JP4886572B2 - robot - Google Patents

Description

  The present invention relates to a robot that executes a predetermined task, and more particularly to a robot that can move autonomously.

  Conventionally, movable robots are known (see, for example, Patent Document 1 and Patent Document 2). The robot described in Patent Document 1 is for management that manages a plurality of robots in a task execution area that indicates an area where various operations such as luggage transportation operations and guidance operations (hereinafter collectively referred to as “tasks”) are performed. A task is executed under the control of a computer. This robot waits until a new task is assigned from the management computer.

The pet-type robot described in Patent Document 2 is hit or touched or inputs voice when taking a curiosity approaching the current interest of visual recognition or touching with a limb. When there is a chance, the line of sight is changed in the direction of the new object of interest. When such a trigger occurs, the pet-type robot takes a curious behavior toward the person with the higher degree of interest between the current interest object and the new interest object. This pet-type robot is defined by a function whose interest level decays with time so that it gets bored with the object of interest with time.
Japanese Patent Laying-Open No. 2006-106919 (paragraph 0018, FIG. 1) JP 2001-179666 (paragraph 0027 to paragraph 0038, FIG. 2)

However, since the robot described in Patent Document 1 waits until a new task is assigned when it does not have a task to be executed at present, the robot having no task to be executed is made effective. It cannot be used. Therefore, for example, it is demanded that a waiting robot communicate with a human.
Further, the pet type robot described in Patent Document 2 takes a curiosity action that a pet or an infant performs in response to an object working from the outside, and cannot act actively. There was a problem that the task could not be performed.

  Therefore, an object of the present invention is to provide a robot that can solve the above-described problems and can actively act when there is no task to be executed at present.

The present invention has been made to achieve the above-mentioned object, and the robot according to claim 1 of the present invention is to execute a predetermined task and target detection means for detecting a target object. An action plan management means for managing the action plan of the object, wherein the existing information relating to the object set in advance or the past action performed on the object is digitized, and the object is As a motivation index indicating the degree of feasibility of the next action to be performed on the object, an elapsed time index related to a time elapsed from the most recent action of the robot with respect to the object, and a past action of the robot with respect to the object motivation finger to calculate a simple sum linear sum or the sum of the elapsed time index and the behavior index Te weights, the behavior index for the number and behavior time A calculation unit, and motivation index storage means for storing the motivation index the calculated for each of the object, and the internal state detecting means for detecting a predetermined signal value indicating the internal state of the robot, the detected signal value Determining whether or not the internal state of the robot is in a state that interferes with the next action by determining whether or not the internal state is smaller than a predetermined threshold; A task discriminating unit for discriminating whether or not the current task to be executed is possessed when the current task is not disturbed, and the motivation index storage unit when the current task to be performed is not possessed The motivation index discriminating means for selecting an object having a motivation index higher than a predetermined value, and the motivation index discriminating means. Then performs a action plan additional means for adding an action plan to an object, the motivation index calculating means, when the object is selected in the motivation index determination means, of the selected object Each of the motivation indices stored in the motivation index storage means is updated by decreasing the motivation index and increasing the motivation index of other objects not selected at that time .

  According to such a configuration, when the robot is not in a state in which the internal state of the robot interferes with the action and does not have a task to be executed at the present time, the robot plans to add the object based on the motivation index by the action plan adding unit. The action plan to be performed next is added. Here, the state in which the internal state interferes with the action refers to a case where a predetermined signal value indicating the internal state of the robot is smaller than a predetermined threshold value. Here, the predetermined signal value includes, for example, a physical quantity indicating an internal operating environment such as a signal indicating a remaining battery level, a current value or a voltage value indicating a motor drive signal, and temperature or humidity. The object is, for example, a person or a place. In addition to the action approaching the object itself, the action plan to be performed next to the object is, for example, an information source having information about the object, an action approaching a specific place where people gather, such as a lobby or a resting place. The action which approaches is included.

  A robot according to a second aspect is the robot according to the first aspect, wherein the internal state is a remaining battery level, and the internal state determination unit has a signal value indicating the remaining battery level. It is characterized in that it is determined whether or not it is smaller than the threshold value.

  According to this configuration, the robot determines that the behavior is hindered when the remaining battery level is smaller than the predetermined threshold value. On the other hand, the robot adds an action plan to be performed next to the target object when the remaining battery level is greater than a predetermined threshold and does not have a task. Therefore, the robot can exclude the action plan for supplying the battery from the action plan to be added.

  According to a third aspect of the present invention, there is provided the robot according to the first or second aspect, wherein the object is a human and a person information storage means for storing a topic preferred by a predetermined person. And voice recognition means for recognizing the voice of the person input to the voice input means, and voice output means for outputting voice based on the predetermined topic preferred by the person and the voice recognition result. It is characterized by.

  According to such a configuration, the robot selects a person based on the motivation index when the internal state of the robot is not in a state that hinders the action and does not have a task to be executed at present. Add actions to meet and communicate as action plans. In addition, by outputting voices of topics that are preferred by the person who met, the person can feel familiar with the robot.

The robot according to claim 4 is the robot according to claim 1, wherein the motivation index calculating means, when the object is selected in the motivation index discriminating means, other objects that have not been selected When the motivation index of an object is increased, the motivation index is increased earlier for an object having a larger number of times selected by the motivation index discriminating means .

  According to this configuration, the robot adds an action plan based on the motivation index calculated based on the elapsed time index and the action index. Here, when there are a plurality of candidate objects to which an action plan is to be added, the value of the motivation index differs for each object. Therefore, by using the motivation index based on the elapsed time index and the action index, it becomes easy to determine which object the action plan should be prioritized.

  The robot according to claim 5 is the robot according to claim 4, wherein the elapsed time index is set in proportion to the amount of time that has elapsed since the most recent action of the robot, An index is set in proportion to the number of past actions of the robot and the magnitude of the action time, the motivation index is the sum of the elapsed time index and the action index, and the action plan adding means includes: An action plan to be performed next is added to the object having the largest motivation index.

  According to this configuration, the robot adds an action plan to be performed next to an object having the largest motivation index. Here, the object with the largest motivation index is an object that, when the robot is anthropomorphic, the greater the elapsed time index, the more retroactive the object, and the greater the action index, the more intimate with the object. It is a thing. Therefore, the robot can select, for example, a person with high nostalgia or a person with high intimacy from among a plurality of people who are acquainted as if they were humans.

  A robot according to a sixth aspect is the robot according to any one of the first to fifth aspects, wherein the moving means of the robot and a self-position detecting means for detecting the current position of the robot. And map data storage means for storing map data; and storage means for storing position information of the object, wherein the action plan adding means is based on the map data and the position information of the object. A movement plan from the detected current position of the robot to the position of the object is added as the action plan.

  According to this configuration, the robot can move to a location where the target object selected based on the motivation index is located. Here, the moving means is, for example, a means capable of walking on multiple legs such as two legs or traveling on two or more wheels if it is land movement. The self-position detecting means is, for example, a GPS receiver.

According to the first aspect of the present invention, the robot can act actively when it does not have a task to be executed while giving priority to its own maintenance and task execution.
According to the second aspect of the present invention, the robot can add an action plan to be performed next to the object when the remaining battery level is sufficient and the robot does not have a task.
According to the third aspect of the present invention, the robot can interact using the topic preferred by the person to be identified.

According to the fourth aspect of the present invention, when there are a plurality of candidate objects, the robot can easily determine which object should be given priority on the action plan.
According to the fifth aspect of the present invention, the robot can select a target person having a high degree of retrospectiveness or a target person having a high degree of intimacy from among a plurality of target object candidates.
According to the invention described in claim 6, the robot can meet the object by moving to the position of the selected object.

  Hereinafter, the best mode for carrying out the robot of the present invention (hereinafter referred to as “embodiment”) will be described in detail with reference to the drawings. First, an overall configuration of a robot control system A including a robot according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a diagram schematically showing a configuration of a robot control system including a robot according to an embodiment of the present invention.

(Configuration of robot control system A)
As shown in FIG. 1, a robot control system A includes a robot R, a base station 1 connected to the robot R by wireless communication, and a management computer connected to the base station 1 via a robot dedicated network 2. 3 and a terminal 5 connected to the management computer 3 via a network 4.

As shown in FIG. 1, the robot control system A has a plurality of robots R _A , R _B , and R _C having a moving function (however, when a robot is not specified, it is simply referred to as a robot R). Each robot R executes a task in accordance with a task execution plan (task schedule) preset for each robot R in the management computer 3.

Here, an autonomous mobile biped robot will be described as an example.
The robot R executes a task in accordance with an execution command input from the management computer 3, and at least one robot R is arranged in a task execution area set in advance as an area where the robot R executes the task.
Here, FIG. 1 shows a robot _RA that is executing a task (guidance task) that guides a visitor to a predetermined place such as a conference room, and a task (package) that delivers a package to a person. A robot R _B executing the delivery task) and a robot R _C waiting until a new task is assigned are illustrated.

  As shown in FIG. 2, the robot R has a head R1, an arm R2, a leg R3, a torso R4, and a rear housing R5. The head R1, the arm R2, and the leg R3 are: Each is driven by an actuator, and biped walking is controlled by the autonomous movement control unit 50 (see FIG. 6). Details of this bipedal walking are disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-62760.

  For example, when executing a guidance task, the robot R guides the person H in a predetermined guidance area (a movement area such as an office or a corridor). Here, the robot R detects whether or not the person H having the tag T exists in the peripheral area by transmitting light (for example, infrared light, ultraviolet light, laser light, etc.) and radio waves to the surroundings. Then, the position of the detected person H is specified and approached, and based on the tag T, personal identification as to who the person H is is performed. The tag T receives infrared light and radio waves emitted from the robot R to specify the position (distance and direction) of the person. The tag T generates a reception report signal including a tag identification number based on the signal indicating the light receiving direction included in the received infrared light and the robot ID included in the received radio wave, and returns it to the robot R. To do. The robot R that has received the reception report signal can recognize the distance and direction to the person H wearing the tag T based on the reception report signal, and can approach the person H.

  When the robot R autonomously moves within the guidance area to execute a certain task (for example, a guidance task or a package delivery task), the robot R irradiates laser slit light or infrared rays to search for a road surface state or a mark on the road surface. It is supposed to be. In other words, the robot R knows where the robot is moving in the moving area, and when in the normal moving area, the robot R irradiates the road surface with laser slit light to check for road steps, swells, and obstacles. When the mark M is within the installation area of the mark M, the mark M is detected by irradiating the road surface with infrared rays, and the self position is confirmed and corrected. Here, the mark M is a member made of a reflective material that recursively reflects infrared rays, for example. The mark M has position data, and the position data is stored in the storage unit 30 (see FIG. 6) in a form included in the map data. Note that the map data includes position data of a mark placed at a specific location in the guidance area, and data related to a mark placement area in which the position data has a predetermined width (range). The mark M installation area refers to an area within a predetermined distance from the mark M. For example, a circular area having a radius of 1 to 3 m around the mark M, or 3 m before the mark M (robot side). It is arbitrarily set like a rectangular area.

Returning to FIG. 1, the description of the configuration of the robot control system A will be continued.
The base station 1 mediates data exchange between the robot R and the management computer 3.
Specifically, the base station 1 transmits an execution command output from the management computer 3 to the robot R, and also transmits data (status information) on the state of the robot R transmitted from the robot R and the execution command from the robot R. Is received and a signal (reception report signal) is received and output to the management computer 3.
At least one base station 1 is provided in the task execution area in order to ensure data exchange between the robot R and the management computer 3.
In addition, when the task execution area is set over several floors of the building, it is preferable to be provided for each floor. When one base station 1 cannot cover all the task execution areas, A plurality of base stations 1 are preferably provided in the task execution area.

  The robot dedicated network 2 connects the base station 1, the management computer 3, and the network 4, and is realized by a LAN (Local Area Network) or the like.

  The management computer 3 manages a plurality of robots R, and performs various controls such as movement and speech of the robot R via the base station 1 and the robot dedicated network 2 and information necessary for the robot R. I will provide a. Here, the necessary information corresponds to the name of the detected person, a map around the robot R (local map), and the like. These pieces of information are stored in the storage unit 3a of the management computer 3. ing.

  FIG. 3 is a diagram showing an example of a local map used in the robot system shown in FIG. Here, as shown in FIG. 3, the guide area 301 is a rectangular area on the floor where the building is located. The robot R or a person to be guided by the robot R enters the guide area 301 through the passage 303 outside the entrance / exit 302 of the guide area 301. A hall 304 extends inside the entrance / exit 302, and a reception 305 is disposed in the back corner of the hall 304, and a plurality of conference rooms 306 (306a, 306b) partitioned as private rooms on the wall side of the guide area 301 are provided. , 306c). The reception 305 includes an L-shaped counter table 305a and a counter space 305b in which reception staff are arranged. The base station 1 is installed in the counter space 305b. The management computer 3 includes a local map (local map data) in which information on local maps such as passages and rooms is registered in association with position coordinate data, and a global map that is map information of a task execution area in which the local maps are accumulated. Are stored in the storage unit 3a (see FIG. 1).

Further, the management computer 3 holds a task information database that stores information (task data) related to tasks to be executed by the robot R in the storage unit 3a (see FIG. 1).
As shown in FIG. 4, the task information database 400 includes a task ID that is a unique identifier assigned to each task, a task priority, a task importance, a robot ID that is an identifier of a robot that executes the task, Contents of tasks such as guidance and transportation (package delivery), the position where the task starts within the task execution area (start position), the position where the task ends within the task execution area (end position), and the time required to execute the task ( Time required), scheduled task start time (start time), scheduled task end time (end time), task status, and the like are included as information items.

The management computer 3 sets an execution plan (task schedule) for tasks to be executed by the robot R for each robot R.
As shown in FIG. 5, the task schedule table 500 includes an execution order of tasks to be executed by the robot R, a task ID for identifying a task registered in the task information database 400 (see FIG. 4), a task priority, It is a table that includes task contents and task status as information items.
In this task schedule table 500, these information items are arranged for each robot R arranged in the task execution area, and what kind of tasks are assigned to each robot R in what order. It is possible to grasp.

Returning to FIG. 1 again, the description of the configuration of the robot control system A will be continued.
The terminal 5 is connected to the management computer 3 via the network 4 and registers information related to a person in the storage unit 3a of the management computer 3 or corrects the registered information. The terminal 5 is used for registering tasks to be executed by the robot R, changing a task schedule set in the management computer 3, inputting an operation command for the robot R, and the like.

  Hereinafter, the robot R will be described in detail.

[robot]
As shown in FIG. 6, in addition to the head R1, the arm R2, the leg R3, the trunk R4, and the rear housing R5, the robot R includes cameras C and C, speakers at appropriate positions of these parts R1 to R5. S, microphone MC, MC, image processing unit 10, audio processing unit 20, storage unit 30, main control unit 40, autonomous movement control unit 50, wireless communication unit 60, battery 70, object detection unit 80, and surrounding state detection unit 90.
Furthermore, the robot R includes a gyro sensor SR1 that detects the direction in which the robot R is facing, and a GPS (Global Positioning System) receiver SR2 that acquires position coordinates where the robot R exists.

[camera]
The cameras C and C are capable of capturing an image of the robot R in the forward movement direction as digital data. For example, a color CCD (Charge-Coupled Device) camera is used. Image information captured by the cameras C and C is output to the image processing unit 10. The cameras C and C are arranged side by side in parallel on the left and right, and the captured image is output to the image processing unit 10. The cameras C and C, the speaker S, and the microphones MC and MC are all disposed inside the head R1. The speaker (sound output means) S can emit a predetermined sound synthesized by the sound processing unit 20.

[Image processing unit]
The image processing unit 10 is a part for recognizing surrounding obstacles and persons in order to process images taken by the cameras C and C and grasp the situation around the robot R from the taken images. The image processing unit 10 includes a stereo processing unit 11a, a moving body extraction unit 11b, and a face recognition unit 11c.
The stereo processing unit 11a performs pattern matching on the basis of one of the two images taken by the left and right cameras C and C, calculates the parallax of each corresponding pixel in the left and right images, and generates a parallax image. The generated parallax image and the original image are output to the moving object extraction unit 11b. This parallax represents the distance from the robot R to the photographed object.

The moving body extraction unit 11b extracts a moving body in the photographed image based on the data output from the stereo processing unit 11a. The reason for extracting the moving object (moving body) is to recognize the person by estimating that the moving object is a person.
In order to extract the moving object, the moving object extraction unit 11b stores images of several past frames (frames), compares the newest frame (image) with the past frames (images), and Pattern matching is performed, the movement amount of each pixel is calculated, and a movement amount image is generated. Then, from the parallax image and the movement amount image, when there are pixels with a large movement amount within a predetermined distance range from the cameras C and C, it is estimated that there is a person, and as a parallax image of only the predetermined distance range The moving body is extracted, and an image of the moving body is output to the face recognition unit 11c.

The face recognition unit 11c extracts a skin color portion from the extracted moving body, and recognizes the face position from the size, shape, and the like. Similarly, the position of the hand is also recognized from the skin color area, size, shape, and the like.
The recognized face position is output to the main control unit 40 as information when the robot R moves and to communicate with the person.

[Audio processor]
The voice processing unit 20 includes a voice synthesis unit 21a, a voice recognition unit 21b, and a sound source localization unit 21c.
The voice synthesizer 21a is a part that generates voice data from character information (text data) and outputs the voice to the speaker S based on the speech action command determined and output by the main controller 40. For the generation of the voice data, the correspondence between the character information (text data) stored in the storage unit 30 in advance and the voice data is used. The audio data is acquired from the management computer 3 and stored in the storage unit 30.
The voice recognition unit (voice recognition unit) 21 b receives voice data from the microphones MC and MC, generates character information (text data) from the input voice data, and outputs the character information to the main control unit 40. The correspondence relationship between the voice data and the character information (text data) is stored in the storage unit 30 in advance.
The sound source localization unit 21 c specifies a sound source position (a planar position recognized by the robot R) based on the sound pressure difference between the microphones MC and MC and the sound arrival time difference, and outputs the sound source position to the main control unit 40. The sound source position is represented by, for example, a rotation angle θ _z around the direction in which the robot R stands (z-axis direction).

[Memory]
The storage unit (storage means) 30 is composed of, for example, a general hard disk or the like, and stores necessary information (local map data, conversation data, etc.) transmitted from the management computer 3.

[Main control section]
The main control unit 40 controls the image processing unit 10, the sound processing unit 20, the storage unit 30, the autonomous movement control unit 50, the wireless communication unit 60, the target detection unit 80, and the surrounding state detection unit 90. The data detected by the gyro sensor SR1 and the GPS receiver SR2 is output to the main control unit 40 and used to determine the behavior of the robot R. The main control unit 40 includes, for example, control for communicating with the management computer 3, control for executing a predetermined task based on a task execution command acquired from the management computer 3, and the robot R as a destination. In order to perform control for movement, control for identifying a person, and control for interacting with a person, various determinations are made and commands for the operation of each unit are generated.

[Autonomous Movement Control Unit]
The autonomous movement control unit 50 drives the head R1, the arm R2, and the leg R3 in accordance with instructions from the main control unit 40. Although not shown, the autonomous movement control unit 50 includes a head control unit that drives the head R1, an arm control unit that drives the arm R2, and a leg control unit that drives the leg R3. This autonomous movement control part 50 and leg part R3 comprise a moving means.

[Wireless communication part]
The wireless communication unit 60 is a communication device that transmits and receives data to and from the management computer 3. The wireless communication unit 60 includes a public line communication device 61a and a wireless communication device 61b.
The public line communication device 61a is a wireless communication means using a public line such as a mobile phone line or a PHS (Personal Handyphone System) line. On the other hand, the wireless communication device 61b is a wireless communication unit using short-range wireless communication such as a wireless LAN conforming to the IEEE802.11b standard.
The wireless communication unit 60 performs data communication with the management computer 3 by selecting the public line communication device 61 a or the wireless communication device 61 b in accordance with a connection request from the management computer 3.

  The battery 70 is a power supply source necessary for the operation and processing of each unit of the robot R.

[Target detection unit]
The target detection unit (target detection means) 80 detects whether or not there is a person with the tag T around the robot R. The target detection unit 80 includes a plurality of light emitting units 81 (only one is displayed in FIG. 6). These light emitting units 81 are constituted by LEDs, for example, and are arranged on the front and rear, right and left along the outer periphery of the head R1 of the robot R (not shown). The target detection unit 80 transmits infrared light including a signal indicating a light emitting unit ID for identifying each light emitting unit 81 from the light emitting unit 81 and receives a reception report signal from the tag T that has received the infrared light. To do. The tag T that has received any infrared light generates a reception report signal based on the light emitting unit ID included in the infrared light, so that the robot R determines the light emitting unit ID included in the reception report signal. By referencing, it is possible to specify in which direction the tag T exists as viewed from the robot R. Further, the target detection unit 80 has a function of specifying the distance to the tag T based on the radio wave intensity of the reception report signal acquired from the tag T. Therefore, the target detection unit 80 can specify the position (distance and direction) of the tag T as the position of the person based on the reception report signal. Further, the target detection unit 80 not only emits infrared light from the light emitting unit 81 but also transmits a radio wave including a signal indicating the robot ID from an antenna (not shown). Thus, the tag T that has received the radio wave can correctly identify the robot R that has transmitted infrared light. Details of the target detection unit 80 and the tag T are disclosed in, for example, Japanese Patent Application Laid-Open No. 2006-192563.

[Ambient condition detector]
The peripheral state detection unit 90 detects the peripheral state of the robot R, and can acquire self-position data detected by the gyro sensor SR1 and the GPS receiver SR2. The peripheral state detection unit 90 includes a laser irradiation unit 91 that irradiates slit light toward the search region, an infrared irradiation unit 92 that irradiates infrared light toward the search region, and a search region irradiated with slit light or infrared rays. And a floor camera 93. The peripheral state detection unit 90 detects a road surface state by analyzing a slit light image (an image when the slit light is irradiated) captured by the floor camera 93. Further, the peripheral state detection unit 90 analyzes the infrared image captured by the floor camera 93 (image when irradiated with infrared rays) to detect the mark M (see FIG. 2), and the position of the detected mark M The relative positional relationship between the mark M and the robot R is calculated from (coordinates). Details of the peripheral state detection unit 90 are disclosed in, for example, Japanese Patent Application Laid-Open No. 2006-167844.

[Configuration of main controller]
FIG. 7 is a block diagram showing the configuration of the main control unit of the robot shown in FIG.
The main control unit 40 includes a stationary obstacle integration unit 41, an object data integration unit 42, an action pattern unit 43, a gesture integration unit 44, an internal state detection unit 45, an action plan management unit 46, and a motivation management unit. 47.

  The stationary obstacle integration unit 41 integrates information related to the peripheral state of the robot R detected by the peripheral state detection unit 90 and outputs the information to the behavior pattern unit 43. For example, when the stationary obstacle integration unit 41 detects an obstacle such as a cardboard box on the floor surface of the path of the robot R or detects a step on the floor surface, the behavior pattern unit 43 is integrated. Based on the obstacle information, a bypass route is searched by a local avoidance module (not shown).

  The object data integration unit 42 integrates identification data (object data) related to the object (object) based on the posture data of the robot R, the input data from the image processing unit 10, the target detection unit 80, and the sound source localization unit 21c. The integrated object data is output to the object data storage means 31 of the storage unit 30. As a result, an object map, which is data in which object data is recorded for each object and for each time, is generated in the object data storage unit 31.

[Composition of object map]
Here, the configuration of the object map stored in the object data storage means 31 will be described with reference to FIG. FIG. 8 is a diagram illustrating an example of object data.
The object map includes a plurality of time-specific data 801 classified by time. Each time data 801 is provided with a count 802 as time information, posture data and camera posture, and a table 803. The posture data is represented by, for example, a face position (x, y, z) and a face direction (θx, θy, θz), and the camera posture is, for example, a rotation angle (pan, tilt, pan, tilt, roll axis) (tilt, role). In this table 803, a target (object) to be identified is arranged in a column, a plurality of items characterizing this object are arranged in a row, and a record is accumulated for each object (for each column). Details of each item will be described below.

The object number 804 is assigned up to M objects in the order in which the robot R detects the objects. In this table 803, eleven (M = 11) objects “0” to “10” can be managed. It is like that.
The body position 805 is position coordinate data output from the image processing unit 10 and is represented by the gravity center position coordinates (x, y) of the person (object) on the coordinate plane recognized by the robot R.
The speed 806 is speed data output from the image processing unit 10 and is represented by the moving speed (Vx, Vy) of the person (object) on the coordinate plane recognized by the robot R.

The person ID 807 is an identification number for identifying a person.
The person accuracy 808 indicates the accuracy of the person ID 807, and is defined as 100% perfect match.
The person life count 809 represents the elapsed time on the object data of the data registered in the person ID 807.

The RFID identification number 810 is an identification number of a person (object) recorded on the tag and is output from the target detection unit 80.
The RFID position 811 is position data output from the target detection unit 80, and is represented by an area determined by the distance and direction to the tag (object) around the robot R.
The RFID accuracy 812 indicates the accuracy of the data (identification number) of the RFID identification number 810.
The RFID life count 813 represents an elapsed time on the object map of data (identification number) registered in the RFID identification number 810.

The sound source position 814 is data output from the sound source localization unit 21c, and is represented by an angle θz of a person (object) speaking on a coordinate plane recognized by the robot R.
The sound source accuracy 815 indicates the accuracy of the data of the sound source position 814.
The sound source life count 816 represents the elapsed time on the object map of the data (position coordinates) registered at the sound source position 814.

The object life count 817 represents a count started when any one of person data, RFID identification data, and sound source identification data is input to an object for the first time.
TOTAL_ID 818 is an object identification number determined by the object data integration unit 42 based on the person ID 807 and the RFID identification number 810.
The TOTAL_accuracy 819 indicates the accuracy of the object identification number determined by the object data integration unit 42 based on the person accuracy 808 and the RFID accuracy 812.

The description of the configuration of the main control unit 40 will be continued with reference to FIG.
The behavior pattern unit 43 stores various programs (modules) for executing a predetermined behavior (behavior pattern) of the robot R, and refers to the storage unit 30 when executing this behavior pattern. It is reflected in the behavior pattern.

  In the present embodiment, as shown in FIG. 7, in addition to the object data storage unit 31, the local map data storage unit 32, the motivation index storage unit 33, the scenario storage unit 34, and the personal information storage are stored in the storage unit 30. Means 35. Note that the storage unit 30 also stores position information of a predetermined person. Here, the position information of the person is information indicating the location of the person, and is created in advance in association with the day of the week, time, or the like, for example.

The local map data storage means 32 stores a map (local map) around the robot R described with reference to FIG. This local map is acquired from the management computer 3, for example.
The motivation index storage means 33 stores a motivation index. Since the motivation index is managed by the motivation management unit 47, details will be described later.

The scenario storage unit 34 stores scenarios (scripts) corresponding to various behavior patterns. The scenario relates to an operation such as stopping a person or an obstacle (object) while walking, 1m before the object, and raising the arm R2 to a predetermined position 10 seconds after stopping. There is something about utterance.
The person information storage means 35 stores topics that a predetermined person likes. In the present embodiment, the person information storage unit 35 systematically stores topics by person and by genre. The topic stored in the person information storage means 35 is used for the speech behavior of the robot R.

  The behavior pattern unit 43 is a module that executes behavior patterns according to various scenes and situations by appropriately using the object data storage unit 31, the local map data storage unit 32, the scenario storage unit 34, and the person information storage unit 35. I have. Examples of the module include a destination movement module, a local avoidance module, a delivery module, a guidance module, a human correspondence module, and the like.

The destination movement module performs route search (for example, search for a route between nodes) and movement from the current position of the robot R to a destination such as a task execution position in the task execution area. This destination movement module obtains the shortest distance to the destination while referring to the map data and the current position.
The local avoidance module searches for a detour route for avoiding an obstacle based on the obstacle information integrated by the stationary obstacle integration unit 41 when an obstacle is detected during walking.

The delivery module executes an operation of receiving (grabbing) an article from a person who requests transportation of the article (client) and an operation of delivering the received article to the recipient (releasing the article).
The guidance module executes, for example, a task for guiding a visitor who has visited a guidance start point in the task execution area to a reception staff in the reception 305 of the guidance area 301 (see FIG. 3).
The person handling module performs, for example, speech, posture change, vertical movement and gripping of the arm R2 based on a predetermined scenario when executing an article transport task or a guidance task.

  The gesture integration unit 44 integrates gestures that are body movements associated with utterances based on a predetermined scenario, and outputs a command to the autonomous movement control unit 50. Gesture by the movement of the head R1, for example, tilting the head R1 downward to display “bowing”, “thanks”, “consent”, “apology”, etc., or tilting the head R1 left and right This includes an action that conveys the intention expression “I don't know”. The gesture by the movement of the arm part R2 is, for example, an action of displaying “joy”, “praise”, etc. by raising the arm part R2, expanding the arm part R2 to the left and right, or shaking hands. This includes an action to convey an expression of “welcome”. The gesture by the operation of the leg portion R3 includes, for example, an operation of transmitting intention indications such as “joy” and “goodness” by running on the spot.

  The internal state detection unit (internal state detection means) 45 detects a predetermined signal value indicating the internal state of the robot R and outputs the detection result to the motivation management unit 47. In the present embodiment, the internal state detection unit 45 detects the remaining amount of the battery 70 as a predetermined signal value. The detected remaining battery level is output to the motivation management unit 47. The internal state detection unit 45 generates data (status information) about the state of the robot R (current position, remaining battery level, task execution status, etc.) at predetermined time intervals, and generates the generated status information as a wireless communication unit. The data is output to the management computer 3 via 60. The management computer 3 registers the input status information for each robot in a robot information database (not shown) stored in the storage unit 3a.

  The action plan management unit (behavior plan management means) 46 manages an action plan for executing various modules included in the action pattern unit 43 according to a predetermined schedule. In the present embodiment, the action plan management unit 46 manages an action plan for executing a predetermined task based on a task execution command acquired from the management computer 3, and is a module necessary for work to be currently executed. Is appropriately selected. The action plan management unit 46 appropriately selects a module necessary for the action plan for the identification target based on an instruction from the motivation management unit 47.

  The motivation management unit 47 manages the motivation index, and instructs the action plan management unit 46 to add an action plan for active action based on the motivation index when there is no task to be currently executed. To do. Here, the motivation index is a measure of the possibility of executing the next action to be performed on the target object by quantifying the existing information on the target object set in advance or the past action performed on the target object. This is an indication. In the present embodiment, the object is a human. The motivation index is determined based on an elapsed time index related to the time elapsed from the most recent action of the robot R on the human and an action index related to the number of past actions of the robot R on the human and the action time.

Specifically, the elapsed time index is set in proportion to the magnitude of the time elapsed from the last action of the robot R, behavior index, the magnitude between the time the number and behavior of the past behavior of the robot R Set proportionally. That is, when the robot R is anthropomorphic, a large elapsed time index means that the person has a high degree of nostalgia, and a large action index means that the person has a high degree of intimacy. By setting in this way, the motivation index can be used to select a highly retrospective person or a highly intimate person from a plurality of known persons. Since the behavior index represents intimacy, hereinafter, the behavior index is referred to as an emotional index.

[Structure of motivation manager]
As shown in FIG. 9, the motivation management unit 47 includes an internal state determination unit 471, a preservation behavior control unit 472, a task determination unit 473, a motivation index determination unit 474, an action plan addition unit 475, and a motivation index calculation. Means 476.

  The internal state determination unit 471 determines whether or not the internal state of the robot R is in a state that hinders the action by determining whether or not the signal value detected by the internal state detection unit 45 is smaller than a predetermined threshold value. This is to determine whether or not. In the present embodiment, the internal state determination unit 471 determines that the battery needs to be replenished when the signal value indicating the remaining battery level is smaller than a predetermined threshold value. The predetermined threshold value is set in advance in consideration of factors that may affect the battery consumption, such as the state of the task execution area where the robot R is arranged, for example, many ups and downs and the environment is hot and humid. Value.

When the robot R needs to be replenished with battery, the body-holding behavior control means 472 selects the nearest place from the battery replenishment areas B _{1 to} B ₃ (see FIG. 1) and moves to the selected battery replenishment area. Control is performed. When an obstacle is encountered during the movement, the movement for avoiding a collision is performed in cooperation with the local avoidance module of the behavior pattern unit 43.

  The task determination unit 473 determines whether or not the task to be executed is currently held when the internal state is not in a state that hinders the next action. Specifically, the task determination unit 473 determines whether or not the robot R has a task to be executed when it is not necessary to replenish the battery. In the present embodiment, the task determination unit 473 obtains a task schedule by making an inquiry to the action plan management unit 46. In addition, the task determination unit 473 acquires information such as the start time and start position of the next task and outputs the information to the motivation index determination unit 474 when the task to be executed is not currently held.

  The motivation index discriminating means 474 selects a person whose motivation index is higher than a predetermined value with reference to the motivation index storage means 33 when the task to be executed is not currently held. In the present embodiment, the motivation index discriminating means 474 selects only the person whose motivation index is the maximum value among the persons whose motivation index is higher than a predetermined value, and selects the information of the selected person as the action plan adding means 475 and the motivation. It outputs to the index calculation means 476.

  The action plan addition means 475 adds the action plan to be performed next to the selected person based on the motivation index calculated by the motivation index calculation means 476 when the task to be executed is not currently held. It is. In order to distinguish the action plan added by the action plan adding means 475 from the action plan for task execution, it may be particularly referred to as an “active action plan”.

In the present embodiment, the action plan adding unit 475 selects the person selected from the current position of the robot R based on the local map data storage unit 32 (see FIG. 7) and the position information of the person stored in the storage unit 30. The movement plan to the position is added as an action plan (active action plan).
In this case, the action plan adding unit 475 sends the position information (position coordinates or position ID) of the destination (the position of the selected person) to the management computer 3 via the wireless communication unit 60. In response to this, the management computer 3 refers to a person information database (not shown) that stores a person location registered in advance for each day of the week, for example, and based on the received location information of the destination and the day of the week. The ground is extracted and notified to the robot R. Note that information in the person information database may be acquired in advance from the management computer 3 and stored in the storage unit 30 of the robot R.

  The motivation index calculating means 476 increases the motivation index as an elapsed time index that is set so as to increase as the time elapsed from the most recent action of the robot R increases, and the number of past actions and the action time of the robot R increase. It is calculated as the sum of the emotional index (behavioral index) set so as to increase. Here, the motivation index calculating means 476 may not only calculate the motivation index as a simple sum of the elapsed time index and the emotion index, but also may weight at least one of the elapsed time index and the emotion index. The motivation index calculating unit 476 stores the calculated motivation index in the motivation index storage unit 33.

  In the present embodiment, the motivation index calculation means 476 refers to the object data storage means 31 and calculates the time elapsed since the last meeting with the target person, the number of times the target person was met, and the conversation time. get. Here, it is assumed that the action (experience) in which the robot R meets a person occurs when the object data integration unit 42 recognizes the person by integrating the object data. In this case, the conversation time may be a meeting time obtained from a count (time information) recorded in the object map. In addition, the dialogue time may be a voice recognition time obtained by a count (time information) recorded in the object map when the voice from the identified person can be recognized by voice. In addition, as to how to count the number of times a person has been met, the count value may be increased each time the person is met, or the object map may be scanned and counted when necessary. In the present embodiment, it is assumed that the experience of meeting a person is accompanied by the added action plan.

  However, the experience that the robot R meets with the person is not limited to the experience that is accumulated only in the idle time when there is no such task, and of course, it may be accumulated sequentially when the task is performed. It is. In the case of such a configuration, for example, the number of times that a minor greeting or the like such as passing by or giving a talk while performing a task can be counted. In the case of communication that cannot be said to be such a detailed dialogue, instead of counting each communication as one time, a method of changing the weight by setting a numerical value such as “0.5” below “1”. It can also be taken.

  Further, the motivation index calculating means 476 decreases the value of the emotional index and the time index constituting the motivation index of the person selected by the motivation index discriminating means 474, and the emotional index constituting the motivation index of the person not selected. Or the time index value is increased and overwritten in the motivation index storage means 33. Further, when the motivation index calculating means 476 recovers (increases) the value of the person's emotional index or time index, the person whose frequency (frequency) selected by the motivation index determining means 474 is recovered more quickly. , Fluctuate the value of emotion index and time index. Here, in order to change the value of the index, at least one of the changing speed and the changing type can be changed stepwise. In this case, for example, the fluctuation speed can be classified into five stages of “fast”, “somewhat fast”, “normal”, “somewhat slow”, and “slow”, or can be made constant regardless of the person. . Further, for example, the variation type can be divided into three stages of “square root”, “linear”, and “quadratic function”, or can be made “linear” regardless of the person. Note that “linear” indicates that the fluctuation per unit time is constant, and “quadratic function” indicates that the fluctuation per unit time is described by a quadratic function, and “square root” Indicates that the fluctuation per unit time is described by an irrational function.

  The motivation index storage means 33 stores a motivation index table. As shown in FIG. 10, the motivation index table 1000 includes a name of a person, “frequency” that is an index of the number of times selected as a target, “recovery” that is an index of recovery of a time index and an emotion index, and a motivation index. “Index” indicating the breakdown, the value of the index, and “value / MAX” which is the maximum value are included as information items. In the motivation index table 1000, the motivation index is omitted and expressed as “mochi index”. Further, a motivation index having a maximum value of “100” was defined by a sum of an elapsed time index having a maximum value of “50” and an action index having a maximum value of “50”. In the motivation index table 1000, values such as the motivation index are displayed as a bar graph.

[Robot motion]
The operation of the robot R shown in FIG. 6 will be described with reference to FIG. 11 (refer to FIG. 1, FIG. 6, FIG. 7 and FIG. 9 as appropriate), mainly focusing on the operation of the motivation management unit 47. FIG. 11 is a flowchart showing the operation of the robot shown in FIG. The robot R previously acquires information such as a local map from the management computer 3 via the wireless communication unit 60 by the main control unit 40.

  Then, the motivation management unit 47 of the main control unit 40 determines whether or not the internal state is good by the internal state determination unit 471 (step S1). Specifically, the internal state determination unit 471 determines whether or not the remaining battery level is greater than a predetermined threshold value. When the internal state is not good (step S1: No), that is, when the remaining battery level is smaller than a predetermined threshold value, the motivation management unit 47 executes the self-protection action by the self-protection action control means 472. (Step S2). Specifically, the preservation behavior control means 472 performs control for moving to the nearest battery replenishment area.

  On the other hand, when the internal state is good (step S1: Yes), the motivation management unit 47 uses the task determination unit 473 to determine whether there is a task (step S3). When the task to be executed is currently held (step S3: Yes), the main control unit 40 executes the task with the various modules of the behavior pattern unit 43 (step S4). On the other hand, when the task to be executed is not currently held (step S3: No), the motivation management unit 47 causes the motivation index determination unit 474 to have the motivation index stored in the motivation index storage unit 33 higher than a predetermined value. Whether or not (step S5). When the motivation index is higher than the predetermined value (step S5: Yes), the motivation management unit 47 uses the motivation index determination unit 474 to select the person whose motivation index is the maximum value. Then, the action plan adding means 475 adds an action plan for the person selected by the motivation index determining means 474 (step S6). On the other hand, when the motivation index is lower than the predetermined value (step S5: No), the motivation management unit 47 returns to step S1. The main control unit 40 returns to step S1 following steps S2, S4, and S6.

  According to this embodiment, the robot R adds an action plan to be performed next to a person based on the motivation index when the remaining battery level is sufficient and the task to be executed is not currently held. Is possible. Therefore, the robot R can act actively when it has no tasks to be executed while giving priority to its own maintenance and task execution. As a result, it is possible to communicate with a person, for example, instead of waiting when the robot does not have a task to be executed.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to above-described embodiment. For example, in the present embodiment, the motivation index calculating unit 476 acquires from the object data storage unit 31 the time elapsed since the last meeting with the target person, the number of times the target person was met, and the conversation time. However, the present invention is not limited to this. For example, the main control unit 40 of the robot R stores the event occurrence time information, the event duration information, and the event occurrence count in the storage unit 30 every time an event occurs where the robot R meets a person. It may be recorded in a predetermined area. In this case, the motivation index calculating means 476 can calculate the motivation index based on the recorded information.

  Further, in this embodiment, when the motivation index discriminating means 474 selects the person with the maximum motivation index, the information for the person is output to the action plan adding means 475, but the present invention is not limited to this. . For example, the motivation index determination means 474 acquires information such as the start time and start position of the next task from the action plan management unit 46, determines whether or not there is time for active action planning, When there is time to perform a typical action plan, the information of the selected person may be output to the action plan adding means 475.

  In the present embodiment, the motivation index discriminating means 474 selects only the person with the maximum motivation index, but the present invention is not limited to this, and a plurality of persons may be selected as candidates. Good. In this case, considering the location of the selected person, etc., consider whether the action plan to be added can be executed in order from the person with the largest motivation index, and select the person who can execute the action plan. be able to.

  Further, when the robot R interacts with the selected person according to the added action plan, it extracts a keyword such as a classification name from the speech recognition result (text) of the content spoken by the conversation partner using a template or the like, and extracts it. The keyword may be stored in the storage area of the person in the person information storage unit 35. In this case, the robot R can link and group a plurality of persons having the same keyword stored in the person information storage unit 35. When the robot R interacts with a person belonging to this group again, it is possible to provide, as a topic, information related to the keyword among information related to other persons belonging to the group. For example, it is assumed that the robot R acquires the keyword “I like baseball” from two people at different timings as a result of the dialogue between the person “Class A” and the person “B”. Then, when the robot interacts with the person “Class A” again, the robot R gives information about the person “B” to the person “Class A” by speaking like “Person“ B ”also likes baseball”. It becomes possible to provide. As a result, there is an effect that the person “A” feels close to the robot R, or the person “A” deepens the human relationship with the person “O”.

  In addition, the emotional index that constitutes the motivation index is not limited to the one that is determined only by the number of active actions and the action time that the robot R interacts with the selected person. It may be determined as follows. For example, when the robot R links and groups a plurality of persons having the same keyword stored in the person information storage means 35, the emotion index for the person having the same keyword newly stored is increased. May be. Further, when the robot R acquires information that a known person likes, the emotion index for the person may be increased. According to this, the robot R acquires information corresponding to the person in some way, stores it in association with the person, and increases the emotion index of the person, that is, the motivation index, and holds the task. When not doing so, it is possible to provide information stored in advance to the person by interacting with the person.

In this embodiment, the internal state detection unit 45 detects the remaining battery level as a predetermined signal value indicating the internal state of the robot, and when the signal value indicating the remaining battery level is smaller than a predetermined threshold value, the robot Although it has been determined that R is in a state that hinders behavior, the present invention is not limited to this. The internal state detection unit 45 detects a signal value indicating a physical quantity indicating an internal operating environment such as a current value or a voltage value indicating a motor driving signal for driving the arm R2 or the leg R3, and a temperature or humidity around the computer. You may do it. Then, when these detected values are smaller than a predetermined threshold value, it may be determined that the robot R is in a state that hinders the behavior. Specifically, the state in which the robot R interferes with the action includes, for example, a mechanical failure in which the arm R2 cannot be raised or the leg R3 cannot move. In addition, a case where the processing operation cannot be performed because the operating environment of the computer mounted on the robot R is deteriorated due to a change in temperature, humidity, or the like of the environment in which the robot R acts is included. That is, the state that hinders the behavior is a state that requires manual maintenance. Further, the target to which the action plan is to be added is not limited to a person, but may be a specific place where people gather, such as a lobby or a resting place. In this case, it is possible to define a motivation index for the location. The action plan to be performed on a person or the like is an information source having information on the selected person in addition to the action of moving to the location of the selected person or the like, for example, the action of moving to a lobby or a resting place. The action which approaches is included.

  In the present embodiment, the robot has been described as an autonomous mobile robot capable of walking on two legs. However, the present invention is not limited to this, and various mobile objects such as an autonomous mobile robot that moves by wheels, an industrial robot, and an automobile. Application to is also possible.

It is a figure which shows typically the structure of the robot system containing the robot which concerns on embodiment of this invention. It is a figure which shows typically an example of the self position detection and object detection by a robot. It is a figure which shows an example of the local map used with the robot system shown in FIG. It is a figure which shows an example of the task information database memorize | stored in the memory | storage means of the management computer shown in FIG. It is a figure which shows an example of the task schedule table memorize | stored in the memory | storage means of the management computer shown in FIG. It is a block diagram which shows the structure of the robot which concerns on embodiment of this invention. It is a block diagram which shows the structure of the main control part of the robot shown in FIG. It is a figure which shows an example of object data. It is a block diagram which shows the structure of the motivation management part shown in FIG. It is a figure which shows an example of the motivation index table. It is a flowchart which shows operation | movement of the robot shown in FIG.

Explanation of symbols

A Robot system R Robot R1 Head R2 Arm R3 Leg R4 Torso R5 Back storage 1 Base station 2 Robot dedicated network 3 Management computer 3a Storage unit 4 Network 5 Terminal 10 Image processing unit 20 Audio processing unit 21a Audio synthesis Part 21b Voice recognition part (voice recognition means)
21c sound source localization unit 30 storage unit (storage means)
31 Object data storage means 32 Local map data storage means 33 Motivation index storage means 34 Scenario storage means 35 Person information storage means 40 Main controller 41 Stationary obstacle integration part 42 Object data integration part 43 Behavior pattern part 44 Gesture integration part 45 Inside Status detector (internal status detection means)
46 Action Plan Management Department (Action Plan Management Means)
47 Motivation management unit 471 Internal state determination unit 472 Self-protection behavior control unit 473 Task determination unit 474 Motivation index determination unit 475 Action plan addition unit 476 Motivation index calculation unit 50 Autonomous movement control unit 60 Wireless communication unit 70 Battery 80 Target detection unit (Target) Detection means)
90 Ambient state detection unit C Camera MC Microphone S Speaker (voice output means)
SR1 Gyro sensor SR2 GPS receiver (self-position detection means)

Claims (6)

A robot provided with object detection means for detecting an object and an action plan management means for managing an action plan for executing a predetermined task,
As a motivation index indicating the magnitude of the feasibility of the next action to be performed on the target object, the existing information on the target object set in advance or the past action performed on the target object is quantified , A simple sum of an elapsed time index related to the time elapsed from the most recent action of the robot with respect to the object and an action index related to the number of times of the robot's past action with respect to the object and the action time, or the elapsed time index and the A motivation index calculating means for calculating a linear sum obtained by weighting and adding an action index ;
Motivation index storage means for storing the calculated motivation index for each object;
Internal state detection means for detecting a predetermined signal value indicating the internal state of the robot;
Internal state determination means for determining whether or not the internal state of the robot interferes with the next action by determining whether or not the detected signal value is smaller than a predetermined threshold value; ,
Task determination means for determining whether or not the current state has a task to be executed when the internal state is not in a state that hinders the next action;
A motivation index discriminating means for selecting an object having a motivation index higher than a predetermined value with reference to the motivation index storage means when not having a task to be executed at present;
An action plan adding means for adding an action plan to be performed next to the object selected by the motivation index determining means ;
Equipped with a,
When the object is selected by the motivation index determination means, the motivation index calculating means decreases the motivation index of the selected object, and calculates the motivation index of other objects not selected at that time. A robot characterized by updating each motivation index stored in the motivation index storage means . The internal state is a remaining battery level,
The robot according to claim 1, wherein the internal state determination unit determines whether or not a signal value indicating the remaining battery level is smaller than a predetermined threshold value. The object is a human;
Personal information storage means for storing topics preferred by a predetermined person;
Voice recognition means for recognizing the voice of a person input to the voice input means;
A voice output means for outputting a voice based on the predetermined preference of the person and a voice recognition result;
The robot according to claim 1, further comprising: When the object is selected by the motivation index determination means, the motivation index calculation means selects the motivation index by the motivation index determination means when increasing the motivation index of another object that has not been selected. The robot according to claim 1, wherein an object having a larger number of times is increased more quickly. The elapsed time index is set in proportion to the amount of time that has elapsed since the last action of the robot,
The behavior index is set in proportion to the number of past behaviors and behavior time of the robot,
The motivation index is the sum of the elapsed time index and the behavior index,
The robot according to claim 4, wherein the action plan adding unit adds an action plan to be performed next to an object having the largest motivation index. Means for moving the robot;
Self-position detecting means for detecting the current position of the robot;
Map data storage means for storing map data;
Storage means for storing position information of the object,
The action plan adding means adds, as the action plan, a movement plan from the detected current position of the robot to the position of the object based on the map data and the position information of the object. The robot according to any one of claims 1 to 5, wherein the robot is characterized.

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