JP2004216528A - Personal service robot and method of creating work plan for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a personal service robot for supporting a living life by giving services to a human being, and a method of creating a work plan for the same. <P>SOLUTION: The personal service robot 10 comprises an input means consisting of a voice input part 15 for inputting data and a voice recognition part 13, a dictionary storage part 34 for storing a dictionary in which work is registered, a priority storage part 32 for storing a coordinating relationship coordinating the work with the priority of execution order of the work, a dialog processing part 21 using the dictionary for recognizing the work from data input by the input means, a work managing part 22 for creating a work plan table showing the coordinating relationship between the work and the execution order of the work by determining the execution order of the work in accordance with the priority of the work obtained by the priority table out of the plurality of works recognized by the dialog processing part 21, and a work plan storage part 31 for storing the created work plan table. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an interpersonal service robot that supports life by providing services (services) to humans, and a work plan creation method for the interpersonal service robot.
[0002]
[Prior art]
Robots (androids) have been researched and developed since industrial robots, which perform manufacturing processes for factories on behalf of humans, were developed in the late 1950's. In 1996, humanoid (humanoid) robots also appeared. Conventionally, in order for such a robot to perform a predetermined task, it is necessary to create an application program describing details of an operation necessary for performing the task. The actual application program goes through various levels such as the level of the overall work plan, the level of specifying the individual work contents included in the work plan, and the level of the operation contents adapted to the individual work contents. The details of the operation content are created by being described in an appropriate programming language. As described above, the conventional robot operates according to an application program created in advance by a human. Also, such conventional robots are not oriented to provide services to humans such as housework and nursing.
[0003]
Note that a support tool that supports the creation of an application program while hierarchically organizing the above-described levels is disclosed in, for example, Patent Document 1.
[0004]
[Patent Document 1]
JP-A-8-249026
[0005]
[Problems to be solved by the invention]
By the way, in the context of a rapidly aging society, there is a demand for interpersonal service robots that support life by providing services to humans such as housework and nursing. In the future, we will research and develop interpersonal service robots. There is a need. When considering a personal service robot, it is convenient for the robot to automatically create a work plan for a plurality of requested works according to the intended use. In addition, while the robot is automatically operating in accordance with a previously created work plan, it is assumed that a human (master) who provides a service requests work that is not in the work plan. Then, it is assumed that the master requests a work not in the work plan by designating a future time. In such a case, the robot must determine whether to perform the task being performed or the requested task.
[0006]
The present invention has been made in view of such circumstances, and an object of the present invention is to provide an interpersonal service robot and a method for creating an interpersonal service robot work plan that automatically create a work plan.
[0007]
Another object of the present invention is to provide an interpersonal service robot capable of automatically re-planning a work plan in response to a work request generated during execution of a previously created work plan.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, a personal service robot for providing services to humans according to claim 1, comprising: an input unit for inputting data; a dictionary storage unit for storing a dictionary in which work is registered; Priority storage means for storing a correspondence relationship in which the priority of the execution order is associated with the processing means; processing means for recognizing work from the data input by the input means using the dictionary; and recognition processing by the processing means. In the plurality of works, the work execution order is determined based on the priority of the work obtained from the priority table, so that the work plan table showing the correspondence between the work and the execution order of the work is determined. The system includes a work management unit to be created and a work plan storage unit to store the created work plan table.
[0009]
In the invention according to claim 7, input means for inputting data, dictionary storage means for storing a dictionary in which the work is registered, and a correspondence relationship in which the work is associated with the priority of the execution order for the work are stored. Priority storing means, processing means for recognizing work using the dictionary from data input by the input means, and correspondence between the plurality of works recognized by the processing means and the execution order of each work A work management means for creating a work plan table indicating a relationship, and a work plan storage means for storing the created work plan table; Calculating a priority of each of the plurality of tasks from the priority table; and determining a work order of the plurality of tasks based on the determined priority. And a step of creating the work plan table by Mel.
[0010]
In such an interpersonal service robot and the work plan creation method for the interpersonal service robot, the correspondence relationship in which the work and the priority of the execution order for the work are associated is stored in the priority storage means. When multiple tasks are instructed to be executed, the priority of each task can be determined from this correspondence, so the execution order of each task can be determined, and a task plan is automatically created. can do.
[0011]
In the invention according to claim 2, in the personal service robot according to claim 1, usages are further registered in the dictionary, and the correspondence corresponds to usages for one work. A plurality of priorities are associated with each other, and the processing unit further recognizes a use application by using the dictionary from the data input by the input unit, and is recognized by the processing unit from among the plurality of priorities. There is further provided a selecting means for selecting a priority according to a use purpose.
[0012]
Depending on the environment in which the interpersonal service robot is used, the usage determined by the person who uses the robot, and the like, the importance of the execution order may differ depending on other tasks even in the same task. In such a personal service robot, a plurality of priorities are set according to the intended use, so that the execution order can be appropriately determined according to the intended use.
[0013]
According to a third aspect of the present invention, in the personal service robot according to the first or second aspect, the dictionary includes a task, information items necessary for executing the task, and information for executing the task. And question data for inquiring about necessary information items are further registered in correspondence with each other, and the processing means recognizes the work and the information items from the data input by the input means using the dictionary, and performs recognition. By referring to the dictionary based on the work and the information items performed, if there is a lack of information items in information items necessary for performing the work, the corresponding question data is extracted using the dictionary. And output means for presenting the retrieved question data to the outside.
[0014]
Such an interpersonal service robot can present a question to supplement the missing information item when the input data lacks the information items necessary for performing the work, and therefore the user (master) Input can be flexibly handled.
[0015]
Further, in the invention according to claim 4, in the interpersonal service robot according to claim 3, the input means receives the data by voice, and the output means outputs the question data by voice. It is presented.
[0016]
Such an interpersonal service robot can input and output by voice.
[0017]
According to a fifth aspect of the present invention, in the personal service robot according to any one of the first to fourth aspects, the work management unit executes the work according to the created work plan table. If the new work is recognized by the recognizing unit while the work is in progress, the order of performing the work for the unexecuted work and the new work is determined by the priority of the work obtained from the priority table. To re-create the work plan table indicating the correspondence between the work and the execution order of the work.
[0018]
Such an interpersonal service robot can execute a work plan table even if the user instructs a new work while performing the work along the created work plan table, even if the user does not have an advanced situation determination function. Can be recreated based on priority.
[0019]
Further, in the invention according to claim 6, in the personal service robot according to any one of claims 1 to 5, a clock that measures time is further provided, and the time is further registered in the dictionary; When the processing unit recognizes the work and the time from the data input by the input unit, the work management unit further stores the recognized work and the time in the work plan storage unit in association with the recognized work and the time. The time recognized by the clock is set, and when there is an output indicating that the set time has been reached from the clock, the order of executing the work is given to the unexecuted work and the work corresponding to the time by the priority. By re-determining the work based on the priority of the work obtained from the work table, the work plan table indicating the correspondence between the work and the execution order of the work is re-created.
[0020]
Such an interpersonal service robot performs an advanced situation in the case where the work time of the work specified and ordered by the user is reached while the work is being performed along the created work plan table. Even without the judgment function, the work plan table can be re-created based on the priority, and the user can specify the future time to cope with the work.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments according to the present invention will be described with reference to the drawings. In each drawing, the same components are denoted by the same reference numerals, and description thereof will be omitted. First, the configuration of the present embodiment will be described.
(Configuration of the embodiment)
FIG. 1 is a diagram showing a configuration of the personal service robot. FIG. 2 is a diagram illustrating a configuration of the work plan table and a configuration of the work time table. FIG. 2A is a diagram illustrating a work plan table, and FIG. 2B is a diagram illustrating a work time table.
FIG. 3 is a diagram showing the configuration of the application-specific priority table.
[0022]
The personal service robot 10 includes a control unit 11, a storage unit 12, a voice recognition unit 13, a voice generation unit 14, a voice input unit 15, a voice output unit 16, a drive unit 17, and a clock 18.
[0023]
The voice input unit 15 is a device that receives a voice of the master and surrounding sounds and converts the sound into a voice signal of an electric signal, and includes, for example, a microphone.
The voice recognition unit 13 is a device that recognizes a voice signal input from the voice input unit 15 by a known technique and converts the voice signal into text data. This text data is output to the control unit 11. In the present embodiment, the voice input unit 15 and the voice recognition unit 13 correspond to an input unit.
[0024]
The audio generation unit 14 generates an audio signal according to the output from the control unit 11 and outputs the audio signal to the audio output unit 16. The audio output unit 16 is a device that converts an electric signal, such as a speaker, into sound, and generates audio according to the audio signal from the audio generation unit 14.
In the present embodiment, the sound generator 14 and the sound input unit 15 correspond to an output unit.
[0025]
The storage unit 12 is a storage circuit that stores various programs necessary for the operation of the personal service robot, data necessary during the execution of the program, and data generated during the execution of the program. A storage unit 32, an operation library storage unit 33, and a dictionary storage unit 34. The storage unit 12 includes, for example, a ROM, an EEPROM, a RAM, and the like. These programs and data are read from an auxiliary storage device (not shown) for storing data such as a hard disk. If the auxiliary storage device does not store the programs and data, a storage medium storing the programs and data is used. From an external storage device (not shown). The storage medium is, for example, a flexible disk, a CD-ROM, a CD-R, a DVD-R, or the like, and the external storage device is, for example, a flexible disk drive, a CD-ROM drive, a CD-R drive, a DVD-R drive, or the like. It is.
[0026]
The work plan storage unit 31 stores a work plan table for registering the order of execution of work performed by the personal service robot and a work time table for registering work performed at a predetermined time. The work plan table includes, for example, a work order for registering the order of work, a priority for registering the priority of the work execution order, and a work content for registering the work content, as shown in FIG. The fields are configured in preparation, and records are created according to the work order. Thus, the work plan table indicates the correspondence between the work and the execution order of the work. The work time table includes, for example, a work time for registering the time at which the work is performed, a priority for registering the priority of the execution order of the work, and a work content for registering the content of the work, as shown in FIG. , And a record is created according to the work time. In this way, the work time table associates the work with the execution time of the work.
[0027]
The priority storage unit 32 stores a priority table created in accordance with the intended use of the robot, in which the tasks performed by the robot are associated with the priorities of the execution orders for the tasks. For example, as shown in FIG. 3, the priority table includes fields including a use purpose for registering a use purpose of the robot and a priority for registering a priority set according to the content of the work. Records are created according to the intended use of the robot. The priority field is further subdivided for each task. For example, in the present embodiment, the priority fields include “pharmaceutical delivery priority”, “pharmaceutical trash disposal priority”, “baggage delivery priority”, “baggage unloading priority”, and It is subdivided into "cleaning priorities". In the present embodiment, the intended use is “home use” mainly intended for use at home, “hospital use” mainly intended for use at a hospital, and especially for severely ill patients even for a hospital. There are two types: "for hospitals for severely ill patients" assuming provision of services, "for cleaning" mainly for cleaning, and "for luggage transportation" mainly for carrying luggage. In addition, work and usage are only examples and are not limited to these.
[0028]
Further, in the present embodiment, for example, when the usage is “home use”, the “priority of drug delivery” is “3”, and the “priority of drug waste disposal” is “3”. "3", "load delivery priority" is "3", "load carry-out priority" is "3", and "cleaning priority" is "3". Further, for example, when the usage is “hospital”, the “priority of medicine delivery” is “4”, the “priority of medicine trash disposal” is “4”, and the “patch delivery priority” is “4”. The “priority” is “3”, the “loading carry-out priority” is “3”, and the “cleaning priority” is “3”. As described above, the priority does not necessarily need to be different for each operation, and the same value may be set.
[0029]
Here, the priority for each task is set according to the intended use, the importance and urgency of the task, etc. From the viewpoint of setting appropriately, the tasks performed by the interpersonal service robot and the environment in which it is used are sufficient. It is preferable that a person who understands the above sets. For example, it is appropriate for a doctor, a nurse, or the like to set the priority of each operation in the case of the hospital described above.
[0030]
Here, depending on the usage of the robot, a task that is difficult to imagine may be defined in the priority field in the priority table for each application. In such a case, the priority may be set to be extremely low, or if such an operation is ordered, the robot may perform an error process as an operation that cannot be executed. Further, in the present embodiment, the higher the numerical value is, the higher the priority is defined. However, the higher the numerical value, the lower the priority may be.
[0031]
The operation library storage unit 33 stores an operation library in which operation programs created for each operation and realizing detailed operations according to the operation are compiled. The dictionary storage unit 34 stores a word for recognizing a word uttered by the master, a keyword for recognizing a task, an information item necessary for executing the task, and a task if the necessary information item is insufficient. Is stored in a dictionary in which question data and the like for asking a master about information items (insufficient information) necessary to execute the above are associated with each other.
[0032]
The word is, for example, a phrase indicating a task, a phrase indicating a use purpose, a phrase indicating a time, a phrase indicating information necessary for executing a task, and the like. The keyword for recognizing the work is, for example, in the case of the work “carrying out the luggage”, a phrase related to “carrying out the luggage” such as “carry out”, “carry”, and “transport”. The information items necessary to execute the work are, for example, at least "what", "from where", and "where" in the case of the work "loading of luggage". Then, the information items are associated with a keyword for recognizing the operation of “loading the package” or the operation of “loading the package”. The question data is, for example, "What do you want to carry?" If the information corresponding to "What" is insufficient, and "Where to carry it" if the information corresponding to "From" is insufficient. If the information corresponding to "Where" is insufficient, "Where do you want to carry it?"
[0033]
The driving unit 17 is an actuator in the personal service robot 10 that operates according to the output of the control unit 11, and the head, the body, the double arms, the both legs, and the like operate when the driving unit 17 is driven. The clock 18 measures the time, and outputs an interrupt signal to the control unit 11 to notify the control unit 11 when the time set by the control unit 11 is reached.
[0034]
The control unit 11 is a circuit that includes, for example, a microprocessor and controls the above-described units of the personal service robot 11, and includes a dialog processing unit 21, a work management unit 22, a priority table selection unit 23, and a drive control unit. 24.
[0035]
The dialogue processing unit 21 extracts a word from the text data output from the voice recognition unit 13 using a dictionary, and analyzes the work ordered by the master and information necessary for the work by referring to the dictionary based on the cutout word. . If sufficient information for executing the analyzed work cannot be obtained from only the words cut out from the text data, question data for asking the master about the missing information items is obtained from the dictionary and output to the voice generation unit 14. . The interaction processing unit 21 outputs the recognized work to the work management unit 22 and stores the information for executing the work and the storage unit 12.
[0036]
The work management unit 22 generates the work plan table stored in the work plan storage unit 31, executes the work according to the generated work plan table, and re-executes the work plan table during execution of the work according to the work plan table. Planning is performed, and the operation to be performed is output to the drive control unit 24.
[0037]
The priority table selection unit 23 selects a record of the priority table to be used according to the intended use from the priority table in the priority storage unit 32 of the storage unit 12.
[0038]
The drive control unit 24 extracts an operation program corresponding to the operation from the operation management unit 22 from the operation library of the operation library storage unit 33, and outputs a drive signal corresponding to the extracted operation program to the drive unit 17.
[0039]
Next, the operation of the present embodiment will be described.
(Operation of the embodiment)
FIG. 4 is a flowchart (part 1) illustrating an operation of replanning the work plan table. FIG. 5 is a flowchart (part 2) illustrating the operation of replanning the work plan table. FIG. 6 is a diagram showing the work plan table after the replanning. FIG. 6A shows a work plan table (part 1) after re-planning, and FIG. 6B shows a work plan table (part 2) after re-planning.
[0040]
For example, when the power of the personal service robot 10 is turned on in the initial state, the control unit 11 initializes each unit, and the control unit 11 is in a state of waiting for input of setting of a use purpose. First, the master determines the type of use of the personal service robot 10 in mind, and inputs the use corresponding to the type to the personal service robot 10 via the voice input unit 15. The dialog processing unit 21 of the control unit 11 recognizes the type of use from the text data using a dictionary, and transfers the recognition result to the priority table selection unit 23. The priority table selection unit 23 of the control unit 11 specifies a record corresponding to the type of use by searching the field of use in the use-specific priority table with the type of use transferred, and identifies the specified record. Defines the priority of each task. The priority of each work defined in this way is stored in a rewritable non-volatile memory such as an EEPROM of the storage unit 12, and held until a new use type is input from the master again.
[0041]
In FIG. 3, for example, when the master decides the type of use to be used for hospitals for severely ill patients and inputs “for hospitals for severely ill patients”, the record for hospitals for severely ill patients in the priority table by use is specified, and “ “Priority of medicine delivery” is “5”, “Priority of medicine trash disposal” is “4”, “Package delivery priority” is “3”, and “Package unloading priority”. Are defined as “3” and “priority of cleaning” is defined as “2”.
For example, when the master decides the type of use for cleaning and inputs “for cleaning”, the cleaning record in the priority table for each use is specified, and the “priority of medicine delivery” is set to “3”. , "Priority of littering of medicine" is "3", "Priority of delivery of luggage" is "2", "Priority of unloading luggage" is "2", and "priority of cleaning" Is defined as "5".
[0042]
After the usage of the personal service robot is set in this way, in FIGS. 4 to 6, the work management unit 22 of the control unit 11 is in a state of waiting for an input of a work input. The master inputs the work to be provided to the interpersonal service robot 10 to the interpersonal service robot 10 via the voice input unit 15. When a voice is input, the voice input unit 15 converts the sound into a voice signal and outputs the voice signal to the voice recognition unit 13. Text data obtained by converting a voice signal by the voice recognition unit 13 is input to the dialog processing unit 21 of the control unit 11 (S11).
[0043]
The dialog processing unit 21 of the control unit 11 cuts out words from the text data, and analyzes words spoken by the master by referring to the dictionary in the dictionary storage unit 34 based on the cut out words. The dialogue processing unit 21 determines whether or not sufficient information that can execute the analyzed work is obtained from the words cut out from the text data (S12).
[0044]
If the result of the determination is that the information is not sufficient (No), the interaction processing unit 21 refers to the dictionary in the dictionary storage unit 34 and retrieves question data for asking the master about the missing information items. Then, the dialog processing unit 21 outputs the extracted question data to the voice generation unit 14, and then returns the processing to S11 (S13). The voice generation unit 14 generates a voice signal according to the question data, and outputs the voice signal to the voice output unit 16. The audio output unit 16 generates audio according to the audio signal. In this manner, the interpersonal service robot 10 issues a question to the master when sufficient information for executing the analyzed work is not obtained. Then, the master inputs the answer to the question to the personal service robot 10 via the voice input unit 15. The work may be input again by adding the answer to the question.
[0045]
For example, when data relating to a plurality of boxes are registered in the personal service robot, and the master inputs a work "Please bring a box.", The personal service robot judges that the box cannot be specified. And ask, "Which box should I bring?" Then, the master replies, "On the desk." To identify the box. Or reply, "Please bring the box on the desk."
[0046]
On the other hand, when sufficient information is obtained (Yes), the analyzed contents are transferred to the work management unit 22. The work management unit 22 temporarily stores the transferred contents (work) in the storage unit 12.
[0047]
Next, the work management unit 22 of the control unit 11 determines whether the work input has been completed (S14). For example, when no voice is input to the voice input unit 15 within a certain period of time, it is determined that the work input is completed, or the dialog processing unit 21 analyzes the voice input to the voice input unit 15. If the result indicates that the work input has been completed (for example, “work input has been completed”), it is determined that the work input has been completed.
[0048]
As a result of the determination, if the input of the work is continued, the process returns to S11, and if the input of the work is completed, the process of S15 is performed.
[0049]
In S15, the work management unit 22 of the control unit 11 checks whether or not the work stored in the storage unit 12 includes a work whose future time is specified.
[0050]
As a result of the examination, when there is a work whose future time is specified (Yes), the work management unit 22 creates a work time table for the work whose time is specified and stores the work registered in this work time table. Erase from unit 12. Then, the created work time table is stored in the work plan storage unit 31 (S16). The work management unit 22 sets the time at which the work registered in the work time table is to be executed on the clock 18 (S17), and executes the processing of S18. On the other hand, as a result of checking, if there is no work for which a future time is designated (No), the work management unit 22 executes the process of S18.
[0051]
In S18, the work management unit 22 of the control unit 11 determines the execution order of the work stored in the storage unit 12 according to the priority, and creates a work plan table. Then, the work management unit 22 stores the created work plan table in the work plan storage unit 31.
[0052]
For example, when “loading of luggage”, “delivery of medicine”, “delivery of luggage at time T1” and “cleaning” are input as work, the work management unit 22 firstly performs “delivery of luggage at time T1”. A work time table is created as shown in FIG. Next, when the interpersonal service robot 10 is set for a hospital for severely ill patients, as shown in FIG. Since the “delivery” is “5” and the “cleaning” is “2”, the work management unit 22 assigns the work order 1 to “delivery of medicine”, the work order 2 to “unloading of luggage”, and A work plan table is created as shown in FIG. 2A by assigning work order 3 to “cleaning”. Then, the work management unit 22 stores the created work plan table in the work plan storage unit 31.
[0053]
Here, in the case where the priorities conflict in two or more tasks, for example, it is considered that inputting the task to be executed first is the normal psychology of human beings. Create a work plan table so that work is executed first. Also, for example, the work time of each work is added as additional information to the operation library, and each work time of the competing work is compared, and a work plan table is created so that the work completed in a short time is executed first. I do. Further, for example, an operation to generate a random number and execute the operation completely at random may be determined.
[0054]
When the work plan table is automatically created according to the priority in this way, the personal service robot 10 executes the work according to the work plan table (S19).
[0055]
That is, the work management unit 22 of the control unit 11 refers to the work plan table of the work plan storage unit 31 and first takes out the work in the work order 1 and transfers the taken out work to the drive control unit 24. The drive control unit 24 extracts an operation program corresponding to the operation from the operation library of the operation library storage unit 33 in order to execute the operation. Then, the drive control unit 24 generates a drive signal according to the extracted operation program, and outputs the drive signal to the drive unit 17. When the operation program ends and the work ends, the drive control unit 24 notifies the work management unit 22 of the end of the work.
[0056]
Upon receiving this notification, the work management unit 22 refers to the work plan table in the work plan storage unit 31 to execute the next work, and first determines whether the work in the work plan table has been completed (S20). ). This determination is made, for example, by executing the work up to the end of the record in the work plan table. For example, when creating the work plan table in S17, the work management unit 22 adds a record in which a symbol indicating the end of the work (for example, “end”) is registered in the work contents after the record of the last work, and Is performed by recognizing
[0057]
If the result of the determination is that the work is finished (YES), the execution of the work is finished, the process returns to S11, and the system enters a work input waiting state. On the other hand, if the result of determination is that work has not been completed, the process returns to S19.
[0058]
Then, in S19, the work management unit 22 of the control unit 11 refers to the work plan table of the work plan storage unit 31, retrieves the work of the next work rank, work rank 2, and stores the retrieved work in the drive control unit. 24. The drive control unit 24 executes the work by controlling the drive unit 17 according to the operation program extracted from the operation library as described above, and notifies the work management unit 22 when the operation is completed. Upon receiving the notification of the end of the work from the drive control unit 24, the work management unit 22 determines whether the work plan has been completed. If the work has not been completed as a result of the determination, the process returns to S18. . Thereafter, in the same manner, the interpersonal service robot 10 repeats taking out the work of the next work order from the work plan table, executing the work, and determining the end of the work in accordance with the work order until the work in the work plan table is completed. Go through all the work in the planning table.
[0059]
If an interrupt occurs while the work is being performed along the work plan table, the personal service robot 10 temporarily suspends the work being performed and performs the following interrupt processing. The interruption occurs when the master inputs a voice to the voice input unit 15 to request a new work, and when the clock 18 reaches the time set in S17.
[0060]
In FIG. 5, when an interrupt occurs, first, the work management unit 22 of the control unit 11 determines the type of the interrupt (S31). For example, when text data is input from the voice recognition unit 13 (“new work input” in S31), the type of interrupt is determined to be a new work input, and the process of S33 is executed. . On the other hand, for example, when the time is input from the clock (“work time” in S31), it is determined that the work is the work time of the work registered in the work time table, and the process of S32 is performed.
[0061]
In S32, the work management unit 22 of the control unit 11 searches for a record at that time by referring to the work time table of the work plan storage unit 31 based on the time input from the clock 18. Then, the work management unit 22 extracts the work in the searched record and the priority of the work, and performs the process of S36.
[0062]
On the other hand, in S33, the interaction processing unit 21 of the control unit 11 cuts out words from the text data, and analyzes the words spoken by the master by referring to the dictionary in the dictionary storage unit 34 based on the cut out words. The dialogue processing unit 21 determines whether sufficient information for executing the work analyzed using only the words cut out from the text data is obtained (S33).
[0063]
If the result of the determination is that the information is not sufficient (No), the dialogue processing unit 21 outputs question data for asking the master about the missing information to the voice generation unit 14 (S34). Then, the dialog processing unit 21 enters a state of waiting for an input from the voice recognition unit 13 (a state of waiting for a response), and returns to S33. On the other hand, the voice generation unit 14 generates a voice signal according to the question data from the interaction processing unit 21 and outputs the voice signal to the voice output unit 16. When the voice output unit 16 generates voice according to the voice signal, the personal service robot 10 asks a question to the master. Then, the master inputs the answer to the question to the personal service robot 10 via the voice input unit 15. When the answer is input, the voice of the answer is converted into a voice signal by the voice input unit 15, further converted into text data by the voice recognition unit 13, and input to the dialog processing unit 21. Thereafter, the processes of S33, S34 and S35 are repeated until sufficient information for executing the analyzed work is obtained.
[0064]
On the other hand, if the result of the determination is that the information is sufficient (Yes), S36 is executed.
[0065]
In S36, the work management unit 22 of the control unit 11 determines the priority of the interrupted work (the work from S32 or S33, hereinafter abbreviated as “interruption input work”) and the next work order in the work plan table. The priority of each work is compared with the subsequent work, the work order of the interrupt input work is determined according to the priority of the interrupt work, and the work plan is re-planned. Then, the work plan table of the re-planned work plan is stored in the work plan storage unit 31, and the interrupt processing ends (S36). When the interrupt processing ends, the work is executed from the continuation of the interrupted work.
[0066]
Here, for example, the re-planning is performed by sequentially comparing the priority of the interrupt input work and the priority of the work after the next work in the work plan table, and comparing the priority of the interrupt input work in the work plan table. If the priority of the work is equal to or higher than the priority of the work, the work is performed by sequentially lowering the work order of each work after the work so that the interrupt input work is performed before the work.
[0067]
For example, when the type of usage is selected by the personal service robot 10 for a hospital for severely ill patients and S11 to S18 in FIG. 4 are executed, a work plan table and a work time table shown in FIG. 2 are created. In S19, the operation of “delivery of medicine”, which is the operation order 1, is executed. When the "delivery of medicines" is completed and the master receives an instruction "Please throw away the garbage of medicines first.", The control unit 11 of the personal service robot 10 proceeds to S31 and S33 of FIG. By executing the operation, it is determined that the interrupt input operation is "drainage of medicine", and the process of S36 is performed. In this case, the work management unit 22 compares the priority 4 of “disposal of medicine trash” with the priority 3 of “carrying out luggage” and the priority 2 of “cleaning” after the next work order. As a result of the comparison, the priority of “disposal of garbage of medicine” is higher than the priority of other work, so the work management unit 22 inserts “discard of garbage of medicine” before the work of “unloading luggage”. Then, the work order of “loading out the luggage” and “cleaning” is sequentially reduced. As a result, the work plan table is re-planned as shown in FIG. 6A, and the work management unit 22 stores the work plan table after the re-planning in the work plan storage unit 31.
[0068]
Then, the interpersonal service robot performs the operation of “discarding the garbage of medicines” and the operation of “unloading the luggage” according to the work plan table after the re-planning. When receiving the interrupt signal from the clock 18 during the operation of “loading the package”, the control unit 11 executes S31 and S32 in FIG. 5 and determines that the interrupting operation is “delivery of the package”, and proceeds to S36. Is performed. In this case, the work management unit 22 compares the priority 3 of “delivery of luggage” with the priority 2 of “cleaning” following the next work order. As a result of the comparison, the priority of “delivery of package” is higher than the priority of “cleaning”, so the work management unit 22 inserts “delivery of package” before the operation of “cleaning”, and Are sequentially moved down. As a result, the work plan table is re-planned as shown in FIG. 6B, and the work management unit 22 stores the work plan table after the re-planning in the work plan storage unit 31.
[0069]
In the case where the work of the work time table is performed, if the processing is performed as described above, the work may not be performed at the designated time. Instead of registering the defined priority directly in the work time table, for example, the highest priority may be registered in the work time table. Further, for example, there are some works that are more urgent than the work registered in the work time table, so that they may be registered in the work time table in the next order of the highest priority or in the order of one after another. In this way, by changing the priority and registering it in the work time table, the work is performed substantially at the designated time.
[0070]
In the above-described embodiment, the command of the master is input by voice using the voice input unit 15 and the voice recognition unit 13, but the command of the master is directly input to the text data using a keyboard or pen input instead. May be configured to be input. Alternatively, for example, an infrared communication unit may be provided instead of the above, and text data may be input from an input terminal provided with a keyboard, pen input, or the like.
[0071]
Further, in the above-described embodiment, the question data is output by voice using the voice generation unit 14 and the voice output unit 16, but the question data is directly converted to text data using a display unit such as a CRT or an LCD instead. May be configured to be displayed and output. Alternatively, for example, an infrared communication unit may be provided instead of these, and the output terminal provided with the display unit may display and output text data. Then, the input / output terminal may be configured by further providing the output terminal with the above-described keyboard, pen input, and the like.
[0072]
【The invention's effect】
As described above, in the interpersonal service robot according to claim 1 and the interpersonal service robot work plan creating method according to claim 7, the correspondence relationship in which the work is associated with the priority of the execution order for the work is determined by the priority. Since the work plan management means is stored in the storage means, the work plan management means can determine the priority of each work from this correspondence relationship when instructed to execute a plurality of works, and based on the priority of each work. Thus, the execution order of each operation can be determined. For this reason, a work plan can be automatically created without having an advanced situation determination function based on an advanced sensor such as a camera or a force sensor and a necessary and sufficient skill-based knowledge on the work. .
[0073]
In the personal service robot according to the second aspect, in addition to the effect of the first aspect, since a plurality of priorities are set according to the usage, the execution order is appropriately determined according to the usage. Can be.
[0074]
In the personal service robot according to the third aspect, in addition to the effects of the first and second aspects, if there is a shortage of information items necessary for performing the operation on the input data, the information is insufficient. Since a question can be presented to supplement an item, it is possible to flexibly respond to a user input. In particular, even if the master inputs words using words that are not registered in the dictionary, or fails to recognize the input voice, questions can be presented, so it is necessary to perform the work. Information can be obtained.
[0075]
Further, in the personal service robot according to the fourth aspect, in addition to the effect of the third aspect, it is possible to input and output by voice.
[0076]
In the personal service robot according to the fifth aspect, in addition to the effects of the first to fourth aspects, the user instructs a new operation while performing the operation according to the created operation plan table. Even in this case, the work plan table can be re-created based on the priority without having the advanced situation judgment function.
[0077]
Furthermore, in the personal service robot according to claim 6, in addition to the effects of claims 1 to 5, the user specifies a future time while performing the work according to the created work plan table. When the work time of the work ordered is reached, the work plan table can be re-created based on the priority without having the advanced situation judgment function. Can respond.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a personal service robot.
FIG. 2 is a diagram showing a configuration of a work plan table and a configuration of a work time table.
FIG. 3 is a diagram illustrating a configuration of a use-specific priority table.
FIG. 4 is a flowchart (part 1) illustrating an operation of replanning a work plan table.
FIG. 5 is a flowchart (part 2) illustrating an operation of replanning the work plan table.
FIG. 6 is a diagram showing a work plan table after replanning.
[Explanation of symbols]
10 personal service robot, 11 control unit, 12 storage unit, 13 voice recognition unit, 14 voice generation unit, 15 voice input unit, 16 voice output unit, 17 drive unit, 18 clock, 21 interactive processing unit, 22 work management unit, 23 priority table selection unit, 24 drive control unit, 31 work plan storage unit, 32 priority storage unit, 33 operation library storage unit, 34 dictionary storage unit

Claims (7)

Input means for inputting data,
Dictionary storage means for storing a dictionary in which work is registered;
Priority storage means for storing a correspondence relationship that associates the work and the priority of the execution order for the work,
Processing means for recognizing work using the dictionary from data input by the input means,
In the plurality of works recognized by the processing means, the order in which the works are performed is determined based on the priority of the work obtained from the priority table, so that the correspondence between the work and the execution order of the work is determined. Work management means for creating a work plan table indicating
An interpersonal service robot for providing services to humans, comprising: a work plan storage unit that stores a created work plan table. In the dictionary, usages are further registered,
A plurality of priorities corresponding to one use are associated with one correspondence in the correspondence,
The processing means further recognizes a use purpose using the dictionary from the data input by the input means,
The personal service robot according to claim 1, further comprising a selection unit that selects a priority according to a use purpose recognized by the processing unit from the plurality of priorities. In the dictionary, work and information items required for performing the work and question data for inquiring information items required for performing the work are further registered in association with each other,
The processing unit executes the work by recognizing a work and an information item from the data input by the input unit using the dictionary and referring to the dictionary based on the recognized work and the information item. If there is a missing information item in the information items necessary to perform, to retrieve the corresponding question data using the dictionary,
The personal service robot according to claim 1, further comprising an output unit configured to present the retrieved question data to the outside. The input means, wherein the data is input by voice,
4. The personal service robot according to claim 3, wherein the output unit is configured to present the question data by voice. The work management means, when a new work is recognized by the recognition means while performing the work along the created work plan table, the unexecuted work and the new work Re-determining the order in which the work is performed based on the priority of the work obtained from the priority table, thereby re-creating a work plan table indicating the correspondence between the work and the execution order of the work. The personal service robot according to any one of claims 1 to 4, characterized in that: It also has a clock that measures the time,
Time is further registered in the dictionary,
When the processing unit recognizes the work and the time from the data input by the input unit, the work management unit associates the recognized work with the time and further stores the work and the time in the work plan storage unit. The time recognized by the clock is set, and when there is an output indicating that the set time has been reached from the clock, the order of executing the work for the unexecuted work and the work corresponding to the time is set to the time. The work plan table showing the correspondence between the work and the order of execution of the work by re-determining based on the priority of the work obtained from the priority table, is re-created. The personal service robot according to claim 5. Input means for inputting data, dictionary storage means for storing a dictionary in which the work is registered, priority storage means for storing a correspondence relationship in which the work is associated with the priority of the execution order for the work, and the input means Processing means for recognizing work using the dictionary from the data input by the user, and work for creating a work plan table showing the correspondence between the plurality of works recognized by the processing means and the execution order of each work A work plan creating method for a personal service robot that provides a service to a human having a management means and a work plan storage means for storing the created work plan table,
A step of obtaining the priorities of the plurality of works from the priority table, and a step of creating the work plan table by determining the work order of the plurality of works based on the obtained priorities; A method for creating a work plan for an interpersonal service robot, comprising:

Images