JP2000187502A - Robot, robot controller, control method and computer readable recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot controller capable of synchronizing continuous operations of plural operating parts. SOLUTION: An information read part 11 receives operation record information 100 and transfers it to an information processing part 13. The part 13 prepares an operation command instructing operation contents of operating parts and operation time information instructing time when each operating part executes the operation contents shown by the operation command according to the information 100 and outputs them to an output managing part 17. The part 17 outputs the operation time information to a time managing part 15 and also issues the operation command to the controllers 21 to 26 of each operating part practically at the same timing. When the time shown by the operation time information passes, the part 15 outputs an issue command to the part 17. The part 17 issues a stop command instructing the execution of an operation content shown by the operation command to be stopped. The controllers 21 to 26 of each operating part stop the operation of each operating part according to the stop command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control device for controlling the operation of a robot, and more particularly to a control device for synchronizing the operations of a plurality of operation units provided in the robot.

[0002]

2. Description of the Related Art In order to improve the accuracy of the operation of a robot having a plurality of operation units such as a head, a leg, and a hand, it is necessary to synchronize a plurality of operations executed by each operation unit in parallel. .

Conventionally, when synchronizing the operation of a robot,
Techniques such as line tracking control have been used. However, this technique is mainly used for synchronizing operations of a workpiece moving on a conveyor and a robot, and is not for synchronizing a plurality of operation units included in the robot.

On the other hand, when controlling the continuous operation of a plurality of robots, an output signal from one robot is supplied to another robot, and the operation of another robot is controlled until a signal from one robot is input. A method such as an interlock method of waiting has been used.

Japanese Patent Laid-Open No. 5-250017 discloses a technique for synchronizing the operation of each robot while comparing data indicating the position and speed of each robot with data indicating the position and speed of another robot. Have been.

However, these techniques are for synchronizing the same operation performed by a plurality of robots, and are not for synchronizing different operations of a plurality of operation units provided in the robot.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a robot control device capable of synchronizing continuous operations of a plurality of operation units.

[0008]

In order to achieve the above object, a robot control apparatus according to a first aspect of the present invention provides a robot control device according to continuous operation of a plurality of operation units constituting a robot and operation information indicating the time. A robot control device for controlling the operation unit, comprising: a receiving unit for receiving operation information; operation command information for instructing an operation content of each operation unit according to the operation information received by the reception unit; Processing means for creating end information for instructing the end timing of the operation according to, issue operation command information created by the processing means to each operating unit, start the operation of the operating unit, according to the end information, Issuing means for issuing a stop command for instructing the operation unit to stop the operation.

The issuing unit issues the operation command information created by the processing unit to each operation unit to start the operation of the operation unit. The issuance unit issues a stop command to instruct each operation unit to stop the operation when the end timing of the operation by each operation unit indicated by the end information created by the processing unit elapses after issuing the operation command, and issues the operation command information. The operation of each operation unit that continues the operation indicated by is stopped. For this reason, according to this robot control device, it is possible to match the end timings of the operations executed by the respective operation units in parallel. Therefore, it is possible to synchronize the operations executed by the respective operation units constituting the robot in parallel.

The operation information includes a plurality of operation blocks indicating operations to be performed by the plurality of operation units in parallel, and the processing means generates operation command information and end information from each block, The issuing unit instructs each operation unit to stop operation according to end information generated from a certain operation block, and then issues operation command information generated from the next operation block to each operation unit to issue an operation instruction of the operation unit. It is desirable to start.

The issuing means instructs, according to the end information generated from one operation block by the processing means, to stop the operation of each operation section which operates according to the operation command information generated from the operation block, and controls the operation of each operation section. Stop. The issuing unit, after stopping the operation of each operation unit, issues operation command information generated from an operation block to be executed next to each operation unit to start the operation of the operation unit. For this reason, according to this robot control device, after each operation unit executes the operation indicated by one operation block in synchronization, each operation unit can execute the operation indicated by the next operation block in synchronization. Therefore, it is possible to continuously execute a plurality of operations executed by each operation unit in parallel.

The operation block includes an operation block indicating an operation to be executed by the plurality of operation units in parallel.
The processing unit generates a plurality of operation command information and end information from each block, and the issuing unit generates the end command generated from an operation block corresponding to a certain sequence. After instructing each operation unit to stop operation according to the information, operation command information generated from an operation block corresponding to the next sequence may be issued to each operation unit to start operation of the operation unit.

Further, in response to the reception of the end information, the issuing means starts time measurement of the time designated by the end information, and notifies the end of time measurement, and a time management from the time management means. It is preferable to include an output management unit that instructs each operation unit to stop the operation according to the end notification.

The operation information includes reference instruction information indicating a reference operation unit for synchronizing operations performed by the respective operation units in parallel, and operation instruction information indicating operation contents of the respective operation units. It is preferable that the processing unit creates, based on the reference instruction information and the operation instruction information, operation instruction information for instructing an operation content of each operation unit and end information for instructing an end timing of the operation by each operation unit.

The processing means creates operation instruction information for instructing the operation of each operation section according to the reference instruction information and the operation instruction information constituting the operation information. Further, the processing means includes:
According to the operation time indicated by the operation instruction information corresponding to the reference operation unit indicated by the reference instruction information, end information for instructing the end timing of the operation by each operation unit executing the operation indicated by the operation instruction information is created. For this reason, according to this robot control device, the end timing of the operation in the other operation unit can be matched with the end timing of the operation in the reference operation unit indicated by the reference instruction information. Therefore, it is possible to synchronize the operations executed by the respective operation units constituting the robot in parallel.

The operation information includes information defining an operation to be performed by a plurality of operation units in parallel, and information defining an operation unit serving as a synchronization reference and an operation continuation time. Generating the end information based on the operation continuation time of the reference operation unit, and the issuing unit ends the operation when the operation continuation time of the reference operation unit ends according to the end information. The robot control device according to any one of claims 1 to 4, wherein an instruction to stop the operation is given also to a non-operational unit.

The issuance unit, when the operation continuation time of the operation unit serving as a reference indicated by the end information created by the processing unit ends,
The operation of the reference operation unit is instructed to stop, and the operation unit that has not finished operation is also instructed to stop the operation. Therefore, at the end timing of the operation by one operation unit,
The end timing of the operation by another operation unit can be matched. Therefore, it is possible to synchronize the operations of the plurality of operation units.

In order to achieve the above object, a robot control device according to a second aspect of the present invention provides a robot controller based on operation information for controlling continuous operation of a plurality of operation units constituting a robot. A robot control device for controlling the operation information, the operation information includes at least two operation blocks including control information about operations to be performed in synchronization with each other by a plurality of operation units, for a continuous series of operations, The robot control device includes: a receiving unit that receives the operation information;
An operation command creation unit that creates first and second operation commands for instructing the operation of the operation unit for each operation unit according to two operation blocks included in the operation information received by the reception unit; In accordance with the received operation information, end information creating means for creating first and second end information indicating the end timing of the operation by each operation unit according to the first and second operation instructions, and the operation instruction creating means The generated first operation command is issued to each operation unit to start the operation of each operation unit, and the stop which instructs the operation unit to stop the operation according to the first end information created by the end information creation means. A command is issued to cause the operation defined by the first operation block to be executed synchronously.
Is issued to each operation unit, and the operation defined by the second operation block is started by each operation unit, and the operation by each operation unit is performed according to the second end information created by the end information creation unit. Issuing means for issuing a stop command for instructing stop of the operation.

The issuing unit issues the first operation command created by the operation command creating unit to each operating unit to start the operation of each operating unit. After issuing the first operation command, the issuing unit issues a stop command when the end timing of the operation by each operation unit indicated by the first end information created by the end information creating unit elapses, and issues the first operation command. The operation of each operation unit that continues the operation indicated by is stopped. After issuing the stop command by the first issuing unit, the issuing unit issues the second operation command created by the end information creating unit to each operating unit to start the operation of each operating unit. The issuing unit issues a stop command when the end timing of the operation by each operation unit indicated by the second end information created by the end information creating unit elapses, and continues the operation indicated by the second operation command. Stop the operation of the operation unit.
For this reason, according to this robot control device, it is possible to match the end and start timings of the continuous operations executed by the respective operation units in parallel. Therefore, it is possible to synchronize a plurality of continuous operations executed in parallel by the respective operation units constituting the robot.

To achieve the above object, a robot according to a third aspect of the present invention is a robot comprising a plurality of operation units and a robot control device for controlling the operation units, wherein the robot control device Creates reception means for receiving the operation information, operation command information for instructing the operation content of each operation unit, and end information for instructing the end timing of the operation by each operation unit, according to the operation information received by the reception means. Processing means, and issues operation command information created by the processing means to each operation unit, starts operation of the operation unit, and issues a stop command to instruct each operation unit to stop operation according to the end information. Issuing means for issuing.

The issuing unit issues the operation command information created by the processing unit to each operation unit, and after starting the operation of the operation unit,
When the end timing of the operation by each operation unit indicated by the end information elapses, a stop command is issued, and the operation of each operation unit continuing the operation indicated by the operation command information is stopped. For this reason, according to this robot, since the end timings of the operations executed by the respective operating units in parallel can be matched, the operations executed by the respective operating units constituting the robot in parallel can be synchronized. .

In order to achieve the above object, a robot control method according to a fourth aspect of the present invention provides a robot control method based on operation information for controlling continuous operation of a plurality of operation units constituting a robot. A robot control method for controlling a robot, comprising: receiving operation information; generating an operation command for instructing an operation content of the operation unit for each operation unit according to the received operation information; and receiving the operation information. And, according to the received operation information, an end information creating step of creating end information indicating the end timing of the operation by each operation unit,
The operation command created by the operation command creation step is issued to each operation unit substantially in synchronization, an operation instruction issuance step of starting the operation of each operation unit, and according to the end information created by the end information creation step, A stop command issuing step of issuing a stop command for instructing each operation unit to stop the operation.

In the operation command issuance step, the operation command created in the operation command creation step is issued to each operation unit to start the operation of the operation unit. The stop command issuance step includes, after the operation command is issued by the operation command step, when the end timing of the operation by each operation unit indicated by the end information created by the end information creation step elapses, a stop instructing each operation unit to stop the operation. An instruction is issued, and the operation of each operation unit that continues the operation indicated by the operation instruction is stopped. For this reason, according to this robot control method, it is possible to match the end timings of the operations performed by the respective operation units in parallel. Therefore, it is possible to synchronize the operations executed by the respective operation units constituting the robot in parallel.

The operation information includes a plurality of operation blocks indicating operations to be performed by the plurality of operation units in parallel in accordance with the order of the operations. Generate operation command information that instructs the contents of the operation of, the end information creating step, from each block,
The operation command issuance step and the stop command issuance step generate operation end information indicating a continuation time of the operation, and the operation command generated from a certain operation block is supplied to each operation unit to substantially synchronize the operation. And then instruct each operation unit to stop operation according to the end information generated from the same operation block, and then issue operation command information generated from the next operation block to each operation unit Then, it is desirable to start the next operation of the operation unit.

The stop command issuance step is performed according to the end information generated from one operation block by the end information creating step.
The operation of each operation unit operating according to the operation command information generated from one operation block is instructed to stop, and the operation of each operation unit is stopped. In the operation command issuing step, after the operation of each operation unit in the stop command issuance step is stopped, operation command information generated from the operation block to be executed next is issued to each operation unit to start the operation of the operation unit. . Therefore, according to this robot control method, after each operation unit executes the operation indicated by one operation block in synchronization, each operation unit can execute the operation indicated by the next operation block in synchronization. Therefore, it is possible to continuously execute a plurality of operations executed by each operation unit in parallel.

The operation information includes reference instruction information indicating a reference operation unit for synchronizing operations performed by the operation units in parallel, and operation instruction information indicating operation contents of the operation units. The end information generating step generates end information in accordance with the operation instruction information of the operation unit indicated by the reference instruction information, and the stop command issuance step ends the operation of the reference operation unit in accordance with the end information. Accordingly, it is desirable to instruct the operation unit that has not completed the operation to stop the operation.

The stop command issuance step instructs, based on the end information created by the end information creation step, to stop the operation of the reference operation unit and also instructs the operation unit that has not finished operation to stop the operation. . Therefore, the end timing of the operation by one operating unit can be matched with the end timing of the operation by another operating unit. Therefore, it is possible to synchronize the operations of the plurality of operation units.

In order to achieve the above object, a computer-readable recording medium according to a fifth aspect of the present invention is a computer-readable recording medium which controls a computer in accordance with continuous operation of a plurality of operation units constituting a robot and operation information indicating the time. A recording medium for recording a program for controlling the operation unit, receiving means for receiving operation information, according to the operation information received by the reception means, operation command information for instructing the operation of each operation unit, Processing means for generating end information for instructing the end timing of the operation by each operation unit, issuing operation command information generated by the processing means to each operation unit, causing the operation of the operation unit to start, and Issuing means for issuing a stop command to instruct each operation unit to stop operation,
A program for functioning as a program is recorded.

The issuing unit issues the operation command information created by the processing unit to each operation unit to start the operation of the operation unit. The issuance unit issues a stop command to instruct each operation unit to stop the operation when the end timing of the operation by each operation unit indicated by the end information created by the processing unit elapses after issuing the operation command, and issues the operation command information. The operation of each operation unit that continues the operation indicated by is stopped. Therefore, according to the computer-readable recording medium, it is possible to match the end timings of the operations executed by the respective operation units in parallel. Therefore, it is possible to synchronize the operations executed by the respective operation units constituting the robot in parallel.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a robot control device according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing the configuration of the robot control device 1. The robot control device 1 includes an actuator 21a disposed on the head of the robot, an actuator 22a disposed on the leg, an actuator 23a disposed on the hand, based on the operation record information 100 supplied from the host device. LEDs 24 of plural colors arranged in the facial expression part
a, the utterance unit 25a, and the odor unit 26a are controlled. The robot has a head formed to be rotatable by driving the actuator 21a, and a leg formed by the actuator 22a.
The face expression part is configured to form an expression by light emission of the green or red LED 24a.

As shown in FIG. 2, the operation record information 100 is composed of a plurality of operation blocks 110 which are divided into information indicating operations performed by a plurality of operation units in parallel as one unit. When there are n sets of operations (sequences) to be executed sequentially, n operation blocks (i =
0 to n-1) are arranged. Each operation block 110 includes:
It is composed of operation unit instruction information 120 which is information on the operation of each operation unit executed in parallel.

The operation unit instruction information 120 is composed of operation instruction information 130 that specifies the operation of each operation unit to be executed in parallel. The operation instruction information 130 includes synchronization instruction information 140 for synchronizing the operation of each operation unit and target instruction information 150 indicating the operation content of each operation unit.

The synchronization instruction information 140 is information for synchronizing the operation of one operation unit with the operation of another operation unit, and is one of “completion instruction”, “repetition instruction”, and “passive instruction”. Consists of

The "completion instruction" is information for instructing execution of the operation indicated by the target instruction information 150 until the operation is completed. This is a reference for the synchronous operation of the operation unit.

The "repetition instruction" is the target instruction information 150 until the operation of the operation unit to which the completion instruction is directed is completed.
Is information instructing to repeat the operation indicated by.

The "passive instruction" means that when the operation indicated by the target instruction information 150 is completed while the operation of the operation unit to be instructed by the completion instruction is continued, the operation is stopped and the completion instruction is issued. When the operation of the target operation unit is completed,
When the operation indicated by the target instruction information 150 is continued,
This is information for instructing the operation to stop.

The target instruction information 150 is information for instructing at least one of "speed instruction", "coordinate instruction", "angle instruction", "light emission instruction", "vocalization instruction", and "odor instruction". Consists of “Speed instruction” is information for instructing the moving speed of the corresponding operation unit. "Coordinate designation"
This is information indicating the movement coordinates of the corresponding operation unit. “Angle instruction” is information for instructing the movement angle of the corresponding operation unit. “Light emission instruction” is information for instructing light emission of the corresponding operation unit. “Speech instruction” is information for instructing the utterance of the corresponding operation unit. “Odor instruction” is information for instructing the corresponding operation unit to emit odor.

For example, for the robot, the leg has a speed of 4
Synchronizing with the forward movement of 1 mm (2.5 seconds) at 00 mm / sec, the head keeps shaking the head at an angular velocity of 114 degrees / sec in the range of up and down 15 degrees, and the facial expression part turns green for 5 seconds at a period of 100 ms. After performing the operation of continuously emitting light, in synchronization with the operation of the leg portion moving forward at a speed of 300 mm / sec for 3 seconds,
When the head is continuously swung at an angular velocity of 200 degrees / sec in a range of 45 degrees in the left and right direction, and the facial expression unit instructs to keep emitting red light for 3.5 seconds in a cycle of 100 ms, the operation record information 100 includes , Two operation blocks 110a and 110b as shown in FIG. 3 and FIG.

The operation block 110a shown in FIG.
This is information for instructing the operation of the sequence (i = 0), and includes head instruction information 121, leg instruction information 122, and a facial expression part corresponding to a head, a leg, and a facial expression part to be controlled. Instruction information 123 is recorded.

In order to control the head, the head instruction information 121
In the synchronization instruction information 140, “repeat instruction” is included, and in the target instruction information 150, the angle instruction and “angular velocity 1
"Rotate at 14 degrees / sec" and "Angular velocity 114 down to 15 degrees
Information indicating "rotation in degrees / sec" is recorded.

In order to control the legs, the synchronization instruction information 140 of the leg instruction information 122 includes a “completion instruction”, and the target instruction information 150 includes a coordinate instruction and “a speed of 400 mm / sec up to 1 m ahead. (2.5 seconds) is recorded.

Similarly, to control the facial expression, the synchronization instruction information 140 of the facial expression part instruction information 123 includes “passive instruction”, and the target instruction information 150 includes the light emission instruction and “period 1”.
And information for instructing to emit green light for 5 seconds in 00 ms.

The operation block 110b shown in FIG.
This is information for controlling the operation of the sequence (i = 1), and has substantially the same configuration as the operation block 110a.
However, the head instruction information 121 of the target instruction information 150 includes “rotation at an angular velocity of 200 degrees / sec up to 45 degrees left” and “rotation at an angular velocity of 200 degrees / sec up to 45 degrees right”. "Forward for 3 seconds at a speed of 300 mm / sec"
However, the facial expression part instruction information 123 includes “3.
"Emit red light for 5 seconds" is set.

Returning to FIG. 1, the robot controller 1 includes an information analyzer 10 for dividing the operation record information 100 into operation unit instruction information of each operation unit, a head control unit 21 for controlling the operation of the head, , Leg control device 22 for controlling the operation of the leg
A hand control device 23 for controlling the operation of the hand, a facial expression control device 24 for controlling the irradiation of light by the facial expression,
It comprises an utterance unit control device 25 for controlling the operation of the utterance unit, and an odor control device 26 for controlling odor generation by the odor unit.

As shown in FIG. 5, the information analyzer 10
Information reading unit 11, information processing unit 13, time management unit 15
And an output management unit 17.

The information reading unit 11 receives the operation record information 100 supplied from the host device, and transfers it to the information processing unit 13.

The information processing section 13 divides each operation block 110 of the operation recording information 100 into operation section instruction information 120 corresponding to each operation section, and creates an operation command for instructing the operation of each operation section. Further, the information processing unit 13 creates end information indicating the end timing of the operation by the operation unit based on the target instruction information 150 of the operation unit instruction information in which the completion instruction is recorded in the synchronization instruction information 140. Further, the information processing unit 13 supplies an operation command and end information corresponding to each operation unit in each operation block 110 to the output management unit 17.

The time management section 15 has a timer, determines whether or not the time indicated by the end information has elapsed since the end information was received, and outputs a timer end signal when it is determined that the time has elapsed. I do.

The output management unit 17 controls each operation block 110
Is supplied to the time management unit 15,
The operation command of each operation unit is output to the control devices 21 to 26 of the operation unit at substantially the same timing. Also,
When the output management unit 17 receives the timing end signal supplied from the time management unit 15, the output management unit 17 controls the control devices 21 to 26 of the operation units.
Output stop command. Further, the output management unit 17 determines whether or not the operation command and the end information of the operation block 110 to be executed next have been received, and when it is determined that the operation command has been received, the output command At the same time, they are output to the control units 21 to 26 of the operation unit at substantially the same timing, and the end information is output to the time management unit 15.

Returning to FIG. 1, the head, leg, and hand control devices 21, 22, and 23 perform head, leg, and hand operation commands in accordance with the head, leg, and hand operation commands supplied from the information analysis device 10. The heads, legs, and hands are operated by controlling the actuators 21a, 22a, and 23a of the heads and hands. Facial expression part control device 2
Reference numeral 4 denotes red and green LEDs 2 provided in the facial expression unit according to the facial expression unit operation command supplied from the information analysis device 10.
4a is turned on / off. The utterance unit control device 25
According to the utterance unit operation command supplied from the information analysis device 10, on / off control of utterance by the utterance unit 25a is performed.
The odor control section 26 controls on / off of the odor by the odor section 26a according to the odor section operation command supplied from the information analysis apparatus 10.

FIG. 6 is a flowchart showing a process in which the robot controller 1 receives the operation record information 100 composed of the operation blocks 110a and 110b shown in FIGS. 3 and 4 and synchronizes the operation units. It will be described with reference to FIG.

The information reading unit 11 receives the operation record information 100 supplied from the higher-level device and transfers it to the information processing unit 13 (Step S101).

The information processing section 13 separates the operation blocks 110a and 110b included in the operation record information 100. Next, it is divided into head, leg, and facial expression part instruction information 121, 122, 123, respectively, and based on each information,
An operation command is created for the head controller 21, the leg controller 22, and the facial expression controller 24.

Further, the information processing unit 13 includes the operation block 1
For 10a and 110b, end information indicating the operation time of the leg set in the leg instruction information 130 in which the synchronization instruction information is set to “completion instruction” is 2.5 seconds and 3 seconds (operation continuation time). Information).

The information processing unit 13 includes an operation block 110
a, a head controller 21 generated from 110b,
A set of operation commands to the leg control device 22 and the facial expression control device 24 and end information are supplied to the output management unit 17 (step S102).

Upon receiving the operation command and the end information, the output management unit 17 sets the value of the pointer i to 0 (step S).
103).

The output management unit 17 extracts the 0-th (i = 0) set from the two sets of operation command and end information supplied from the information processing unit 13 and outputs the end information to the time management unit 15.
And operation commands for the head, the legs, and the facial expression unit are respectively supplied at substantially the same timing to the head control device 21,
Output to the leg control device 22 and the facial expression control device 24 (step S104).

The leg control device 22 controls the actuator 22a based on the supplied operation command to move the leg forward at a speed of 400 mm / sec. The head control device 21
Based on the supplied operation command, the actuator 21a
Control the head up and down to an angle of 15 degrees up to an angular velocity of 11 degrees.
The shaking (rotating) operation is repeated at 4 degrees / sec. The facial expression unit control device 24 drives the green LED 24a based on the supplied operation command, and continuously emits green light at a cycle of 100 ms (step S105).

On the other hand, in response to the reception of the end information, the time management unit 15 starts counting time, and determines whether 2.5 seconds indicated by the end information has elapsed (step S).
106).

If it is determined in step S106 that 2.5 seconds have not elapsed, the time management unit 15 proceeds to step S10.
5 and S106 are repeated.

If it is determined in step S106 that 2.5 seconds have elapsed, the time management section 15 outputs a time-out signal.

The output management unit 17 outputs a stop command to the head control unit 21, the leg control unit 22, and the facial expression control unit 24 in response to the clock end signal. Leg control unit 2
1. The head control unit 22 and the facial expression control unit 24 stop their control operations in response to the stop command (step S10).
7). Although the facial expression part instruction information shown in FIG. 3 indicates light emission for “5 seconds”, since the synchronous operation information indicates a passive operation, the control of the leg for which the completion operation is instructed is performed. When the operation is completed (2.5 seconds have elapsed), the control is also terminated.

The output management unit 17 determines whether or not there is a control operation to be executed next (whether or not control has been completed) (step S108). If it is determined that the control operation does not exist (end), the process ends.

In this example, since there is a process to be processed next (the process specified by the operation block 110b), the output management unit 17 sets the value of the pointer i to 1 (step S109).

The output management unit 17 stores the updated pointer i
, The first operation command and the end information (generated based on the operation block 110b) are taken out, and the operation commands for the head, the legs, and the facial expression part are extracted. Head, leg, and facial expression control device 2
1, and 24, and output the end information to the time management unit 15 (step S104).

The leg control device 22 controls the actuator 22a based on the operation command, and controls the leg to a speed of 300.
Move forward at mm / sec. The head control device 21 controls the actuator 21a based on the operation command, and repeats the operation of rotating (shaking) the head in the left-right direction to an angle of 45 degrees at an angular velocity of 200 degrees / sec. Facial expression part control device 24
Sets the green LED 24a to the cycle 1 based on the operation command.
Driving is performed for 00 ms (step S105).

The time management section 15 starts measuring time in response to the end information, and outputs a time end signal to the output management section 17 when 3 seconds indicated by the end information have elapsed (step S106). .

In response to the time-out signal, the output management unit 17 issues a stop command to the head, leg, and facial expression unit control unit 2.
1, 22, 24, and the head, leg, and facial expression control unit 21, 22, 24 stops the operations of the head, legs, and facial expression (step S107). FIG.
In the facial expression part instruction information shown in Fig. 7, the green light is instructed for "3.5 seconds", but since the synchronous operation information indicates the passive operation, the leg instructed to perform the complete operation is indicated. When the control operation is completed (3 seconds have elapsed), the control is also terminated.

The output management unit 17 determines whether there is a control operation to be executed next (step S108).
In this example, since there is no data, the process ends.

As described above, the output management unit 17
The information processing unit 13 issues a set of operation commands to each operation unit generated from each operation block to the control device of each operation unit at substantially the same timing. Time management unit 1
Reference numeral 5 controls the timing at which the output management unit 17 issues an operation command to the control device of each operation unit. For this reason, the robot control apparatus can synchronize the operations performed by the respective operation units in parallel with each other, and can appropriately execute a continuous series of operations.

The timing at which the information processing unit 13 outputs the operation command and the end information to the output management unit 17 is determined as long as each operation unit can continuously execute the operation specified by each operation block 110. Optional. For example, the end information and the operation command generated from each operation block 110 are
The data may be sequentially output to the output management unit 17 according to the order of the operation blocks 110.

The combination of the operation units synchronized by the robot control device 1 is arbitrary. For example, the operations of the head, the hand, and the odor emitting unit may be synchronized. In this case, however, the head, hand, and odorant instruction information are recorded in each operation block 110 of the operation record information.

The combination of the operation units provided in the robot is also arbitrary. For example, a robot having a head and a hand may be used.

In the above-described embodiment, a case has been described in which a plurality of operation units perform two consecutive operations in parallel. However, the number of operations performed by each operation unit in parallel is arbitrary. The present invention is also applicable to a case where three operations are performed in parallel.

The management of the timing at which the time management unit 15 outputs the clocking end signal to the output management unit 17 is not limited to the management according to the end information. For example, when the operation unit corresponding to the operation unit instruction information in which the completion instruction is recorded in the synchronization instruction information completes the operation specified by the operation instruction, the operation unit performs management based on a detection signal output from a sensor included in the operation unit. May be.

The robot controller of the present invention can be realized by using a computer system having an interface for transmitting a control signal to each operation unit without configuring as a dedicated system. For example,
A medium (floppy disk, CD-ROM) storing a program for executing the above-described operation in a computer system.
By installing the program from a ROM or the like, an electronic application system that executes the above-described processing can be constructed. By the installation, the program is stored in a medium such as a hard disk in the computer system, configures the robot control device, and is used for execution.

The medium for supplying the program to the computer is not limited to a storage medium in a narrow sense, but may be a communication line,
Like a communication network and a communication system, it may be a storage medium in a broad sense including a communication medium that temporarily and fluidly stores information such as a program.

For example, the program may be registered in an FTP (File Transfer Protocol) server provided on a communication network such as the Internet, and distributed to an FTP client via the network. The program may be registered in a board system or the like and distributed via a network. Then start this program and run the OS
The above processing can be achieved by executing under the control of the (Operating System). Furthermore, the above-described processing can also be achieved by starting and executing the program while transferring the program via the communication network.

[0080]

As described above, according to the present invention,
It is possible to synchronize continuous operation of each operation unit in the robot including a plurality of operation units.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a robot control device according to an embodiment of the present invention.

FIG. 2 is a configuration diagram showing operation record information of FIG. 1;

FIG. 3 is a configuration diagram showing an example of an operation block in the operation record information of FIG. 2;

FIG. 4 is a configuration diagram showing an example of an operation block in the operation record information of FIG. 2;

FIG. 5 is a schematic diagram showing an information analysis device and operation record information of the robot control device of FIG. 1;

FIG. 6 is a flowchart illustrating an operation unit operation process according to the embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 robot control device 10 information analysis device 11 information reading unit 13 information processing unit 15 time management unit 17 output management unit 21 head control device 22 leg control device 23 hand control device 24 facial expression control device 25 utterance control device 26 Odor control device 100 Operation record information 110 Operation block 110a Operation block 110b Operation block 120 Operation unit instruction information 130 Operation instruction information 140 Synchronization instruction information 150 Target instruction information

[Procedure amendment]

[Submission date] November 25, 1999 (1999.11.
25)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction contents]

[0008]

In order to achieve the above object, a robot control device according to a first aspect of the present invention is a robot control device for controlling a plurality of operation units constituting a robot. receiving means for receiving operation information indicating the continuous operation according to the operation information received by the receiving unit, the operation command information for defining the operation content of each operation portion and the end timing of the operation in the operation unit as a reference Processing means for creating the end information to be prescribed ; and each operation unit according to the operation command information created by the processing means.
Issue an operation command to start the operation to be executed
Operating according to the end information created by the processing means.
Issuing means for issuing a stop command for instructing each operation section to stop operation.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

[0010] The receiving means may be a continuous operation of the robot.
Operation information including multiple operation blocks that compose
And the processing means receives the operation information received by the receiving means.
The action block units contained in the operation command information and end information generated respectively, said issuing means, one operating blanking
A stop finger is given to each operation unit performing the operation corresponding to the lock.
After issuing the command, the operation corresponding to the next operation block
It is desirable to issue an operation command for instructing start .

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

Also, the operation information received by the receiving means
Indicates that each operation unit is in line with the operation sequence of the robot.
And the operation time to be executed
It includes a plurality of operation blocks, wherein the processing means, the receiving
Operation block unit included in the operation information received by the communication means
Then, operation command information and end information are generated, respectively, and the issuing unit generates an operation block corresponding to one operation sequence.
Command to each operation unit that is performing operations in accordance with the
After issuing, the operation block corresponding to the next operation sequence
Operation command to start operation according to the
May be issued .

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction contents]

[0013] In addition, the issuing means, said processing means
Execute each operation unit according to the created operation command information.
Operation command that issues an operation command to start the operation to be performed
Issuing means, and the operation command issuing means issues an operation command.
When the timer starts, end information created by the processing means
Management means for determining the lapse of time specified by
And the time designated by the time management means by the end information.
When the elapsed time is determined, the operation of
A stop command issuing means for issuing a stop command for instructing stop,
It is desirable to provide.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0014

[Correction method] Change

[Correction contents]

The operation information is executed by each operation unit in parallel.
Operation instruction information that specifies the operation content to be performed,
The operation unit that is the reference for synchronizing the operation of the operation unit is specified.
And the reference instruction information to determine
The operation instruction information included in the operation information received by the receiving unit
Operation command information that specifies the operation of each
Information, and the reference instruction information and the operation included in the operation information.
According to the instruction information, the end of the operation in the reference operation unit
It is desirable to create end information that defines the end timing .

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction contents]

The operation information includes information defining operations to be executed in parallel by each operation unit, and an operation unit serving as a synchronization reference.
And information defining the operation continuation time, wherein the processing unit is included in the operation information received by the reception unit.
Define the operation unit and its operation continuation time as the reference for synchronization.
Operation in the reference operation unit according to the information
Generates end information defining the timing, the issuing means, in accordance with end information which the processing means is created and the operation duration of the operation portion serving as a reference is completed, the operation against the working unit operation is not completed Stop command to instruct stop
It is desirable to issue it.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction contents]

To achieve the above object, a robot according to a third aspect of the present invention is a robot comprising a plurality of operation units and a robot control device for controlling the operation units, wherein the robot control device Is the continuous motion of the robot
Receiving means for receiving operation information indicating, according to the operation information received by the receiving unit, the operation command information for defining the operation content of each operation unit, and an end information defining the end timing of the operation in the operation unit as a reference Processing means for creating, according to the operation command information created by the processing means ,
An operation command instructing each operation unit to start the operation to be executed
Issued and acted on in accordance with the end information created by the processing means.
Issuing means for issuing a stop command for instructing each of the operating units during operation to stop the operation.

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

To achieve the above object, a robot control method according to a fourth aspect of the present invention is a robot control method for controlling a plurality of operation units constituting a robot.
Receiving operation information indicating a continuous operation of the unit
And according to the operation information received in the receiving step,
Operation command information that defines the operation content of the operation unit,
End that defines the end timing of the operation in the
Processing information for creating the authentication information, and
Should be executed for each operation unit according to the operation command information
Issue an operation command for instructing start of operation, and
According to the end information created by
An issuance step of issuing a stop command for instructing the operation to stop,
It is characterized by having.

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0023

[Correction method] Change

[Correction contents]

In the issuing step, the operation command created by the processing step is issued to each operation unit to start the operation of the operation unit.
Further, in the issuing step, after the operation command is issued, when the end timing of the operation of the operation unit as a reference indicated by the end information created by the processing step elapses, a stop command for instructing each operation unit to stop the operation is issued. . For this reason, according to this robot control method, it is possible to match the end timings of the operations performed by the respective operation units in parallel. Therefore, it is possible to synchronize the operations executed by the respective operation units constituting the robot in parallel.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0024

[Correction method] Change

[Correction contents]

[0024] The receiving step includes a continuous operation of the robot.
Operation information including multiple operation blocks that compose
The processing step includes the operation received in the receiving step.
The operation command information and
End information, respectively, and the issuing step includes
Stop at each operation section that is executing the operation corresponding to the
After issuing the stop command, the action corresponding to the next action block
It is desirable to issue an operation command instructing the start of the operation .

[Procedure amendment 12]

[Document name to be amended] Statement

[Correction target item name] 0025

[Correction method] Change

[Correction contents]

The issuing step, in accordance with end information processing step has been generated from one operation block, instructs the stop of the operation of each operation unit which operates in accordance with operation command information generated from one operation block, the operation of the operation portion To stop. Ma
In the issuing step, after the operation of each operation unit is stopped, operation command information generated from the operation block to be executed next is issued to each operation unit to start the operation of the operation unit. For this reason,
According to this robot control method, after each operation unit executes the operation indicated by one operation block in synchronization, each operation unit can execute the operation indicated by the next operation block in synchronization. Therefore, it is possible to continuously execute a plurality of operations executed by each operation unit in parallel.

[Procedure amendment 13]

[Document name to be amended] Statement

[Correction target item name] 0026

[Correction method] Change

[Correction contents]

The operation information is executed by each operation unit in parallel.
Information that defines the operation to be performed and the operation unit that serves as the synchronization reference
And information defining its operation duration.
Processing step is included in the operation information received in the receiving step.
According to the operation unit and the operation duration
Thus, the end timing of the operation in the reference operation unit
Is created, and the issuing step includes the
Based on the end information created in the process,
When the operation duration of the working part ends, the operation has not ended.
Issue a stop command to stop operation
That, it is desirable.

[Procedure amendment 14]

[Document name to be amended] Statement

[Correction target item name] 0027

[Correction method] Change

[Correction contents]

In the issuing step, the operation of the reference operation unit is instructed to stop in accordance with the end information created by the processing step, and the operation of the operation unit that has not finished operation is also instructed to stop. Therefore, the end timing of the operation by another operation unit can be matched with the end timing of the operation by one operation unit. Therefore, it is possible to synchronize the operations of the plurality of operation units.

[Procedure amendment 15]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction contents]

To achieve the above object, a computer-readable recording medium according to a fifth aspect of the present invention comprises a robot
Control method for controlling a plurality of moving parts constituting a robot
Record a program that causes a computer to execute
Recorded on a recording medium, the motion indicating a continuous motion of the robot.
Receiving the operation information; and
Specify the operation contents of each operation unit according to the operation information
Operation command information and the end of the operation in the reference operation unit
Process for creating end information that defines the end timing
According to the operation command information created in the above-described processing steps.
Operation instruction to instruct each operation section to start the operation to be executed.
Command, and according to the end information created by the processing means.
Command to instruct each moving part to stop moving
A robot control method having an issue step of issuing a
A program for causing a computer to execute the program is recorded.

[Procedure amendment 16]

[Document name to be amended] Statement

[Correction target item name] 0029

[Correction method] Change

[Correction contents]

In the issuing step , the operation command created by the processing step is issued to each operation unit, and the operation of the operation unit is started.
Further, in the issuing step , after the operation command is issued, when the end timing of the operation of the operation unit as a reference indicated by the end information created by the processing step elapses, a stop command for instructing each operation unit to stop the operation is issued. . Therefore, according to the computer-readable recording medium, it is possible to match the end timings of the operations executed by the respective operation units in parallel.
Therefore, it is possible to synchronize the operations performed by the respective operation units constituting the robot in parallel.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Nobuaki Takanashi 5-7-1 Shiba, Minato-ku, Tokyo F-term in NEC Corporation (reference) 3F059 BB06 FC08 5H004 GA40 GB16 HA07 HA16 HA20 HB07 HB15 HB20 JA04 JA22 JA23 KA03 LA15 LA18 MA02 MA51 5H269 AB27 AB33 BB03 EE01 EE07 EE10 EE13 EE20 KK01 KK03 NN08 QC06 QD01 QD05 QD08

Claims (12)

[Claims] 1. A robot controller for controlling a plurality of operation units constituting a robot in accordance with continuous operation and operation information indicating the time, wherein the reception unit receives operation information; Processing means for generating operation command information for instructing the operation content of each operation unit and end information for instructing the end timing of the operation by each operation unit in accordance with the operation information received by the means; and an operation command generated by the processing means. Issuing means for issuing information to each operation unit, starting operation of the operation unit, and issuing a stop command for instructing each operation unit to stop operation according to the end information. Robot controller. 2. The operation information includes a plurality of operation blocks indicating operations to be performed by the plurality of operation units in parallel, and the processing unit generates operation command information and end information from each block. The issuing unit instructs each operation unit to stop operation according to end information generated from a certain operation block, and then issues operation command information generated from the next operation block to each operation unit to issue the operation unit. The robot control device according to claim 1, wherein the operation is started. 3. The operation block includes a plurality of operation blocks indicating operations to be executed in parallel by the plurality of operation units in accordance with a sequence of operations to be executed. , Generating operation command information and end information, respectively, wherein the issuing unit instructs each operation unit to stop operation according to end information generated from an operation block corresponding to a certain sequence, and then performs an operation corresponding to the next sequence. The robot control device according to claim 2, wherein the operation command information generated from the block is issued to each operation unit to start the operation of the operation unit. 4. The time issuing means, in response to the reception of the end information, starts timing of the time designated by the end information, and notifies the end of the timing, and the timer from the time managing means. The robot control device according to claim 1, further comprising: means for instructing each operation unit to stop the operation in accordance with the end notification. 5. The operation information includes: reference instruction information indicating a reference operation unit for synchronizing operations performed by the respective operation units in parallel; and operation instruction information indicating operation contents of the respective operation units. The processing means, according to the reference instruction information and the operation instruction information, to create operation instruction information that instructs the operation content of each operation unit and end information that instructs the end timing of the operation by each operation unit, The robot control device according to any one of claims 1 to 4, wherein: 6. The operation information includes information defining an operation to be executed by a plurality of operation units in parallel, and information defining an operation unit serving as a synchronization reference and an operation duration thereof. The means generates the end information based on the operation continuation time of the reference operation unit, and the issuing unit ends the operation when the operation continuation time of the reference operation unit ends according to the end information. The robot control device according to any one of claims 1 to 4, wherein the operation unit instructs an operation unit that has not performed the operation to stop the operation. 7. A robot controller for controlling a plurality of operation units based on operation information for controlling a continuous operation of a plurality of operation units constituting the robot, wherein the operation information includes a plurality of operation units. The robot control device includes at least two operation blocks including control information on operations to be executed in synchronization with each other for a continuous series of operations, wherein the robot control device includes: a receiving unit that receives the operation information; Operation command creation means for creating, for each operation unit, first and second operation commands for instructing the operation content of the operation unit according to two operation blocks included in the obtained operation information, and the operation information received by the reception unit End information creating means for creating first and second end information indicating the end timing of the operation by each operation unit according to the first and second operation commands according to The first operation command created by the instruction creation means is issued to each operation section to start the operation of each operation section, and the operation of each operation section is stopped according to the first end information created by the end information creation means. Is issued, and the operation defined by the first operation block is executed synchronously. After the issuance of the stop instruction, a second operation instruction is issued to each operation unit, and the second operation instruction is issued. Issuing means for causing each operation unit to start the operation defined by the operation block, and issuing a stop command for instructing each operation unit to stop the operation in accordance with the second end information created by the end information creating means; A robot control device comprising: 8. A robot comprising: a plurality of operation units; and a robot control device that controls the operation units, wherein the robot control device includes: a receiving unit that receives operation information; Processing means for creating operation command information for instructing the operation content of each operation unit in accordance with the operation information, end information for instructing the end timing of the operation by each operation unit, and processing the operation instruction information created by the processing means for each operation Issuing means for issuing an instruction to stop the operation of each of the operation units in accordance with the end information. 9. A robot control method for controlling a plurality of operation units constituting a robot based on operation information for controlling the operation units, wherein the operation information is received, and the received operation is performed. An operation command creation step of creating an operation command for instructing the operation content of the operation unit for each operation unit according to the information; receiving the operation information; and instructing an end timing of the operation by each operation unit according to the received operation information. An end information creating step of creating end information; and an operation instruction issuing step of issuing the operation instruction created by the operation instruction creating step to each operation unit in substantially synchronization with each other to start operation of each operation unit; A stop command issuing step of issuing a stop command to instruct each operation unit to stop the operation in accordance with the end information created by the end information creating step. 10. The operation information includes a plurality of operation blocks indicating operations to be executed in parallel by the plurality of operation units in accordance with the order of the operations. Generating operation command information for instructing the content of the operation of the operation unit; the end information creating step generates, from each block, operation end information indicating a duration of the operation; the operation command issuance step and the stop instruction issuance; In the process, the operation command generated from a certain operation block is supplied to each operation unit to start the operation substantially synchronously, and then each operation unit operates according to the end information generated from the same operation block. 10. An instruction to stop the operation is performed, and thereafter, operation command information generated from the next operation block is issued to each operation unit to start the next operation of the operation unit. Robot system Your way. 11. The operation information includes reference instruction information indicating a reference operation unit for synchronizing operations performed by the respective operation units in parallel, and operation instruction information indicating an operation content of each operation unit. The end information generating step generates end information according to the operation instruction information of the operation unit indicated by the reference instruction information, and the stop command issuance step ends the operation of the reference operation unit according to the end information. The robot control method according to claim 9, wherein an instruction to stop the operation is given also to an operation unit that has not completed the operation. 12. A recording medium for recording a program for controlling a plurality of operating units constituting a robot in accordance with continuous operation of the plurality of operating units and operation time indicating the operation time. Receiving means for receiving, processing means for creating operation command information for instructing the operation content of each operation unit and end information for instructing the end timing of the operation by each operation unit, in accordance with the operation information received by the receiving means; Issuance means for issuing operation command information created by the means to each operation unit, starting operation of the operation unit, and issuing a stop command for instructing each operation unit to stop operation according to the end information; A computer-readable recording medium having recorded thereon a program for causing a computer to execute the program.