodiment, a format surrounding the definition name with quotes ("")) so as to identify that it is the definition name of the basic operation. I have.

In this embodiment, a basic operation (definition name "@K
ARATE ”) is set as a standard modified middle action routine that uses the basic motion (defined name“ WALK2 ”) of the basic motion of simple walking“ definition of the right leg half step ”as a standard motion. FIG.
Shows an example of the definition routine. First, "joint motion to $ KARATE" at the beginning of the definition routine is a statement for defining the type and definition name of the middle-level operation routine, and "jointmotion to" is a standard-change-type middle-level operation routine (combination). The same applies to the case of the mold middle operation routine). Next, “base <do: =“ WALK2 ”>” on the second line is a statement instructing that a middle-level operation routine having a defined name of “WALK2” be selected as a standard operation routine.

Next, item RIGHTARM <do: = CHOP> in the third line is an operation command sentence for instructing a part operation to cause the right arm of the robot to perform karate chop. "Item ○
"OO" is the part specifying information, and has a meaning of "designate OO as the part". And "item RIG
The right arm for performing karate chop is designated as an operation part by “HTARM”. Also, “<do: = CHOP
“>” Is operation identification information, and “module name“ CHO ”
P means to perform the part operation specified by "P". In this embodiment, the module name of the part operation is not quoted so that it can be distinguished from the definition name of the middle operation routine. Note that the last line "EN
"D" indicates the end of the definition routine.

The processing flow of the system program when executing the higher-level operation program including such a definition routine is as follows. First, the program of FIG. 18 is read from the storage unit 300 of the storage device 207 of FIG. 5, and loaded into the storage unit 205a of the RAM 205 of FIG. The program is read out in units of lines (that is, middle operation commands). If this is a normal middle operation command (definition name without "@" at the beginning), the corresponding medium operation command is read. The position operation routine is read from the middle operation routine storage unit 302 in FIG. Then, by referring to the module name included in this, the corresponding part operation module is read from the part operation module storage unit 304 in FIG. 6 and loaded into the middle-level operation routine storage unit (I) 205c of the RAM 205. In the loaded middle-level operation routine, the drive data of the actuators of the respective part operation modules included in the loaded middle-level operation routine is transmitted to the corresponding part calculation / drive control unit 212 (FIG. 1), and the actuators of the respective parts are driven. The basic operation is performed. During this execution process, the same process is executed for the next program line, and the middle operation routine is loaded into the middle operation routine storage unit (II) 205d (FIG. 7).

Here, if the middle-level operation command specifies a standard-change-type middle-level operation routine (that is, a command in which "@" is added to the head of the definition name), it corresponds. The definition routine is read, and the process proceeds to the following expansion processing. First, “base <do: =“ WALK2 ”
In the case of ">", the middle operation routine corresponding to the definition name (in this case, "WALK2") subsequent to the recognition of the "base" command is read as the standard operation routine, and this is read as the middle operation routine expanded memory area in FIG. 205 g. Then, item RIGHTARM <d
In o: = CHOP>, the site specifying information (item
By recognizing (RIGHTARM), it is checked whether or not an operation of the same part exists in the standard operation routine. If it exists, the operation specifying information (<do:
= CHOP>) is replaced with the module of the corresponding part in the standard operation routine stored in the expanded memory area 205g. In this case, “WALK2” is a walking motion of “right leg half step”, and the motion of swinging the right arm is included as a part motion, and this is replaced with the right arm motion of the karate chop.

Although not shown in the example of the definition routine, the following processing is performed by using the operation instruction statement shown in FIG. First, "FAULT" (ie, <
If do: = FAULT>) is described, the standard operation routine in the expanded memory area 205g performs a process of deleting the module of the corresponding part (that is, the operation of the part is prohibited). . If an operation of a part that does not exist in the standard operation routine is specified, a corresponding part operation module is added to the standard operation routine. In the operation statement shown in the figure, item RIGHWRIST <do: = turn
>, But this is the right wrist (RIGHTWRIS
FIG. 14 shows a part operation of turning a T).

Further, in the operation command for designating replacement or addition of a part operation, an operation specification utilizing a middle operation routine is possible in addition to the operation specification by the module name of the part operation module. In this case, the middle-level operation routine is specified by the definition name, and the part is specified by the part name. As a result, the module of the designated part of the middle operation routine is replaced or added to the standard operation routine in the expanded memory area 205g. In the operation statement shown in the figure, item RIGHTARM <do: = “WALK
3 ″>, which indicates that only the swing motion of the right arm of the basic motion “one step before the left leg” is incorporated.

As described above, when the execution of all the operation statements in the definition routine is completed, the expanded memory area 205g
In the figure, a standard operation routine in which module replacement, addition, and deletion processing has been completed, that is, an expanded standard change type middle operation routine is stored. Note that if the expansion processing such as module replacement is performed using only the module name, it is not necessary to read out the module from the storage unit 304 in FIG. 6 each time, so that high-speed processing can be performed. In this case, after the expansion processing is completed, the corresponding module is read from the storage unit 304 with reference to the module name in the expansion memory area 205g, and is stored in the middle-level operation routine storage unit 205c or 205d. .

By the way, in the high-order operation shown in the program of FIG. 18, the user turns right and walks four steps.
This four-step walking routine can be integrated as a superimposition-type middle operation routine described below. An example is shown in FIG. The difference between this program and the program in FIG. 18 is that a group of operation instruction statements in 2 to 5 lines corresponding to a portion describing the “walk four steps” operation in FIG. ＠ xxxx1 ">, and its definition name" ＠＠ xxx "
X1 ”is added. That is, a superimposition-type middle motion in which a motion of“ walk four steps ”is superimposed on four walking motions that do not overlap in time series is performed. Routine (definition name "@ xxxx1")
It is organized as. In this embodiment, by adding specific character information, for example, "@" to the head of the definition name, the superposition type routine is distinguished from the middle-level operation routine of another format.

FIG. 22 shows an example of the definition routine. First, at the top of the definition routine, "pileup motion to @xxxx"
“1” is a sentence for defining the type and definition name of the middle operation routine, and “pileup motion to” indicates that it is a superposition type middle operation routine.
Thereafter, the definition routine is closed by arranging the commands of the basic operations to be superimposed in the order of execution and adding “end” to the last line. In this embodiment, a command for repeatedly executing a specific basic operation sequence is prepared. In this embodiment, “repeat while
e ○ ”‥‥“ end ”corresponds to this, and means that the operation sequence sandwiched between them is repeated“ ○ ”times. In FIG. 22, the program describes the contents of walking continuously for four steps by repeating the operation of alternately performing “one step of the left leg” and “one step of the right leg” twice.

Next, a description will be given of an example of a program of the combination type middle operation routine and the flow of the processing. The combination-type middle operation routine is executed in a state in which the basic operation and / or the part operation related to the middle operation routine and / or the part operation module to be combined have at least partially overlapped in time series. Refers to the upper middle-level operation. An example will be described with reference to FIG. Here, a Janken operation of the robot is taken as an example.

For example, consider an operation of putting out a par while uttering “Jankenpon”. This can be decomposed into the following part operations. First,
As in (1), with the right hand in the “Goo” state, the right arm is swung up, and “Jean” is pronounced during the swing. In addition, the operation of opening and closing the mouth for a short time in accordance with the pronunciation (hereinafter, referred to as a mouth pacing operation) is performed once. Then
In (2), the raised right arm is stopped and pronounced "ken". In (3), while the right arm is swinging down, the right hand maintains the state of “Goo” halfway, and (4)
Then, while the right hand is in the "par" state, the sound of "pon" is pronounced, and the lowering of the right arm is completed. In this example, in (5), an operation is added in which the robot opens the mouth and squeezes the tongue after the arm has been lowered.

In the above operation, the right arm, the right hand, the mouth, the tongue, and the voice perform the linked operation at appropriate timing. FIG. 24 shows an example of the operation timing. Arrows in the figure represent operation continuation periods. In this example, the right arm swings up, stops, and swings down in one second, and the mouth is closed and the right hand is goo by default. In addition, the right arm swing-up operation is incorporated into a basic operation involving a part movement such as a back and forth movement of a waist, a vertical movement of a shoulder, or a movement of a head in order to show an exaggerated gesture of a robot. For example, 10 frames (frame feed speed:
(0.1 second / frame). The definition name of the middle-level operation routine is “RLIFTUP”. On the other hand, the lowering of the right arm is also incorporated in the basic operation, and the definition name of the middle operation routine is “RSHAKED
N ”. Then,“ Jean ”is uttered in the middle of the right arm swing cycle, and“ Ken ”is uttered in the middle of the right arm stationary cycle. When lowering the right arm, the right hand is started from the seventh frame. Shift to “Par” and simultaneously utter “Pong”. Then, at the same time that the lowering of the right arm is completed, the tongue is pulled out.

FIG. 25 is an example of a routine for defining a combination-type middle-level operation routine that defines the above operation. First, at the top of the definition routine, "joint motion", which is the same as in the standard change type middle operation routine, is described.
to @JANKEN ". Subsequent (a) ~
(L) is an operation command sentence group for designating a part operation or a basic operation to be combined, and instructs each of the operations (a) to (l) in the timing chart of FIG. Among them, (a) to (e) correspond to (1) in FIG.
In the operation process of (f) and (g), in the operation process of (2),
(H) corresponds to the operation process of (3), (i) to (k) correspond to the operation process of 4, and (l) corresponds to the operation process of (5).

In the combination type middle operation routine,
For example, the execution start time of the intermediate operation routine is set as the time origin, and unless the execution start timing is specified by a command described later, the time origin is used as the default start time, and each part operation or the incorporated basic operation is performed. Simultaneous start starts (time measurement is performed by the timer 190 in FIG. 1). That is, (a)
Since (c) does not specify the start timing, the right arm swinging operation ((a)),
The execution of the "goo" operation ((b)) of the right hand and the closing operation of the mouth are simultaneously started. In addition, "RIGHTFINGE
“R” is the right hand (finger), “MOUTH” is site designation information representing each portion of the mouth, <do: = 31> is finger bending for making “goo”, and <do: = close> is This is operation specification information for specifying the closing of the mouth.

The following (d) is an operation command sentence instructing the utterance of "Jean". In the present embodiment, a part name corresponding to the voice, that is, “VOICE” is specified, and the following <d
The content of the utterance is designated by directly writing the content of the utterance into characters (or character codes) in o: = “{”>. And the following <from: =
○> is one of the operation condition specifying commands, and is an operation start timing specifying command for specifying the operation start timing. <From: = timer △△>
“Timer measurement unit from time origin (0. 0 in this embodiment)
Start the operation after elapse of △△ times (1 second) ”. That is, the meaning of (d) as a whole is "speak" Jean "after 0.5 seconds have elapsed from the time origin (that is, from the start of raising the right arm)."

In (e), the mouth is selected as the part, and the operation of the mouth squeeze is specified by <do: = parrot>. The operation start timing is <fro
Since m: = timer 5>, the timing is the same as the above-mentioned “Jean” utterance timing. In addition, <til
l: (condition name)> is a command for defining an operation end condition, for example, <til: = repeatｒｅ>
Means that the operation is terminated if the part operation is repeated △ times. For example, <til: = repea
Due to t 1>, the palpitation is performed only once. If <til: = repeat Δ> is omitted, the default number of repetitions (for example, one) may be automatically specified. Thus,
According to the operation command statements (a) to (e), the operations (a) to (e) in the timing chart of FIG. 24 are executed in combination, and the operation of (1) in FIG. 23 is realized. .

Next, the operation when the arm is lowered will be described. First, the lowering of the right arm is started two seconds after the time origin, and the start timing is given by <from: = timer 20> in the corresponding operation instruction statement (h). As shown in FIG. 24, the time from the start to the end of swinging down the arm is 1 second in terms of time,
The number of frames is 10 frames. Then, in the seventh frame (2.7 seconds in terms of the time from the time origin), the “goo” operation, the “goo” utterance operation, and the lip-and-mouth operation of the right hand start all at once.

FIG. 25 (i) to FIG.
These are the three operation command statements (k). Here, the operation start timing is defined by the frame feed number of the right arm operation. <From: = item (part name) of the operation start timing defining command written in each operation command statement
The format [△]> indicates the content of “start the operation at the #th frame of the part operation specified by the item (part name)”. Therefore, <from: = item
RIGHTARM [7]> sets the start time of each operation at the seventh frame from the start of the lowering of the right arm.

The last operation is the operation of sticking out the tongue. The corresponding operation instruction in FIG. 25 is (l). The drive data as described above can be created by the drive data creation device 1. The item TONGUS specifies a tongue as a site name, and <do: = out> specifies an “out” operation. Then, the operation start timing defining command <from: = item RIGHTAR
M [back]> is the <from: = item described above.
Similarly to RIGHTARM [7]>, the part operation of the right arm is specified as a reference part for timing setting.
[Back] means "start the operation as soon as the operation of the part (right arm) is completed". Accordingly, the lowering of the right arm is completed, and the robot performs an operation of sticking out the tongue.

The main parts of the drive data of the robot as described above are taught and generated by the drive data generating apparatus 1 shown in FIG. 9, and each part operation module is also generated as a teaching operation routine based thereon. Hereinafter, the operation flow of the drive data creation device 1 will be described with reference to a flowchart. FIG. 26 shows a general flow of the entire processing. First, in the input processing of S1100, a skeleton image is superimposed on a model image to generate drive data (in other words, the operation of the robot 201 is described). Teaching). This processing is performed in units of the basic operation. Here, prior to the input, the basic operation is performed by a human model, and the model image 38 (FIGS. 16 and 17) is shot with a video camera at predetermined frame time intervals. And V in FIG.
The moving image reproduced by the TR 15 is captured as moving image data via the image capturing control unit 6 and stored in the moving image data storage device 11. Here, as shown in FIG. 35, the moving image data stored in the moving image data storage device 11 may be arranged such that when the model moves relatively complicatedly, the interval between the frames 80 becomes small. On the other hand, when the movement is relatively monotonous, the frames of the moving image are appropriately thinned out at the time of capturing moving image data or at the time of data editing after the capturing so that the interval between the frames 80 becomes coarse.

FIG. 27 is a flow chart showing the details of the input processing in S1100. First, a part which does not require calculation of drive data is set (S1101), and FIG.
Are displayed (S1102, S1103). Among them, the model image 38 is displayed in one window W1, and the skeleton image 39 is displayed in the other window W2. The skeleton image 39 is displayed as a simplified diagram of the robot skeleton 19 shown in FIG.

Returning to FIG. 27, in S1104, a model image 3 photographed with the model directly facing the video camera.
8 (FIG. 13) is performed to adjust the size of the skeleton image 39. Details of the processing are shown in FIGS. That is, in FIG. 13, the model image 38 of the facing pose is shown.
Is displayed in the window W1 and the skeleton image 39 is displayed in the window W2 (C101 to 103), and the length of each skeleton unit is matched with the corresponding portion of the model image (C104). Here, a standard dimension is set in advance for each skeleton unit of the skeleton image 39. FIG. 29 shows an example of the adjustment process.
As shown in the figure, first, the position of the reference point G is adjusted (C2
01) Then, end points of each skeleton unit are sequentially adjusted so as to gradually move away from the reference point G.

Here, an input method for aligning the end point of the skeleton image 39 with the model image 38 is shown in FIG.
As shown in FIG. 3, each end point is displayed as a mark on the window W2, and the mouse 1 is displayed on the window W1.
Pointer 40 that moves on the screen in accordance with the movement of 2 (FIG. 9)
Is displayed. The alignment of the mark points is performed in a preset order in the direction starting from the point G and gradually toward the end of the skeleton, and the next alignment is performed on the skeleton image 39 displayed in the window W2. The end point at which the embedding is to be performed flashes to indicate this.
Then, the pointer 40 is moved to the position to be designated on the model image 38 on the window W1 and the click button of the mouse 12 is operated, so that the end point blinking and displayed on the window W2 is overlaid on the model image 38. The position is determined, and the length of each skeleton unit is sequentially calculated based on the determined position of the end point (C
202-C209). Further, the skeleton unit whose length is determined is sequentially drawn on the model image 38 of the window W1.

Here, the model image 3 in the facing pose
8 is substantially bilaterally symmetric, the respective end points of the humerus 24 and the lower humerus 25, and the upper limb bone 26 and the lower limb bone 27 (FIG. 2) can be determined if one of the right and left ends is positioned. Is also performed so that the position is automatically determined. Also, the dimensions of the head 20 (the distance between H and f1, FIG.
3) is to compare the standard size of the skeleton unit other than the head 20 with the calculated size, and is determined based on the size ratio and the standard size of the head 20 (C210). Note that a process may be performed in which a skeleton image having a standard size set in advance in the window W1 is displayed together with the model image 38, and the endpoints of each skeleton unit of the skeleton image are matched with the model image 38 on the window W1. In this case, the window W2 can be omitted. Next, returning to FIG. 28, the skeleton image 3 of the directly-facing pose is adjusted to the calculated size of the skeleton unit.
9 is redrawn in the window W1 (C105).
It proceeds to S1105 of No. 7. Here, for the skeleton image 39 corresponding to the facing pose, the drive position of each actuator is set in advance as reference data, and the set contents are stored in a reference data storage unit created in the program storage device 9. Is stored.

Subsequently, in steps S1105 to S1109, by designating the frame number of the moving image to be aligned with the skeleton image 39, the model image data of the frame is fetched, and the skeleton image alignment processing (skeleton image input) Move to). FIG. 30 and FIG. 31 are flowcharts showing details of the contents of the positioning process (S1109). That is, as shown in C301 to C305 in FIG. 30, the positions of the respective end points of the skeleton image 39 are aligned with the model image 38 in a direction starting from the point G and gradually moving away from the captured frame model image 38. . An example of the input is shown in FIG. 36. The procedure is almost the same as that of the above-described dimension matching processing. The mouse 12 is used to specify the position of the end point blinking and displayed on the window W2 in the window W1. , The position of the model image 38 is input. Also in this case, the skeletal image 39 is sequentially drawn on the model image 38 on the window W1 from the position where the alignment is completed. Here, input processing is performed individually for the left and right legs and arms, unlike the above-described dimension matching processing. Note that the position input is skipped for the unnecessary part set in S1101 (FIG. 27).

FIG. 31 shows, by way of example, the flow of the positioning process of the parts corresponding to the two legs. For each of the right leg and the left leg, the upper end point L1 (L
After the alignment of 2), the lower end point Lf of the lower limb bone 27
1 (Lf2) is performed (C401 to C403). Here, if L1 (L2) and Lf1 (Lf2) are designated by the constraint conditions shown in FIG. 10, no input is made because the position of Lk1 (Lk2) corresponding to the knee is automatically determined. In this way, the coordinates of each end point on the screen are calculated, and the three-dimensional coordinates of the end point in the actual space are calculated based on the screen coordinates and the standard body size data of each skeleton unit stored in advance. .

Next, returning to FIG. 27, the process proceeds to S1110,
In the above-described alignment processing, auxiliary input processing of the spatial positions of skeleton units or parts for which it is difficult or impossible to generate drive data is performed by using the mouse 12 or the keyboard 13. In this input processing, a window different from the above-described alignment processing is opened, an image of the corresponding skeleton unit or site is displayed on the window, and various processing commands (for example, skeleton unit) prepared in advance for position setting are set. Mouse translation or rotation)
While selecting / executing by the input from the keyboard 2 or the keyboard 13, the input is individually performed for each skeleton unit or each site.

The input processing for one frame is completed as described above. However, when the processing moves to the next frame, the frame number is updated, and the skeleton image 39 and the model image 38 of the immediately preceding frame are redrawn (S1111). ~ S1113), S1
Returning to step 107, the processing is repeated. On the other hand, when the input operation to the frame is completed (S1114 to S1116), the windows W1 and W2 are closed, and the process proceeds to S1200 in FIG.

Here, when the displacement data of each end point obtained as described above is used as drive data as it is, the process proceeds to S1300. However, when the drive data of each actuator is calculated from the displacement data. Contains S12
The process of step 00, that is, the process of calculating the drive amount of the actuator that drives the skeleton unit based on the spatial position coordinates of the end points of the skeleton unit for each frame obtained by the above input is inserted. That is, as shown in FIG. 32, the numbers of two adjacent frames are designated, the spatial position coordinates of the end points of the respective skeleton units are read, and the frames are provided between the respective skeleton units based on the spatial position coordinates. The drive amount of the actuator is calculated (C501 to C503). The content of the calculation process is substantially the same as the process of calculating the drive amount of each actuator by the above-described drive amount calculation program 216a, and a detailed description thereof will be omitted. If the skeletal image of the first frame is not a directly facing pose, the drive position of each actuator with respect to the first frame may be calculated based on the reference position of the actuator stored in advance.

Next, the flow advances to S1300 in FIG. 26, where the time on the real time axis of the robot operation is set for each frame for which input has been completed. Details of the processing are shown in the flowchart of FIG. That is, a time setting window is opened, skeleton image data is read out in the order of frame numbers, and time is input while sequentially displaying skeleton images in the window (C).
601 to C605). Then, in C6051, the driving speed of each actuator is calculated from the time interval with the immediately preceding frame, and in C606, it is determined whether the driving of all the actuators can be completed in the time interval. If it can be completed, the input time and the actuator drive speed are stored in C607, the frame number is incremented in C608, the process returns to C603, and the process is repeated. If the driving cannot be completed, the process returns to C605 and the time input is performed again. Then, when the time input process is completed, the window is closed in C612 and S14 in FIG.
Go to 00.

In S1400, the finally obtained drive data is stored and stored in the drive data storage device 10. The flow of the process is as shown in FIG.
Enter the middle operation command name with 1. Then, the drive data is divided for each part (C702), and a sub-file of lower-order operation data, that is, a part operation module is formed (C702). Then, these part operation modules are integrated under the input middle operation command name and stored in the storage device 10 as a middle operation routine (C7).
03). In addition, each part operation module can be exchanged or replaced between different middle operation routines.

As described above, the part operation module of each part is taught and created by the drive data creating apparatus 1. However, it is difficult or impossible to calculate drive data from the skeleton image aligned with the model image. There is a site, that is, a non-teaching site. Examples include wrists,
Fingers, eyes, mouth, tongue, etc. In this case, in the operation program, such a positioning instruction routine portion of a non-taught portion can be incorporated as, for example, a part of a definition routine. In the present embodiment, the positioning command routine is described in the format of set (part name) <setting factor: = setting condition value>.

Specifically, the movement start position, movement end position, and movement speed of the corresponding non-taught part are selected as setting factors, and the desired values are entered by inputting numerical values or selecting from candidate values prepared in advance. Set the setting condition value. In response to this, the CPU 2 of FIG. 1 is operated based on the non-taught area driving data generation program stored in the storage unit 308 of FIG.
04 calculates drive data of the actuator of the corresponding part. For example, when the actuator is a servo motor or a stepping motor, the rotation start position and the rotation end position of the motor are calculated based on the values of the movement start position and the movement end position, and the rotation speed of the motor is determined based on the movement speed value. Calculate the number. In the following, some examples are shown for the non-taught portion used in the robot of the present embodiment, its operation type, the format of the positioning command routine, and the like.

Part name: right eye (left eye) (part designation information: RIGHTEEYE (LEFTEYE)). Actuator: Rotated left and right by a motor. Format: RIGHTEYE <do: = execution command> <til: = conditional expression> LEFTEYE <do: = execution command> <til: = conditional expression> Execution command: straight: the eye is turned to the front right: the right end position (right eye) left: Left end position (left-pointing gaze) gogle: screaming Operation end condition phrase: When the execution command is "goggle", the number of reciprocation of the eyes can be specified. (Example: RIGHTEEYE <do: = goggle> <til: = repeat △>) Positioning instruction: set EYE <speed: = (speed designation information)> <right t: = (right eye position coordinate)> <left: = ( Left gaze position coordinates)> (part name is common to the left and right eyes, for example, but may be set separately for the left and right eyes) speed: indicates the eye movement speed right: indicates the right gaze position left: left gaze position -"Right gaze" moves to the position set by the positioning command right-"Left gaze" moves to the position set by the positioning command left-"Kyoro Kyoro" is set by the positioning command right and left Specify the number of reciprocations between coordinates (<til: = repeat n>). If the number of round trips is not specified, only one round trip is made. Then, the final eye position stops at the left set position. The eyes first move to the right.

Part Name: Right Eyelid (Left Eyelid) (Part Designation Information: RIGHTEYELID (LEFTEYELID) Actuator: Driven Up and Down by Motor Format: RIGHTEYELID <do: = Execution Command> <till: = Conditional Expression> LEFTEYELID <Do: = Execution command> <til: = Conditional expression> Execution command open: Command to open eyelids close: Command to close eyelids blink: Command to "blink" Operation end condition phrase Execution command is In the case of blink, the number of blinks can be indicated (eg, RIGHTEYELID <do: = blink> <til: = repeat n>) Positioning command set EYELID <open: = (time setting information)> (common to left and right eyelids) open: Specify the time for opening the eyelids

Part name: Mouth (part designation information: MOUTH) Actuator: Open / closed by a motor. Format: MOUTH <do: = execution command> <til: = conditional expression> execution command open: command "open mouth" close: command "close mouth" parrot: command "close mouth" operation end condition phrase When the execution command is parrot, the number of times can be specified. (Example: MOUTH <do: = parrot> <til: = repeat n>) Positioning instruction set MOUTH <open: = (time setting information)> <close: = (time setting information)> open: Time during which the mouth is open Instruct close: Indicate the time that the mouth is closed

Part name: tongue (part designation information: TONGUS) Actuator: driven in and out by motor. Format: TONGUS <do: = execution command> <til: = conditional expression> Execution command out: command "put out tongue" in: command "put in tongue" lick: command "bevel" When the command is lick, the number of times can be specified. (Example: TONGUS <do: = lick> <til: = repeat n>) Positioning instruction set TONGUS <out: = (time setting information)> <in: = (time setting information)> out: Time for sticking out tongue Instruct in: Indicate the time to put your tongue

Part Name: Hand (Part Designation Information: RIGHTFINGER (LEFTFINGER)) Actuator: Each finger is independently bent and extended by a cylinder and driven. Format RIGHTFINGER <do: = execution command> LEFTTFINGER <do: = execution command> Execution command Finger pattern indication (sets various finger bending states by selecting any one of 0 to 32. For example, 0: par / 1: Thumb song / 2: Index finger song / 4: Middle finger song / 8: Ring finger song / 16: Little finger song / 31: Goo) No positioning command

[Brief description of the drawings]

FIG. 1 is a block diagram showing the overall configuration of a robot system according to the present invention.

FIG. 2 is a schematic diagram of a robot skeleton.

FIG. 3 is an explanatory diagram of an operation of a mouth and a tongue provided on a robot head.

FIG. 4 is an explanatory view of the operation of the eyes and eyelids.

FIG. 5 is an explanatory diagram showing contents of a storage device of the robot control unit.

FIG. 6 is an explanatory diagram showing the contents of a part operation module storage unit.

FIG. 7 is an explanatory diagram showing the contents of a RAM of the robot control unit.

FIG. 8 is a block diagram illustrating a configuration of a calculation / drive control unit.

FIG. 9 is a block diagram illustrating a configuration example of a driving data creation device.

FIG. 10 is an explanatory diagram of a constraint condition for a leg skeleton.

FIG. 11 is a flowchart showing the flow of processing by a higher-level operation program.

FIG. 12 is a flowchart showing the flow of processing of a middle-level operation routine.

FIG. 13 is an explanatory diagram of a skeleton image size matching process for a directly facing model.

FIG. 14 is an explanatory diagram of a method of calculating a drive amount of an actuator.

FIG. 15 is a view for explaining the flow of the operation of the robot in association with the program hierarchy.

FIG. 16 is an explanatory diagram showing an example of a basic operation related to walking.

FIG. 17 is an explanatory view following FIG. 16;

FIG. 18 is an explanatory diagram showing a description example of a higher-level operation program.

FIG. 19 is an explanatory view showing an example of a definition routine of the standard change type middle operation routine.

FIG. 20 is an explanatory diagram showing an example of a description of an operation command statement when deleting and adding a part operation module.

FIG. 21 is an explanatory diagram showing a description example of a higher-level operation program using a superimposition-type middle-level operation routine.

FIG. 22 is an explanatory diagram showing a description example of a definition routine of the superposition type middle operation routine.

FIG. 23 is an explanatory diagram showing a robot operation example suitable for application of a combination-type middle-level operation routine.

24 is a diagram showing an example of a timing chart of the operation in FIG.

FIG. 25 is an explanatory diagram showing a description example of a definition routine of a combination-type middle-level operation routine used in the routine;

FIG. 26 is a flowchart showing the overall processing flow of the drive data creation device.

FIG. 27 is a flowchart of the input process.

FIG. 28 is a flowchart showing a flow of processing for determining a skeleton unit length in the input processing.

FIG. 29 is a flowchart showing the flow of processing for adjusting the length of each skeleton unit to a corresponding part of a model image.

FIG. 30 is a flowchart showing the flow of the alignment process of the end point of each skeleton unit.

FIG. 31 is a flowchart showing the flow of processing for calculating the coordinates of the end points of the skeleton.

FIG. 32 is a flowchart showing the flow of drive data calculation.

FIG. 33 is a flowchart showing the flow of a time input process.

FIG. 34 is a flowchart showing the flow of a drive data storage process.

FIG. 35 is a schematic diagram showing an example of an array of frames on a time axis.

FIG. 36 is an explanatory diagram of a registration process of a skeleton image with respect to a model image;

[Explanation of symbols]

REFERENCE SIGNS LIST 1 drive data creation device 5 device control unit (drive data calculation unit) 200 robot system 201 robot 202 robot control unit 204 CPU (program read unit, program development unit, non-taught part drive data generation unit) 205 RAM 205 a Higher-order operation program storage Unit 205b Medium operation command analysis program storage unit 205c Medium operation routine storage unit (I) 205d Medium operation routine storage unit (II) 205g Medium operation routine expansion memory area 207 Storage device 212 Calculation / drive control unit 213 Actuator 300 Upper-level operation program storage unit 302 Middle-level operation routine storage unit 304 Local operation module storage unit 306 Medium-level operation command analysis program storage unit

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference)

Claims (7)

[Claims] 1. A part operation program module (hereinafter, referred to simply as a part) that grasps a higher-order robot operation as a combination of several basic operations and defines the operation of each robot part (hereinafter, also simply referred to as a part) required for the basic operation. A part operation module) is formed in units of drive data relating to driving of an actuator provided in the robot part, and a medium-level operation routine that defines the basic operation is formed by combining a plurality of the part operation modules. A robot operation program is described as a hierarchical program in which a higher-level operation program that defines the higher-level robot operation is formed by a combination of the middle-level operation routines. And each middle-level operation routine A higher-level operation program storage unit that stores a higher-level operation program defined by a combination of these middle-level operation commands using the higher-level operation command; A program reading means for reading in a command unit; and an actuator operation control unit for controlling the driving of the actuator based on a combination of a medium operation routine corresponding to each of the read medium operation commands. The part operation module constituting the operation routine includes an operation condition specifying command including an operation start timing specifying command for specifying an operation start timing of the corresponding part operation, and the actuator operation control unit includes the operation condition According to the operating conditions specified by the specified command, Robot system and controls the drive of the actuator according to the operation or site operation. 2. The robot system according to claim 1, wherein the operation start timing defining command gives the operation start timing based on an elapsed time from a predetermined time origin. 3. At least a part of the plurality of robot parts includes a skeleton having a plurality of skeleton units and the actuator disposed between the skeleton units. At least a part of the part operation modules is a drive data creation device having the following requirements, that is, a series of model images that record the operation of the model corresponding to the robot operation over time, Image display means for displaying an image, skeleton positioning means for positioning the skeleton image with respect to the model image on the display means, and skeleton positioned respectively with respect to the model images preceding and following each other on a time axis Based on the displacement of the image,
A teaching operation routine portion created by editing the drive data created in units of frame-by-frame movement for each part of the robot by the drive data creation device including the data operation means for calculating the drive data. 3. The robot system according to 1 or 2. 4. The operation start timing defining command is a start time, an end time, or a specific frame position passing time of a part operation when the operation of a part specified by the teaching operation routine is used as a reference. 4. The robot system according to claim 3, wherein the operation start timing is given based on one of the following. 5. When the middle operation routine includes a part operation module of a robot part (hereinafter, referred to as a non-teaching part) for which a part of a teaching operation routine is not created by the drive data creation device, the part is referred to as a non-teaching part. Non-taught portion drive data generating means for incorporating a non-taught portion positioning instruction routine portion corresponding to the operation module and generating drive data of the corresponding non-taught portion actuator based on the contents of the positioning instruction routine portion The robot system according to claim 3, wherein a robot is provided. 6. The robot system according to claim 5, wherein the positioning instruction routine portion includes positioning information for designating at least one of a movement start position, a movement end position, and a movement speed of a corresponding non-teaching portion. 7. An operation start timing setting means for setting an operation start timing of a corresponding basic operation or a part operation to a predetermined default start time when the operation start timing definition command is not particularly given. The robot system according to any one of claims 1 to 6, wherein: