JP5158808B2 - Robot control system and robot control method - Google Patents

Description

  The present invention relates to a robot control system and a robot control method for controlling a robot.

  In recent years, robots that can be cleaned and moped (see, for example, Patent Document 1) have come to be used in ordinary households. However, such existing robots can be used for cleaning only a part of a room. When performing (operation requiring designation of a place), a complicated operation must be performed on the controller.

JP 2006-331434 A

"Gestures without Libraries, Toolkits or Training: A $ 1 Recognizer for User interface Prototypes.", Proceedings of the 20th Annual ACM Symposium on User Interface Software and Technology, pp.159-168,2007.

  Therefore, an object of the present invention is to realize an environment in which it is easy to allow a robot to perform operations such as cleaning only a desired portion of a room (operation that requires designation of a location in order to determine the contents). An object of the present invention is to provide a robot control system and a robot control method.

In order to solve the above-described problems, a robot control system for controlling a robot according to the present invention periodically generates a display that displays an image based on supplied image data and image data indicating a situation in a predetermined area. Generating means for supplying the image data generated by the generating means to the display, and at least one line figure having a shape satisfying a predetermined rule is displayed on the display by a pen, a finger or a mouse. Monitoring means for monitoring what is drawn above, and the one or more lines based on the shape and position of the one or more line segment figures detected by the monitoring means to be drawn on the display image The content of the work that requires the designation of the place in order to finalize the content specified by the drawing person of the segment graphic as the work to be performed by the robot in the predetermined area Grasp, and a robot control unit for the work of the contents after grasping causes the robot to one of the line segment shape of a shape satisfying a predetermined rule, there is a line segment shape of shape surrounding the area, the robot control unit The shape of the line segment figure drawn on the display image is a line figure of a shape surrounding an area, and the line figure is drawn at a position surrounding the robot, and the display The shape of the line segment figure drawn on the image is a line segment figure surrounding the area, and the line figure figure is drawn so as to surround the area where the robot does not exist. The control process to be executed is different.
A robot control system according to another aspect of the present invention includes a display that displays an image based on supplied image data, a generation unit that periodically generates image data indicating a state of a predetermined area, and the generation unit. And supplying means for supplying each image data generated by the display to the display, and monitoring whether one or more line segments having a shape satisfying a predetermined rule are drawn on the display image of the display by a pen, a finger or a mouse Based on the monitoring means and the shape and position of the one or more line graphic figures detected by the monitoring means to be drawn on the display image, the one or more line graphic figures are drawn by the predetermined person Identify the work that is specified as work to be performed by the robot in the area, and that requires specification of the location in order to confirm the content, and perform the work of the grasped content A robot control means for causing the robot to perform, wherein there are a plurality of robots in the display image, and the robot control means includes a starting point position of the line segment graphic, an area surrounded by the line segment graphic A robot existing in a position overlapping with the line segment figure is selected as the designated robot, and the designated robot is caused to perform an operation specified by the shape of the line segment figure.

  That is, the robot control system of the present invention displays an image showing a situation / mode in a predetermined area on a display, and one or more line segment figures having a shape satisfying a predetermined rule on the image displayed on the display. Is drawn with a pen, etc., and based on the shape and position of the line segment figure, grasp the content of "work that requires designation of a place to determine its content" to be performed, The robot is configured to be controlled according to the grasped result. Then, it is easy to draw a line segment graphic including a part for designating a location on an image with a pen, a finger, or a mouse. Therefore, this robot control system has an “environment in which it is easy to allow a robot to perform operations such as cleaning only a desired portion of a room (operation that requires designation of a location in order to determine the contents). It can be said that it is a system that can be realized.

  Even if the robot control system of the present invention is realized as a system in which only one type of work can be performed by one robot, two or more types of operations can be performed by one or more robots. It may be realized as a system. In addition, when implementing either type of robot control system, the robot control that operates / functions based on the shape and position of one or more line segment figures detected on the display by the monitoring means. "Means" can be adopted. However, when the robot control system of the latter type adopts “robot control means that operates / functions based on the shape and position of one line segment figure that is detected to be drawn on the display by the monitoring means”. Therefore, it is necessary to cause the user to draw a line segment graphic having a relatively complicated shape (a line graphic including a part for specifying a location and a part for specifying a work type). For this reason, when manufacturing the latter type of robot control system, as the robot control means, “the shape of one or more line figures detected on the display by the monitoring means and It is desirable to adopt “means that operate / function based on position”.

  Further, the robot control means of the robot control system of the present invention may be configured as follows: “The shape and position of the one or more line segments detected to be drawn on the display by the monitoring means, and the generation means. Based on the image data obtained, the contents of the work that the drawing person designated as the work in the predetermined area to be performed by the robot and that requires the designation of the place and the object to confirm the contents are grasped. And means having a function of causing the robot to perform the work of the grasped contents ”. In other words, the robot control system of the present invention can be configured as a system that can cause the robot to perform “operations that require designation of a location and an object in order to determine its contents”.

  Further, in the form of adding the “stop means for stopping the control operation of the robot by the robot control means when the user performs a predetermined operation on the display with a pen, finger or mouse” A robot control system can also be realized. As such a canceling means, “a means for canceling the robot control operation by the robot control means when an operation for instructing display of the menu and an operation for selecting a menu item from the menu are performed”, “ A means for stopping the robot control operation by the robot control means when a line segment figure of a predetermined shape is drawn can be employed.

  In addition, it is easier to give various instructions when an image obtained by viewing an area (predetermined area) where the robot performs work on the display from the top is displayed. For this reason, when realizing the robot control system of the present invention, it is desirable to adopt “means for generating image data by photographing the predetermined area from directly above” as the generation means.

In order to solve the above-described problem, in the robot control method of the present invention, an image display step for displaying an image indicating a state of a predetermined area on a display, and a line segment figure having a shape satisfying a predetermined rule is a pen, a finger, or a mouse. Based on the monitoring step of monitoring the drawing on the display image of the display, and the shape and position of the one or more line segments detected to be drawn on the display image by the monitoring step, Grasping and grasping the contents of the work that the drawing person of the one or more line segment figures specified as the work to be performed by the robot in the predetermined area and that requires designation of a place in order to confirm the contents the contents of the work and a robot control step of causing the robot to one of the line segment shape of a shape satisfying a predetermined rule, line shapes shape surrounding area there In the robot control step, the shape of the line segment figure drawn on the display image is a line segment figure having a shape surrounding an area, and the line segment figure is drawn at a position surrounding the robot. And the shape of the line-segment graphic drawn on the display image is a line-segment graphic that surrounds the region, and the line-segment graphic is drawn so as to surround the region where the robot does not exist It is characterized in that the control process to be executed is different depending on the case.
Further, in the robot control method according to another aspect of the present invention, an image display step for displaying an image indicating a state of a predetermined area on the display, and at least one line segment figure having a shape satisfying the predetermined rule is a pen, a finger, A monitoring step of monitoring the drawing on the display image of the display by the mouse; the shape of the one or more line-segment figures detected to be drawn on the display image by the monitoring step; and the display The content of the work that requires the designation of the place to be confirmed by the one or more line figure figures drawn by the drawing person as the work to be performed by the robot in the predetermined area based on the position at And a robot control step for causing the robot to perform the work of the grasped content, and there are a plurality of robots in the display image, In the robot control step, a robot that exists at the start position of the line segment graphic, the area surrounded by the line segment graphic, or the position overlapping the line segment graphic is selected as the designated robot, The specified robot is caused to perform an operation specified by a shape.

That is, the robot control method of the present invention has a controls the robot by a robot control system and the procedure of the present invention. Therefore, this robot control method also realizes an environment that makes it easy for the robot to perform tasks such as cleaning only a part of the room (work that requires designation of the location to determine the contents). It will be possible.

  If the robot control system and the robot control method according to the present invention are used, the robot is allowed to perform work such as cleaning only a part of the room (work that requires designation of a location in order to determine the contents). Can realize an easy environment.

1 is a configuration diagram of a robot control system according to a first embodiment of the present invention. It is a flowchart of the instruction | indication response process which the control apparatus which concerns on 1st Embodiment performs. It is a flowchart following FIG. 2 of the instruction | indication response process which the control apparatus which concerns on 1st Embodiment performs. It is explanatory drawing of movement instruction | indication operation, cleaning instruction | indication operation, and menu display instruction | indication operation. It is a block diagram of the robot control system which concerns on 2nd Embodiment of this invention. It is explanatory drawing of a stop instruction | indication operation, a restart instruction | indication operation, and a charge instruction | indication operation. It is a flowchart of the instruction | indication response process which the control apparatus which concerns on 2nd Embodiment performs. It is explanatory drawing of drawing operation employable as area | region selection operation etc. FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<< First Embodiment >>
First, the configuration of the robot control system according to the first embodiment of the present invention will be described with reference to FIG.

  The robot control system according to the present embodiment is a system for controlling the robot 25. As shown in the figure, one or more (four in the figure) cameras 11, servers 12, and control device 20 are connected. I have.

  The robot 25 controlled by this robot control system is a robot obtained by modifying a commercially available cleaning robot (in this embodiment, Roomba (trademark of iRobot Corporation)) so that it can be wirelessly controlled.

  Each camera 11 provided in the robot control system is an apparatus (an apparatus called a PC camera, a Web camera, or the like) that can output image data indicating the state of a subject. Each camera 11 synthesizes the image data from all the cameras 11 to a position where image data indicating the status of an area (hereinafter referred to as a monitoring target area) that causes the robot 25 to perform various operations can be generated. It is fixed so that it faces straight down.

  The server 12 is a device for supplying the control device 20 with image data indicating the current state of the entire monitoring target area. This server 12 is “processing that periodically generates image data indicating the current state of the entire monitoring target area based on image data from one or more cameras 11 constituting the system and wirelessly transmits the image data to the control device 20. Is installed on a normal computer.

  The control device 20 is a device in which a robot control program developed for the present system is installed in a computer having a wireless communication function provided with a display 21. The control device 20 is a device provided with a so-called touch panel display as the display 21.

  Next, the function of the robot control system (the operation of the control device 20 when the robot control program is executed) will be described.

  When the server 20 executes the server control program in the server 12, the control device 20 causes the display 21 to display an image based on the image data from the server 12. Start processing.

  The control device 20 also starts the instruction response process of the procedure shown in FIG. 2 and FIG. 3, and first, a graphic with a pen, a finger, or a mouse on the display 21 (on the image displayed on the display 21) The state in which the drawing of (line segment) is started is monitored (the state where the processing / determination in step S101 is repeated).

  And when drawing is started (step S101; YES), the control apparatus 20 performs the process (step S102) which memorize | stores a drawing coordinate periodically until drawing operation is completed.

  When the process of step S102 is completed (when the drawing operation by the user is completed), the control device 20 displays the drawing coordinate group stored during the process and the image data supplied to the display 21 (image data from the server 12). ) To determine whether the current drawing operation is a cleaning instruction operation, a movement instruction operation, a menu display instruction operation, or other operations (step S103).

Here, the cleaning instruction operation, the movement instruction operation, and the menu display instruction operation are operations for drawing a line segment as shown in FIGS. 4 (a) to 4 (c). That is, the movement instruction operation, the cleaning instruction operation , and the menu display instruction operation are respectively “an operation for drawing a line segment from one point on the robot 25 to another point” (FIG. 4A), “robot 25”. Is an operation of drawing a line segment so as to enclose an area where no robot exists (FIG. 4B), and “an operation of drawing a line segment so as to surround the robot 25” (FIG. 4C). .

It should be noted that the processing in step S103 and the processing in step S111 to be described later are such that the shape of the drawn line segment substantially surrounds a certain area (the ratio of the distance between both end points to the total length is a predetermined value or less). For example, the drawing operation performed by the user is determined to be a cleaning instruction operation / menu display instruction operation.

  When the current drawing operation is another operation (invalid operation other than the cleaning instruction operation, the movement instruction operation, and the menu display instruction operation) (Step S104: Other), the control device 20 performs Step S101 and the subsequent steps. Start the process again.

  If the current drawing operation is a movement instruction operation (step S104; cleaning / movement), the control device 20 starts the movement control process (step S105), and the current drawing operation is a cleaning instruction. If it is an operation (step S104; cleaning / moving), a cleaning control process is started (step S105).

  Here, the movement control process is a process of controlling the robot 25 so as to move on the line segment drawn by the movement instruction operation (see FIG. 4A) to the end point on the end point side of the line segment. That is. The cleaning control process is a process of controlling the robot 25 so as to clean the area in the line segment (see FIG. 4B) drawn by the cleaning instruction operation. In both of these control processes and the charging control process described later, the robot 25 is controlled while monitoring the current position of the robot 25 based on the image data from the server 12 (progress of the robot 25). Control the direction).

  The control device 20 that has started the control process (moving / cleaning / charging control process) monitors the completion of the control process and the menu display instruction operation while executing the control process. (The state where the processing / determination in step S111 in FIG. 3 is repeated). In short, the control device 20 is in a state of monitoring the completion of the control process being executed while monitoring that the menu display instruction operation is performed in substantially the same procedure as the process of steps S101 to S104 described above. .

  When the control process is completed (step S111; control process completed), the control device 20 returns to the initial state (the state where the process of step S101 is performed).

  On the other hand, when the menu display instruction operation is performed before the control process is completed (step S111; menu display instruction operation), the control device 20 executes the menu display process in step S112. In addition, when the menu display instruction operation is performed without performing the control process (FIG. 2: step S104; menu display), the control device 20 executes the menu display process in step S106.

  The menu display processing executed in step S106 and step S112 basically displays a menu on the display 21 with “Cancel”, “Suspend”, “Resume”, and “Charge” as options. This is a process in which the menu is erased from the display 21 and terminated when an operation for selecting the option is performed and when an operation for closing the menu is performed.

  However, the menu display process is a process that displays a menu in which only “charging” can be selected when the control process is not being executed at the start of execution (displays a menu in which other options are grayed out, The process accepts only “charging”.

  Also, the menu display process displays a menu in which only “Cancel” and “Pause” can be selected when the control process is being executed at the start of the execution, and the control process is being paused at the start of the execution. If there is, only “Cancel” and “Resume” are displayed. Further, the menu display process is a process of changing the menu being displayed to a menu in which only “charging” can be selected when the control process is completed during the execution.

  In short, when a menu display instruction operation is performed in a state where the control process is not executed (FIG. 2: Step S104; menu display), the control device 20 displays on the touch screen at the start of the menu display process (Step S106). A menu that allows you to select only “Charge” is displayed.

  Then, when the menu display process is terminated without selecting “charge” (step S107; NO), that is, when the menu is simply closed, the control device 20 starts the processes after step S101. . In addition, when “Charge” is selected from the menu and the menu display process is ended (step S107; YES), the control device 20 starts a charging control process for moving the robot 25 to the battery station (step S107). After step S108), the processing after step S111 in FIG. 3 is started. The battery station is a device that starts charging the robot 25 when the robot 25 is moved there.

On the other hand, when the menu display instruction operation is performed while the control process is being executed (FIG. 3: Step S111; menu display instruction operation), the control device 20 touches the touch screen at the start of the menu display process in Step S112. A menu in which only “Cancel” and “Pause” can be selected is displayed above.

  Thereafter, the control device 20 is in a state of monitoring the operation of the displayed menu (selection selection operation, operation for closing the menu) while monitoring the completion of the control process.

  When the control process is completed before the operation on the menu is performed, the control device 20 changes the displayed menu to a menu in which only “charging” can be selected (step S112). And when "charge" is selected from the changed menu (step S113; charge), the control apparatus 20 starts the process after step S108 (FIG. 2). Further, when the menu after the change is simply closed (step S113; none), the control device 20 completes the control process while the menu is being displayed (during execution of the menu display process) (step S115). YES), the processing after step S101 is started.

  When “Cancel” is selected from the menu (menu displayed by the control device 20 during execution of the control process) from which only “Cancel” and “Pause” can be selected (Step S113: Cancel), the control device 20 After stopping the control process being executed (step S114), the processes after step S101 are started. In addition, when the menu is simply closed (step S113: none), the control device 20 does not complete the control process during the menu display (step S115; NO), and therefore performs the processes after step S111. Start.

  When “pause” is selected from the menu (step S113: pause), the control device 20 pauses (suspends) the control process being executed (step S116). Thereafter, the control device 20 monitors the menu display instruction operation performed in step S111.

  When the menu display instruction operation is performed (step S111; menu display instruction operation), the control device 20 is in a menu in which only “Cancel” and “Resume” can be selected because the control process is paused. Is displayed (step S112).

  When “Resume” is selected from the menu (Step S113; Resume), the control device 20 resumes the control process (Step S116), and then the resumed control process is completed in Step S111. And that the menu display instruction operation is being monitored. In addition, when “stop” is selected from the menu (step S113; stop), the control device 20 stops the control process (step S114) and then monitors whether a cleaning instruction operation or the like is performed ( It is in a standby state (a state in which the loop processing of steps S101 to S104 is being executed).

  As described above, the robot control system according to the present embodiment is a system in which an image showing the situation / mode of the monitored area is displayed on the display 21, and the user can use the pen (or finger) on the image. The robot 25 is caused to clean a certain place by drawing a line segment figure (a figure consisting of one line segment) as shown in FIGS. 4A and 4B with a mouse). In addition, the system can move the robot 25 to a desired position. Therefore, if this robot control system is used, an environment in which the user can control the robot 25 extremely easily and intuitively can be realized.

<< Second Embodiment >>
Hereinafter, the configuration and operation of the robot control system according to the second embodiment of the present invention will be described focusing on differences from the robot control system according to the first embodiment.

  FIG. 5 shows a configuration of a robot control system according to the second embodiment of the present invention.

  Each component (camera 11, server 12) other than the control device 20 of the robot control system according to the present embodiment is the same as each component of the robot control system according to the first embodiment.

  The control device 20 (hereinafter also referred to as the second control device 20) is also a mop-able robot 26 (in this embodiment, Scooba (trademark of iRobot Corporation) modified so that wireless control is possible). The control device 20 of the robot control system according to the first embodiment (hereinafter referred to as the first control) so that the control can be performed and the user can instruct to stop the control processing of the robots 25 and 26 by the line segment drawing operation. This is an improved (reprogrammed) device.

  More specifically, the second control device 20 is an improved device of the first control device 20 so as to execute the process of the procedure shown in FIG. 7 as the instruction response process.

  That is, the second control device 20 normally waits (monitors) that a drawing operation that is currently effective is performed in step S201.

  Specifically, in this step S201, the second control device 20 first starts drawing with a pen (or a finger or a mouse) on the display 21 (on the image displayed on the display 21). Wait process to wait.

  When the drawing is started (when the standby process is finished), the second control device 20 starts a process of periodically storing the drawing coordinates until the drawing operation is completed. Then, the second control device 20 that has finished the processing performs the current drawing operation based on the drawing coordinate group stored at the time of the processing and the image data supplied to the display 21 as a movement instruction operation, a robot selection operation. A determination process is performed to determine whether the operation is a region selection operation, a pause instruction operation, a restart instruction operation, a charge instruction operation, or another operation.

  Here, the movement instruction operation, the region selection operation, and the robot selection operation are “an operation for drawing a line segment from one point on the robot 25 or 26 to another point” (see FIG. 4A), “Robot “Operation for drawing a line segment so as to surround an area where 25 and 26 do not exist” (see FIG. 4B), “Operation for drawing a line segment so as to surround the robot 25 or 26” (FIG. 4C )).

In addition, the pause instruction operation, the restart instruction operation, and the charge instruction operation are operations for drawing a line segment as illustrated in FIGS. 6A to 6C, respectively. That is, the pause instruction operation is an “operation for drawing a x-shaped figure (line segment) so that a part thereof is located on the robot 25 or 26” (FIG. 6 ( a )). The restart instruction operation is an “operation for drawing a triangular figure so that a part thereof is positioned on the robot 25 or 26” (FIG. 6B) . In addition, the charging instruction operation is an operation of “drawing a star-shaped pentagon (five-pointed star) figure so that a part thereof is located on the robot 25 or 26” (FIG. 6C). That is.

If the determination result of the determination process is a movement instruction operation, a robot selection operation, or a charge instruction operation, the second control device 20 that has completed the determination process for the above contents performs the control process for the designated robot. Judge whether or not. The designated robot is a robot 25 or 26 located at the start position of a line segment written at the time of a movement instruction operation, or a robot 25 located within a circular line segment written at the time of a robot selection operation. Or 26, the robot 25 or 26 on which the figures of FIGS. 6A to 6C are drawn. Further, the second control unit 20, determines whether control is performed processing, when at rest a control process, which is assumed to determine that not subjected to control processing.

  Then, if the control process for the designated robot has not been performed, the second control device 20 determines that the current drawing operation is currently effective, and ends the process of step S201. Further, when the control process for the designated robot has been performed, the second control device 20 determines that the current drawing operation is invalid at the present time, and starts the process of step S201 (starts with the above-described standby process). Repeat a series of processes from the beginning.

When the determination result of the determination process is a pause instruction operation, the second control device 20 determines whether or not the control process for the designated robot is being performed. Then, if the control process for the designated robot has been performed, the second control device 20 determines that the current drawing operation is currently effective, and ends the process of step S201. If the control process for the designated robot has not been performed, the second control device 20 determines that the current drawing operation is invalid at the present time, and starts the process of step S201 from the beginning.

  When the determination result of the determination process is a restart instruction operation, the second control device 20 determines whether or not the control process for the robot specified by the operation is paused (suspended). Then, when the control processing for the robot is suspended, the second control device 20 determines that the current drawing operation is currently effective, ends the processing in step S201, and so on. If not, it is determined that the current drawing operation is invalid at present, and the process of step S201 is performed again from the beginning.

  When the determination result of the determination process is an area selection operation, the second control device 20 determines whether or not the control process is being performed on the current robot to be controlled (details will be described later: see steps S203 and S208). Then, if the control process for the robot to be controlled has not been performed, the second control device 20 determines that the current drawing operation is currently effective, and ends the process of step S201. If not, the process of step S201 is restarted from the beginning.

  When the drawing operation performed by the user is a robot selection operation (step S202; robot selection), the second control device 20 that has finished the process of step S201 determines that the robot selected by the robot selection operation is The fact that the robot has been controlled is stored (step S203). Thereafter, the second control device 20 returns to step S201 and waits for an effective drawing operation to be performed.

  Further, when the drawing operation is an area selection operation (see FIG. 4B) (step S202; area selection), the second control apparatus 20 causes the current control target robot to perform the robot 25 (can perform cleaning). It is determined whether it is a robot) or a robot 26 (a robot capable of moping) (step S208).

The second control device 20, if the current control target robot was robot 26: (step S208 mopping) is to perform the mopping in the area selected by the area selecting operation to the robot 26 Control process (in the figure, “mopping robot control process”) is started (step S209). In addition, when the current control target robot is the robot 25 (step S208: cleaning), the second control device 20 causes the robot 25 to clean the area selected by the area selection operation. The control process ("cleaning robot control process" in the figure) is started (step S210).

  When the user's drawing operation is a charging instruction operation (FIG. 6C) (step S202; charging), the second control device 20 performs a charging control process (robot 25 or 26 for the designated robot) on the battery station. (Control process for moving to) (step S204). In addition, when the drawing operation is a movement instruction operation (FIG. 4A) (step S202; movement), the second control device 20 performs a movement control process for the designated robot (drawn by the movement instruction operation). A process of controlling the robot 25 or 26 so as to move to the end point of the line segment is started (step S207).

  The second control device 20 that has started the control process for the robot 25 or 26 in any of steps S204, S207, S209, and S210 is in a state where the process of step 201 is being performed while performing the control process.

  Then, when the user instructs the second control device 20 to function the robot that is not performing the control process (when a movement instruction operation or the like is performed), both the robots 25 and 26 are operated in parallel. Is in a state of being controlled.

  In addition, when the pause instruction operation (FIG. 6A) is performed (step S202; pause), the second control device 20 performs control processing for the designated robot (control processing performed for the designated robot). Pause (suspend) (step S205). Thereafter, in step 201, the control device 20 waits for a restart instruction operation or the like to be performed on the robot that has suspended the control process, and when a restart instruction operation is performed (step S202; restart). Then, the control process for the designated robot is resumed (step S206).

  In addition, when an operation that needs to operate a robot that has paused the control process is performed, the control device 20 assumes that the control process for the robot has been stopped and starts a new control process for the robot. To do.

  As described above, the robot control system according to the present embodiment is also a system in which an image showing the situation / mode of the monitoring target area is displayed on the display 21, and the user can use the pen (or finger) on the image. , Mouse) to draw a figure (line segment) of a predetermined shape to move the robots 25 and 26 to a desired position, to cause the robot 25 to clean a certain place, In this system, the robot 26 can perform moping. Therefore, this robot control system is also a system that can realize an environment in which the user can control the robots 25 and 26 very easily and intuitively.

  In addition, the robot control system according to the present embodiment is a system capable of pausing / resuming the operation of the robot 25 or 26 by drawing a figure as shown in FIGS. 6 (a) and 6 (b). . Therefore, the robot control system pauses / operates the robot 25 or 26 more than the robot control system according to the first embodiment in which “pause” or the like must be selected from the menu after performing the menu display instruction operation. The system can be easily restarted.

<Deformation>
The robot control system according to each embodiment described above can perform various modifications. For example, when the robot control system of the first embodiment designates a certain area by drawing a graphic (line segment), the robot control system in the area does not depend on whether or not the robot 25 exists. It can be transformed into a system that causes the robot 25 to perform cleaning. Note that when the robot control system of the first embodiment is transformed into such a system, it is not necessary to investigate the position of the robot 25, so that the process of step S103 is performed only for the drawing coordinate group stored during the process of step S102. Thus, it is possible to determine whether or not the current drawing operation is a cleaning instruction operation (processing not referring to image data).

  The robot control system according to each embodiment can be modified into a system in which the contents of various instruction operations (drawing operations) are different from those described above. For example, when a line segment having a shape as shown in FIG. 8 is drawn, the robot control system according to each embodiment obtains a minimum convex polygonal area including the line segment, It can be modified to a system that causes the robot 25 (26) to perform cleaning (mopping).

  Further, when the robot control system according to the second embodiment designates the type of work (cleaning or moping) to be performed after the user designates the area by graphic drawing, the graphic control is performed (or When the type of work to be executed is designated by graphic drawing and then the area is designated by graphic drawing), the system can be transformed into a system for starting control of the robot 25 or 26.

  The robot control system according to each embodiment can be transformed into a system that controls a more sophisticated robot (a robot with many types of work that can be performed, a robot that can lift and carry an object). Further, the robot control system can be transformed into a system that can be operated only with a mouse or a system that can be operated only with a pen or a finger. Furthermore, a part of the configuration of the robot control system (a part of the control device 20 that executes an instruction response process, etc.) may be mounted on the robot. Of course, it may be modified to a system of five or more units.

DESCRIPTION OF SYMBOLS 11 ... Camera 12 ... Server 20 ... Control device 21 ... Display 25, 26 ... Robot

Claims (6)

A robot control system for controlling a robot,
A display for displaying an image based on the supplied image data;
Generation means for periodically generating image data indicating a situation of a predetermined area;
Supplying means for supplying each image data generated by the generating means to the display;
Monitoring means for monitoring one or more line segment figures having a shape satisfying a predetermined rule on a display image of the display by a pen, a finger or a mouse;
Based on the shape and position of the one or more line segment figures detected to be drawn on the display image by the monitoring means, a draw person of the one or more line segment figures is within the predetermined area. A robot control means that is designated as a work to be performed by the robot, grasps the contents of the work that requires designation of a place in order to confirm the contents, and causes the robot to perform the work of the grasped contents
With
One of the line segment figures that satisfy the predetermined rule is a line figure that surrounds the area.
The robot control means includes
The shape of the line graphic drawn on the display image is a line graphic of a shape surrounding an area, and the line graphic is drawn at a position surrounding the robot;
The shape of the line graphic drawn on the display image is a line graphic of a shape surrounding the area, and the line graphic is drawn so as to surround the area where the robot does not exist And
Features and to Carlo bot control system varying the control process to be executed. A robot control system for controlling a robot,
A display for displaying an image based on the supplied image data;
Generation means for periodically generating image data indicating a situation of a predetermined area;
Supplying means for supplying each image data generated by the generating means to the display;
Monitoring means for monitoring one or more line segment figures having a shape satisfying a predetermined rule on a display image of the display by a pen, a finger or a mouse;
Based on the shape and position of the one or more line segment figures detected to be drawn on the display image by the monitoring means, a draw person of the one or more line segment figures is within the predetermined area. A robot control means that is designated as a work to be performed by the robot, grasps the contents of the work that requires designation of a place in order to confirm the contents, and causes the robot to perform the work of the grasped contents
With
There are a plurality of robots in the display image,
The robot control means includes
A task that is specified by the shape of the line segment figure by selecting a robot that exists at the start point position of the line segment figure, within the area surrounded by the line segment figure, or at a position overlapping the line figure as a designated robot features and to Carlo bot control system that causes the specified robot. 2. The apparatus according to claim 1, further comprising stop means for stopping the control operation of the robot by the robot control means when the user performs a predetermined operation on the display with a pen, a finger, or a mouse. Or the robot control system of Claim 2 . The robot control system according to any one of claims 1 to 3 , wherein the generation unit is a unit that generates image data by photographing the predetermined area from directly above. A robot control method for controlling a robot,
An image display step for displaying on the display an image indicating the condition of the predetermined area;
A monitoring step of monitoring one or more line segment figures having a shape satisfying a predetermined rule on the display image of the display by a pen, a finger or a mouse;
Based on the shape of the one or more line segments detected to be drawn on the display image by the monitoring step and the position on the display, the drawr of the one or more line segments is A robot control step for ascertaining the content of the work designated as work to be performed by the robot in a predetermined area, requiring the designation of a place in order to confirm the content, and causing the robot to perform the work of the grasped content; Including
One of the line segment figures that satisfy the predetermined rule is a line figure that surrounds the area.
In the robot control step,
The shape of the line graphic drawn on the display image is a line graphic of a shape surrounding an area, and the line graphic is drawn at a position surrounding the robot;
The shape of the line graphic drawn on the display image is a line graphic of a shape surrounding the area, and the line graphic is drawn so as to surround the area where the robot does not exist And
A robot control method characterized by different control processes to be executed .   A robot control method for controlling a robot,
  An image display step for displaying on the display an image indicating the condition of the predetermined area;
  A monitoring step of monitoring one or more line segment figures having a shape satisfying a predetermined rule on the display image of the display by a pen, a finger or a mouse;
  Based on the shape of the one or more line segments detected to be drawn on the display image by the monitoring step and the position on the display, the drawr of the one or more line segments is Grasping the contents of the work designated as the work to be performed by the robot in a predetermined area and requiring the designation of the place to confirm the contents, and the work of the grasped content is
Robot control steps to make the bot perform
Including
  There are a plurality of robots in the display image,
  In the robot control step,
  A task that is specified by the shape of the line segment figure by selecting a robot that exists at the start point position of the line segment figure, within the area surrounded by the line segment figure, or at a position overlapping the line figure as a designated robot Causes the designated robot to perform
A robot control method characterized by the above.

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