JP5488930B2 - Housework plan creation support device and housework plan creation support method - Google Patents

Description

  The present invention relates to a technique for supporting creation of a housework plan.

  In recent years, various home robots have been researched and developed. For example, household robots that perform cleaning, cooking, washing dishes, washing, moving goods, monitoring, and the like have been energetically studied. In order for these home robots to become widespread, it is necessary not only to have functions for performing housework, but also to have an interface capable of inputting instructions to the robot in an easy-to-understand manner.

  Various interfaces for inputting instructions to home robots have been studied. From the viewpoint of easy understanding, it is preferable that an instruction can be input through a GUI (graphical user interface). Non-Patent Document 1 discloses an interface in which when a route is drawn on a PDA (Personal Digital Assistant), the robot moves along the route. In Patent Document 1, a bird's-eye view image of a robot is displayed on a display, and a gesture is input on the display (trajectory input using a mouse or the like) so that a picture is drawn on an overhead view screen of a real space. An interface capable of operating a robot is disclosed.

JP 2010-198064 A

Chronis, G., and Skubic, M., "Robot navigation using qualitative landmark states from sketched route maps", Proc. ICRA '04, IEEE (2004), 1530-1535 Sakamoto, D., Honda, K., Inami, M., and Igarashi, T., "Sketch and run: a stroke-based interface for home robots", Proc. CHI '09, ACM (2009), 197-200

  However, these interfaces are for operating individual robots independently. As home-use robots become widespread, it is assumed that many home-use robots are used in the home and instruct the robot to perform various housework tasks. Then, instructing the housework task individually to each robot becomes complicated for the user.

  Therefore, an object of the present invention is to make it possible to create a housework plan including a plurality of housework tasks by a simple and easy-to-understand method.

  In order to solve the above-described problems, the housekeeping plan creation support apparatus according to the present invention specifies the type, time, and place of housework to be performed without making the user aware of individual robots. A method that can be created was adopted. The housework plan creation support apparatus according to the present invention includes image display means, type input means, place input means, time input means, housework task storage means, and housework task display means.

  The image display means displays an image (room image) of a place to be housed. For example, an overhead image of a room is displayed or a three-dimensional image is displayed. The displayed image may be an image taken by a camera or an image based on the taken image.

  The type input means is a means by which the user can input the type of housework task to be executed. Examples of the types of housework tasks include mop hanging, vacuuming, moving objects, washing, cooking, and room monitoring. The housework task is preferably defined in an appropriate unit from the viewpoint of convenience for the user. For example, the mop hook and the vacuum cleaner hook may be combined into one cleaning task, or the laundry task may be a plurality of tasks of washing, drying, and folding.

  The place input means is a means by which the user can input the place where the housework task is performed on the room image. By selecting an area on the room image, it is possible to specify a place where the housework task is performed. The region selection may be, for example, rectangular selection or freehand selection, or may be performed by automatic boundary recognition when an object is recognized in the room image.

  The time input means is a means capable of inputting the time at which the housework task is performed. It is preferable that the user can input the time when the housework task is started. Together with the start time, the end time or housework execution time (duration) may be input. Further, the time that can be input may be only the start time, and the end time may be automatically determined according to the type of housework task. Note that the task may be started immediately without inputting the start time of the housework task.

  The type input means, place input means, and time input means allow the user to input housework tasks. The housework task storage means stores information on the input housework task.

  The housework task display means displays the place where each housework task is performed for each input housework task as an image layer superimposed on the room image. Here, the image layer means that it is possible to select display / non-display of the housework execution area for each task.

  As described above, according to the present invention, a plurality of housework tasks can be input in a unified manner simply by inputting the type, place, and time of the housework task. That is, the user can input housework tasks without being aware of the robot that actually performs housework. Therefore, the housekeeping plan creation support apparatus according to the present invention is easy to operate and intuitive for the user.

  In the present invention, it is preferable that the type / location / time of the housework task stored in the housework task storage unit can be edited by the type input unit / place input unit / time input unit. Here, the housework task to be edited is preferably a housework task corresponding to the selected image layer. The selection of display / non-display and the selection of the edit target can be generally different. However, only one image layer can be displayed at the same time, and the housework task corresponding to the image layer may be the editing target.

In the present invention, it is preferable that the housework task display means displays a place where the housework task is performed in a color corresponding to the type of the housework task. It is considered most intuitive for the user to identify the type of housework task by color. However, in addition to the color, characters and icons corresponding to the housework task may be displayed, or the boundary line (such as line thickness and type) of the selection area may be changed and displayed according to the housework task.

  In the present invention, it is preferable that the housework task display means graphically display the time at which housework is performed for a plurality of stored housework tasks. For example, the start time and end time of each housework task can be displayed as a time chart.

  In the present invention, it is preferable that the type input means can also input additional information determined in accordance with the input task. The additional information is information on how to perform a housework task, for example. Examples include careful execution, rushed execution, careful execution, and increasing / decreasing allocated resources (number of robots). In addition, when setting the depression angle / elevation angle in room monitoring (camera shooting), these pieces of information may be input as additional information.

  In the present invention, it is also preferable to further include verification means for verifying whether or not a conflict has occurred between housework tasks stored in the housework task storage means. For example, it is possible to determine that a conflict has occurred when housework tasks that cannot be executed simultaneously are input in the same area at the same time. Also, when there are multiple housework tasks entered at the same time, and the entered housework tasks exceed the resources for housework execution (number of housework robots), it is determined that a conflict has occurred. Can do. Further, when a restriction is imposed on the housework task, it may be determined whether or not there is a conflict by verifying whether or not the restriction is violated. Examples of constraints include the executable area / executable time of housework tasks, the execution order among a plurality of housework tasks, and the like.

  Further, in the present invention, as constraints, there may be constraint storage means for storing the temporal context in which a plurality of housework tasks should be executed, and the time input means may only allow input that satisfies this constraint. . That is, when the housework task input by the user using the type input means is one of the housework tasks stored in the constraint storage means, and the housework task corresponding to this constraint is already stored in the housework task storage means The time input means, based on the time when the entered housework task is performed and the constraints (contextual relationship) stored in the constraint storage means, the housework tasks input by the user within a range satisfying this constraint It is preferable to be able to input the time at which is performed. Here, it is not necessary to prohibit all inputs that violate the constraint, and although it is urged to input so as to satisfy the constraint, an input that violates the constraint may be permitted.

  In the present invention, it is preferable to further include a transmission means for converting the housework task stored in the housework task storage means into a command for a housework execution device (housework robot) for performing housework, and transmitting the command to the housework execution device. . Here, one housework task need not be executed by one housework execution device, and may be executed by a plurality of housework execution devices. In this case, the transmission means converts one housework task into a command for a plurality of housework execution devices, and transmits the command to each housework execution device.

  In the present invention, it is not necessary to implement the housework plan creation support apparatus on one computer. For example, a device that allows a user to input a housework plan and a device that stores housework tasks and transmits commands to the housework execution device can be executed on different computers. Typically, a computer including a housework task storage means and a command transmission means is at home and a housework plan is input from another computer via a network. Of course, the method of distributed processing is not limited to this, and modifications in an arbitrary form are conceivable.

The present invention can be understood as a housework plan creation support apparatus or a housework plan creation support system including at least a part of the above means. It can also be understood as a housework plan creation support method for performing these processes and a program for executing this method on a computer.

  According to the present invention, a housework plan including a plurality of housework tasks can be created in a simple and easy-to-understand manner.

It is a figure which shows the outline | summary of a household system. It is a figure which shows the outline | summary structure of a housework plan preparation assistance apparatus. It is a functional block diagram of a housework plan creation support device. It is an example of the interface of a housework plan creation support device. It is a figure explaining the input method of a mop application task. It is a figure explaining the property designation | designated in the input of a mop task. It is a figure explaining the input method of an object movement task. It is a figure explaining the input method of a camera imaging | photography task. It is a figure explaining the input restriction | limiting in time input. It is a figure explaining the conversion from the input housework plan to the command with respect to a housework robot.

<System overview>
FIG. 1 is a diagram illustrating an overview of a housework system that performs housework with a housework robot. A housework plan is created by a computer (housework plan creation support device) 1, and a housework robot (housework execution device) 2 executes housework according to the housework plan. Although only one computer 1 is shown in the figure for creating the housework plan, any form can be used as long as the user can input the housework plan and the input housework plan can be transmitted to the housework robot 2. This system can be adopted. To allow a user to enter a housework plan from any location, a computer installed in the home is accessed via a network, or a housework plan entered on a mobile terminal or the like is connected to a computer installed in the house. Or the like can be transmitted.

  The camera 3 is provided on the ceiling or the like, and can capture an overhead image of the entire room. It is also preferable to shoot from various directions by providing a plurality of cameras so that an object in the room can be detected. In addition, when the place where the housework robot 2 performs housework covers a plurality of rooms, it is preferable to provide the camera 3 for each room.

FIG. 2 is a diagram illustrating a hardware configuration of the housework plan creation support apparatus 1. The housework plan creation support apparatus 1 has the same configuration as an ordinary computer, and includes a CPU (central processing unit) 10, a main memory 11 such as a RAM, a housework robot 2 and a communication processing unit 12 for communicating with other computers. A storage unit 13, an input unit 14, and an output unit 15. The communication processing unit 12 communicates with other computers and the housekeeping robot 2 via a network, a line such as a cable, or a wireless link. The storage unit 13 stores an operating system (OS) and application programs (housework plan creation support program). The input unit 14 is a means for inputting information to the CPU 10, and includes a device such as a keyboard, a mouse, and a touch panel, and a device that reads information from a storage medium such as a memory card and a DVD-ROM. The output unit 15 is a means for outputting the processing result, and includes a display device that displays the processing result, a printer that prints data, and the like. The CPU 10 functions as each functional unit described below by reading the OS and application programs from the storage unit 13 into the main memory 11 and executing the read OS and application programs.

The household robot 2 may be any robot as long as it can receive instructions from the housekeeping plan creation support apparatus 1 and can operate according to the instructions. For example, iRobot's iRobot Roomba (registered trademark) and iRobot Create (registered trademark), or WowWee's Rovio (registered trademark) can be used for commercially available products. In this embodiment, these housework robots are employed. Roomba is a robot that moves and cleans (suctions) through a room containing obstacles. Create is a robot that removes the function of the vacuum cleaner from Roomba and can be equipped with an arm or camera as an option. Roomba and Create can communicate with a computer via Bluetooth (registered trademark), and can be controlled by an API (Application Programming Interface). Rovio is a mobile robot with a camera that can be controlled via an HTTP-based remote control API.

  In this embodiment, iRobot Roomba is used to execute the vacuum cleaner task, iRobot Create is used to execute the mop / object movement task, and WowWee Rovio is used to execute the camera shooting. In addition, the housework robot which performs a housework task is not restricted to these, You may employ | adopt arbitrary things.

<Configuration of housework plan creation support device>
FIG. 3 is a diagram showing detailed functional blocks of the housework plan creation support apparatus 1. FIG. 4 is a diagram showing a user interface (screen display) in the housework plan creation support apparatus. A room image is displayed on the room image display screen 40. The user selects the type of housework task from the tool selection screen 50 and inputs an area in which the housework task is executed on the room image display screen 40. In addition, the time when the housework task is executed is input on the scheduler screen 70. If necessary, additional information for executing the housework task can be input from the property selection screen 60. Thus, the input of one housework task is performed by inputting the type, location, and time. Each housework task is displayed with its execution area superimposed on the room image. By adopting a layer mechanism, display / non-display can be switched for each task.

  Hereinafter, each functional unit of the housekeeping plan creation support apparatus 1 illustrated in FIG. 3 will be described with reference to the screen display illustrated in FIG. 4.

[Room image acquisition unit]
The room image acquisition unit 101 acquires a room image taken by the camera 3. The image acquired by the room image acquisition unit 101 is displayed by the housework plan input interface unit 103 (room image display screen 40 in FIG. 4). On the room image display screen 40, the user inputs an area for performing the housework task. Since the room image when the user inputs the housework task is preferably an overhead image, it is preferable to acquire the overhead image from the camera 3 provided on the ceiling.

[Object detection unit]
The object detection unit 102 is a functional unit that detects an object in the room, the housework robot 2, and the like, and detects an object from a captured image of the camera 3. In order to detect an object by the object detection unit 3, a plurality of (for example, eight) cameras 3 are provided on the ceiling to photograph the object three-dimensionally. Note that a room image to be presented to the user may be taken by a camera, and information for object detection may be obtained by a sensor using radio waves, ultrasonic waves, or the like. In order to detect an object, it is necessary to register the shape of the object in advance. At this time, the attribute of each object (whether it can be moved or the like) can be registered in association with the information. It can also be recognized automatically. Then, when displaying the overhead image on the room image display screen 40, an icon corresponding to the detected object is displayed as necessary.

[Housework plan input interface]
The housework plan input interface unit 103 is a GUI for allowing the user to input a housework plan or presenting the input housework plan to the user. The input housework task is stored in the housework task storage unit 104. The housework plan input interface unit 103 has a function of displaying a bird's-eye view image of a room into which a housework plan is input, a function of inputting and displaying a type / execution area / execution time of a housework task, a function of switching input layers, and a display layer. It has a function to switch. Specific examples of GUI are shown in FIGS.

1. Room Image Display Screen The room image display screen 40 displays a bird's-eye view image of a room into which a housework task is input. Here, the displayed image may be an image taken by the camera 3 as it is, or an object (furniture, etc.) may be displayed as an icon based on an object detection result or the like. In addition, when creating a housework plan for a plurality of rooms, the image displayed on the room image display screen 40 is switched by switching the room in which the housework task is input.

  The room image display screen 40 is also used to input a place where housework is performed when the user inputs a housework task. That is, the place where the housework task is executed is drawn as if a sketch is drawn on the room image. Thus, the room image display screen 40 also has a function as a housework task execution area input unit. Note that the place where housework is executed is a concept that differs depending on the housework task that has been input, and thus the information received by the housework plan input interface unit 103 also differs depending on the housework task. For example, in the case of a mop or vacuum cleaner task, an input of an area to be moped or vacuumed is received (FIG. 5). In the case of a task for moving an object, it is also preferable to accept at least the original position of the object to be moved and the position of the target to be moved as input, and also accept information about the movement route as input (FIG. 7). Further, in the case of a task for taking a picture of a camera in a room, the location and direction in which the picture is taken are accepted as input (FIG. 8). Thus, the input method of the place where a housework is performed can be suitably changed according to the kind of housework task.

2. Tool selection screen The tool selection screen 50 is used to specify the type of housework task to be input. As for the types of housework tasks, an appropriate unit is defined as one type in consideration of user convenience. In FIG. 4, mop hook 51, vacuum cleaner hook 52, gripping and moving 53, pressing and moving 54, and camera shooting 55 are defined and displayed as types of housework tasks. In addition to these tasks, tasks that can be performed by the housework robot, such as washing and cooking, can be defined as housework tasks. The user can designate the type of housework task to be input by selecting an icon corresponding to the housework task on the tool selection screen 50.

  The user designates the type of housework task to be input on the tool selection screen 50, and then makes an input such as drawing a sketch on the room image display screen 40, and inputs the place where the designated housework task is executed. Do.

3. Property selection screen The property selection screen 60 is used to input additional information (property) indicating how to perform the housework task. A property can be selected by selecting an icon displayed on the property selection screen 60. Here, execute carefully, execute urgently, set the camera elevation angle to 0 degrees, 30 degrees, 60 degrees, avoid specific objects and areas, increase resources (number of robots) allocated to housework tasks・ Additional information such as reduction can be selected. Note that the properties that can be specified vary depending on the type of housework task. Therefore, the type of property to be displayed or selectable is changed according to the type of housework task being input.

4). Scheduler screen The scheduler screen 70 is used to input the time at which the housework task is executed. The scheduler screen 70 includes a time input screen 71 and a date input screen 72. The user specifies the date on which the housework task is executed on the date input screen 72, and specifies the time on which the housework task is executed on the time input screen. In specifying the time at which the housework task is executed, only the start time may be input, and the end time may be calculated by the housework plan creation support apparatus 1. Further, the user may input both the start time and the end time. In addition, the user may be allowed to input a setting that the housework task is performed regularly (for example, every day, every week, or a specified day of the week). Further, it is possible to input an instruction to immediately execute the housework task on the scheduler screen 70 without inputting the time at which the housework task is executed.

5. Layer Dialog In this embodiment, a part of information (household task type, execution area, property, etc.) about the inputted housework task is displayed on the room image display screen 40 so as to overlap with the room image. One housework task is handled as one layer. The layer dialog 80 is a screen for managing these layers (housework tasks).

  In the example of FIG. 4, five housework tasks have already been input, and information about the layers corresponding to each of them is shown on the layer dialog. The layer dialog 80 displays a housework task name 81 that can be arbitrarily set by the user, and a thumbnail image 82 of an image obtained by superimposing a room image and an execution area.

  For the housework task selected as the display layer in the layer dialog 80, the execution area of the housework task is displayed on the room image display screen 40 so as to overlap the room image. At this time, the execution area is displayed as an image 41 in which the boundary line and the inside thereof are filled. The execution area image 41 is displayed in a different color depending on the housework task. This color is also reflected in the thumbnail image 82 of the layer dialog 80. Therefore, the user can easily visually identify what housework tasks have already been input.

  Further, it is possible to switch housework tasks to be input using the layer dialog 80. By designating one layer on the layer dialog 80, the housework task corresponding to the layer becomes the target of editing. When adding a new housework task, a new housework task can be input by adding a new layer (housework task) and selecting the added layer.

  In addition, the layer dialog 80 can be used to allow the user to select a layer (housework task) to be displayed. The housework task specified as the display layer is displayed superimposed on the room image display screen 40. In the present embodiment, the display / non-display of the layer and the input target layer can be set individually, but only the input target layer may be displayed and the other layers may be hidden.

6). Specific Example of Housework Task Input Method Hereinafter, a specific housework task input method will be described with reference to FIGS.

-Input method of mop / vacuum task First, a case where a housework task such as mop or vacuum cleaner that needs to specify an area to be executed is input will be described with reference to FIG. . When an area is designated on the room image display screen 40 like a mop or vacuum cleaner, as shown in FIG. 5, a method in which the user moves the mouse to designate an area boundary 42, so-called so-called “lasso”. A region can be input by a tool (or free selection) method. Further, for example, the input start position and the input end position may be designated as a rectangular area having diagonal vertices (rectangular area selection). Further, an area may be added or an area to be excluded may be designated in a state where an area has already been selected. Further, when the shape of the object is recognized by the object detection unit 102, a method (automatic selection) may be employed in which the entire object at the position is input only by selecting a certain point.

  In the present embodiment, the properties of “Caution”, “Urgent”, “Avoid”, “+”, and “−” can be designated for the task of mop and vacuum cleaner. The “Caution” property is an instruction to perform carefully so as not to damage or destroy furniture. The “urgent” property is an instruction to perform quickly. The “+” and “−” properties are instructions to increase or decrease the resources allocated to the task, respectively, and typically mean to increase or decrease the number of domestic robots that execute the task. The interpretation of properties (conversion to commands for household robots) can be designed as appropriate. For example, the “+” and “−” properties may be assigned to a housework task by changing the type of housework robot assigned to the task and increasing resources.

  In the example of FIG. 6, it is displayed that the property “avoidance” is specified, and the object to be avoided is the object 43. This input is performed by selecting the object 43 on the room image display screen 40 after selecting the “avoidance” property 66 on the property selection screen 60. The fact that the property “avoidance” is designated is that the “avoidance” 66 is highlighted on the property selection screen and the icon 44 corresponding to the property “avoidance” is displayed on the room image display screen 40. Is presented to the user. On the room image display screen 40, an area to be avoided is also displayed.

-Object moving task input method In the case of a task for moving an object, as shown in FIG. 7, by dragging the movable object in the room image with the mouse, the original position of the object to be moved, the target after the movement A position and a movement route can be specified. Since the object detection unit 102 detects a movable object in the room, when the object movement task is selected, the object is displayed as a movable icon on the screen. In this way, input by dragging the mouse becomes possible. The original position, target position, and movement path of the object are displayed as a locus 45 on the room image display screen 40.

  In the present embodiment, the properties of “attention”, “urgent”, “+”, and “−” can be specified for the object movement task. In the example of FIG. 7, the property “Caution” is designated. This input is performed by selecting the “Caution” property 61 on the property selection screen 60. In addition, the fact that the “attention” property is specified for this housework task corresponds to the fact that “attention” 61 is highlighted on the property selection screen and the property “attention” on the room image display screen 40. The icon 46 to be displayed is displayed to the user.

-Camera Shooting Task Input Method In the case of a camera shooting task, as shown in FIG. 8, information indicating from which point the shooting is performed and in which direction the shooting is performed is input. In FIG. 8, information regarding the location of the camera shooting task is input by inputting a straight line 47 by dragging the mouse. However, the shooting point and the angle of view may be input as a straight line bent at the shooting point so that the angle of view of the camera can be specified, or may be input as a fan shape that requires the shooting point.

  In this embodiment, properties of “0 °”, “30 °”, and “60 °” can be specified for the camera shooting task. These are properties for designating the elevation angle in camera photography. In the example shown in FIG. 8, the property “30 °” is designated. This input is performed by selecting the “30 °” property 64 on the property selection screen 60. The fact that the “30 °” property is specified for this housework task means that the property “30 °” is highlighted on the property selection screen 60 and the property “30” on the room image display screen 40. The icon 48 corresponding to “°” is displayed and presented to the user.

7). Other Functions of Housework Plan Input Interface The housework plan input interface unit 103 may limit the range of values that can be input as the time at which the housework task is executed. For example, the execution order (context relationship) of a plurality of housework tasks may be stored as a constraint, and only input in accordance with such a constraint may be permitted. That is, if the housework task that is currently being input is one of the housework tasks that are subject to restrictions, and other housework tasks that correspond to the restrictions are already stored in the housework task storage unit 104, this input has been completed. Allow input of housework execution time that satisfies constraints with other housework tasks.

  For example, it is assumed that the housework plan creation support apparatus 1 stores a restriction that a mop hanging task is performed after a vacuum cleaner task between a vacuum cleaner task and a mop task. Then, consider a situation in which a mop hanging task is input in a state where it is specified that the vacuum cleaner task is performed from 11:00 to 12:00. In this case, since it can be understood from the restriction that the mop-hanging task should be performed after 12:00 when the vacuuming task is finished, the time before 12:00 cannot be selected on the scheduler screen 70 as shown in FIG. Is displayed. Of course, it is possible to select a time before 12:00. In that case, as shown in the figure, the user is cautioned not to select a time before 12:00, or the user selects a time before 12:00. In some cases, it is preferable to adopt a method such as confirmation.

  In the above, editing of each housework task has been described. However, a plurality of housework tasks may be collectively stored in the housework task storage unit 104 as a task set. By reading such a task set, one task set can be used repeatedly. Here, for each of the housework tasks constituting one task set, the task type, execution location, and execution time are stored. As for the execution time, the date is omitted and only the time is stored.

[Command creation section]
The command creation unit 105 is a functional unit that creates a command to be given to the housework robot 2 from the housework tasks stored in the housework task storage unit 104. FIG. 10 illustrates a storage unit that the command creation unit 105 includes and stores a type of housework task and a command (script) transmitted to the housework robot 2 in association with each other. FIG. 10A shows an example in which one household task type is performed by one robot. A command is prepared for each type of task, and an operation as input by the user is realized by giving an execution area, an execution time, and the like as parameters.

FIG. 10B shows an example of a storage unit that stores the types of housework tasks and commands transmitted to the housework robot 2 when one housework task is realized by a plurality of robots. In this example, the “laundry” task is realized as four child tasks. For each task, which house robot is given which command is given under what condition (start condition) is stored. When one task is realized as a plurality of child tasks, execution of one child task may be conditional on the end of another child task. Therefore, a start condition is provided, and the child task is executed when the condition is satisfied. In the example of FIG. 10B, the child tasks 1 and 2 are started immediately, but the child task 3 is started when the child tasks 1 and 2 are finished, and the child task 4 is finished with the child task 3. Start at the point.

[Consistency verification section]
Note that before the command creation unit 105 converts the housework plan into a command, the consistency verification unit 106 verifies whether or not there is a conflict between housework tasks in the input housework plan. Here, the conflict means a case where inconvenience occurs when the housework robot 2 is operated according to the inputted housework plan, or a case where the housework robot 2 cannot be operated along the housework plan. For example, when the consistency verification unit 106 stores housework tasks that cannot be executed simultaneously and the housework plan is created so that the housework tasks are executed in the same area at the same time, a conflict occurs. It can be judged. In addition, when there are a plurality of housework tasks designated to be executed at the same time, it is determined that a conflict has occurred even if the resources for executing all these housework tasks, that is, the housework robot 2 is not sufficient. can do. Further, when a restriction is imposed on the housework task, it may be determined whether or not there is a conflict by verifying whether or not the restriction is satisfied. Examples of constraints include the executable area / executable time of housework tasks, the execution order among a plurality of housework tasks, and the like.

[Command transmission section]
The command transmission unit 107 transmits the command created by the command creation unit 105 to the household robot 2 targeted. The command transmission unit 107 transmits the command by an appropriate communication method according to the housework robot 2 to which the command is transmitted.

<Operation / Effect of this Embodiment>
In the present embodiment, the housework task employs a method of inputting a housework task by drawing a sketch on a room image after selecting the type of housework task. Such an input method is easy to understand intuitively. Further, since each housework task is managed as a layer and editing and display can be set for each housework task, the user can easily manage the housework task. In the housework task display, an image representing the housework execution area and the like is displayed superimposed on the room image. Here, since the image representing the execution area or the like is displayed in a different color for each type of task, each housework task can be easily grasped. Furthermore, in the layer dialog, for each layer (housework task), a thumbnail of the image in which the room image and the execution area are superimposed is displayed, and the image of this execution area is also colored according to the task type. The user can easily determine what housework tasks have already been entered by looking at the layer dialog.

  In this embodiment, each housework task is managed as a layer, and a plurality of housework tasks can be input. Here, since a plurality of housework tasks can be input with a unified interface, it is easy for the user to understand.

  Also, when entering housework tasks, the user needs to be aware of the logical unit of housework tasks, and it is not necessary to be aware of individual robots, so even users who are not familiar with housework robots feel inconvenience There is nothing.

<Others>
The above description is an example for explaining the present invention, and the present invention should not be construed to be limited to the above description. The above embodiments can be variously modified within the scope of the technical idea of the present invention. For example, it can be easily understood that the graphical user interface shown in the drawings and the like can be variously modified. Further, the types of housework tasks are not limited to the above-exemplified classifications, and various classifications are possible. Further, the housekeeping robot is not limited to the one exemplified above. In particular, in the above explanation, only robots that can be driven by wheels are introduced, but robots that move on an endless track, biped or multi-legged, or that do not have moving means are adopted as devices for housework execution. You may do it. In recent years, a computer system called home automation or intelligent house, which can control various facilities (lighting, air conditioner, door, window, security system, etc.) of a house has been studied. Such a system can also be regarded as a housework robot (housework execution device). It can also be easily understood that a dedicated sensor can be used for object detection. It is possible to use not only cameras but also object position recognition by RTLS (Real Time Location System) using short-range radio communication.

DESCRIPTION OF SYMBOLS 1 Housework plan creation support device 2 Housework robot 3 Camera 40 Room image display screen 50 Tool (housework task type) selection screen 60 Property selection screen 70 Scheduler 80 Layer dialog

Claims (14)

A housekeeping plan creation support device that supports creation of a housework plan including a plurality of housework tasks for a plurality of housework execution devices,
Image display means for displaying an image of a place to be housed;
A type input means that allows the user to input the type of housework task to be executed;
A place input means that allows the user to input the place where the housework task is performed on the image;
A time input means by which a user can input the time at which the housework task is performed;
Housework task storage means for storing information about housework tasks input by the type input means, the place input means, and the time input means;
For each housework task stored in the housework task storage means, a housework task display means capable of displaying the place where the housework task is performed as an image layer superimposed on an image of the place where the housework is to be performed; ,
Housekeeping plan creation support device equipped with. For each housework task stored in the housework task storage means, it is possible to select whether to display the housework task image layer by the housework task display means,
The housework plan creation support apparatus according to claim 1. The type input means, the place input means, and the time input means can edit the type, place and time of the housework task stored in the housework task storage means,
When a plurality of housework tasks are stored in the housework task storage means, the user can specify which housework task to edit by selecting the image layer.
The housework plan creation support apparatus according to claim 1 or 2. The housework task display means displays a place where the housework task is performed in a color according to the type of housework task,
The housekeeping plan preparation assistance apparatus in any one of Claims 1-3. The housework plan creation support device according to any one of claims 1 to 4, wherein the housework task display means graphically displays a time at which each housework task is performed for the housework tasks stored in the housework task storage means. The type input means can also input additional information determined according to the input task.
The housekeeping plan preparation assistance apparatus in any one of Claims 1-5. Verification means for judging whether or not there is a conflict between housework tasks stored in the housework task storage means;
The housework plan creation support apparatus according to any one of claims 1 to 6. A constraint storage means for storing a temporal context in which a plurality of housework tasks should be executed;
The type of housework task input to the user by the type input means is one of housework tasks stored in the constraint storage means, and other housework tasks whose context has been determined are stored in the housework task storage means. If stored, the time input means is input to the user within a range satisfying the restriction based on the time when the other housework task is performed and the context stored in the restriction storage means. Allows you to enter the time at which the housework task is performed,
The housework plan creation support apparatus according to any one of claims 1 to 7. The housework task stored in the housework task storage means is further converted to a command for a housework execution device for performing housework, and further includes a transmission means for transmitting to the housework execution device.
The housework plan preparation assistance apparatus in any one of Claims 1-8. The housework task is executed by a plurality of housework execution devices,
The transmission means converts a housework task into a command for a plurality of housework execution devices, and transmits the command to a plurality of housework execution devices.
The housework plan creation support apparatus according to claim 9.   A housework task list display means for selectively displaying a list of housework tasks stored in the housework task storage means;
  The housework task selected in the housework task list display means is displayed by the housework task display means and becomes an input target by the type input means, the place input means, and the time input means.
  The housekeeping plan preparation assistance apparatus in any one of Claims 1-10.   The housework task list display means displays, for each housework task stored in the housework task storage means, a thumbnail image of an image obtained by superimposing an image of a place where the housework task is performed and a place where the housework is performed. indicate,
  The housework plan creation support apparatus according to claim 11. Computer
An image display step for displaying an image of a place to be housed;
A type input step for accepting input from the user of the type of housework task to be executed;
A place input step of accepting an input of a place where the housework task is performed from a user on the image;
A time input step of accepting an input of a time at which the housework task is performed from a user;
A housework task storage step of storing in a storage means information about the housework task input by the type input step, the place input step, and the time input step;
For each housework task stored in the storage means, a housework task display step of displaying the place where the housework task is performed as an image layer superimposed on an image of the place to be housed,
A housework plan creation support method. On the computer,
An image display step for displaying an image of a place to be housed;
A type input step for accepting input from the user of the type of housework task to be executed;
A place input step of accepting an input of a place where the housework task is performed from a user on the image;
A time input step of accepting an input of a time at which the housework task is performed from a user;
A housework task storage step of storing in a storage means information about the housework task input by the type input step, the place input step, and the time input step;
For each housework task stored in the storage means, a housework task display step of displaying the place where the housework task is performed as an image layer superimposed on an image of the place to be housed,
A housekeeping plan creation support program.

Images