JP2005046926A - Service robot system, main robot and follower robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a service robot system capable of providing various services at a low cost without enlarging or complicating a robot. <P>SOLUTION: In this service robot system, a main robot 20 is provided with a total management/operation planning module 41 for setting an operation plan on prescribed work based on instructions from a user U; a user communication module 42 for communicating information with the user U; a follower robot management module 47 for managing the positions and state of follower robots 50; and a follower robot control module 46 for controlling the operation of the follower robots 50. Further in the service robot system, the follower robot 50 is provided with a various service providing apparatus module 71 for performing prescribed work; a data response module 72 for transmitting information to the main robot 20; and an actuator module 73 for movement. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a robot system that performs various operations in cooperation with a main robot and a driven robot based on an instruction from a user U, and a main robot and a driven robot used in the robot system. At the same time, it relates to those that can minimize the overall product cost.
[0002]
[Prior art]
2. Description of the Related Art A mobile service robot apparatus is known in which a robot moves to a target position based on a user instruction and performs various operations (see, for example, Non-Patent Document 1). In recent years, mobile service robot devices for personal use that perform operations such as e-mail transmission / reception, Internet information search, home appliance remote control operation, music playback, and answering house monitoring are also known (for example, Non-patent document 2).
[0003]
Such a conventional mobile service robot apparatus includes an overall management / operation planning module, a user communication module, an exercise control module, an external communication module, and various service modules.
[0004]
The overall management / operation planning module has a function of integratedly managing each functional module and planning the work operation of the robot. The user communication module is a module that interprets and confirms a user instruction by a conversation with the user or an exchange through an input / output device. The motion control module is a module that performs path generation and movement control for moving the mobile service robot body to a necessary place in response to a user instruction.
[0005]
The external communication module is a module for exchanging data with an external device via the home network and transmitting / receiving necessary information via the Internet network. The various service modules are modules composed of device devices and application software for providing various services desired by the user.
[0006]
By linking these functional modules, the mobile service robot apparatus can provide the user with various services desired by the user based on instructions received from the user.
[0007]
[Non-Patent Document 1]
Autonomous mobile robot “Yamahiko”, [online], [searched July 23, 2003], Internet <URL: http: // www. roboten. esys. tsukuba. ac. jp />
[0008]
[Non-Patent Document 2]
MARON-1, Yaskawa et al., "Development of home robot MARON-1 (1)", Proc. Of the 20th Annual Conference of the Robotics Society of Japan, 3F11, 2002
[0009]
[Problems to be solved by the invention]
The mobile service robot apparatus described above has the following problems. That is, there are a wide variety of types of services that the user U desires, and in providing the information, information by voice, text, or video that is simply output from a speaker or display mounted on the main body of the mobile service robot apparatus. It is not possible to provide necessary services only by providing
[0010]
In some cases, a special mechanical device is required, or the article needs to be transported. In such a case, a necessary service providing module cannot always be mounted on the main body of the mobile service robot apparatus 200, and it cannot be realized with only one mobile service robot apparatus. In particular, mobile service robot devices that are assumed to be used in homes and offices have strong demands for miniaturization of robots due to restrictions on the usage environment, and the amount of equipment and articles that can be mounted on the main body is limited. The types of services that can be provided are limited.
[0011]
In addition, it is conceivable to increase the number of mobile service robot devices 200 and to provide each with various functions. However, the overall management / operation planning module 210 and the user communication module 220 described above are equipped with complex arithmetic devices. Therefore, it is generally expensive, and there is a problem that the cost increases when the mobile robots 200 corresponding to the number of required functions are prepared.
[0012]
Therefore, the present invention provides a service robot system that can provide a wide variety of services without increasing the size and complexity of the robot, and that can keep the overall cost low, and a main robot and follower used in the robot system. The purpose is to provide a type robot.
[0013]
[Means for Solving the Problems]
In order to solve the above problems and achieve the object, the service robot system, the main robot and the driven robot of the present invention are configured as follows.
[0014]
(1) In a service robot system that performs a predetermined operation based on an instruction from a user, the service robot system includes a main robot and a driven robot, and the main robot performs the predetermined operation based on an instruction from the user. A planning unit that sets an operation plan for the robot and forms a command signal to the driven robot; an information transmission unit that transmits information to the user; and transmission of information including at least the command signal to the driven robot A driven-side transmission / reception unit, a driven robot management unit that manages the position / state of the driven robot, and a driven robot drive control unit that controls the operation of the driven robot. , A transmission / reception on the driven side for transmitting information including at least a position signal and a status signal to the working unit for performing the predetermined work and the main robot When, characterized in that it includes a driven side portion for moving based on the control signal by the driven robot drive control unit.
[0015]
(2) The service robot system described in (1) above, wherein the main robot is provided with a main driving unit for moving.
[0016]
(3) In the service robot system described in (1) above, the main robot includes a working unit that performs a part of the predetermined work.
[0017]
(4) In the service robot system described in (1) above, the main robot includes an external communication unit used for information transmission with an external network.
[0018]
(5) In the service robot system described in (1) above, the main robot and the driven robot are each provided with a connecting portion provided for mutual connection.
[0019]
(6) In the service robot system according to (5), the main robot includes a main power supply unit, the driven robot includes a sub power supply unit, and the connection unit includes Is provided with a power supply path for connecting the main power supply unit and the driven power supply unit.
[0020]
(7) In a service robot system that performs a predetermined operation based on an instruction from a user, the service robot system includes a main robot and a driven robot, and the main robot includes a main driving side drive unit for moving, A planning unit that sets an operation plan for the predetermined work based on an instruction from a user and forms a command signal to the driven robot, an information transmission unit that transmits information to the user, and the driven robot A driven-side transmitting / receiving unit that transmits information including at least the command signal, and a driven robot management unit that manages the position / state of the driven robot, and the driven robot performs the predetermined work. And a driven transmission / reception unit for transmitting information including at least a position signal and a status signal to the main robot. .
[0021]
(8) In the service robot system described in (7) above, the main robot includes a working unit that performs a part of the predetermined work.
[0022]
(9) The service robot system according to (7), wherein the main robot includes an external communication unit used for information transmission with an external network.
[0023]
(10) In the service robot system described in (7) above, the main robot and the driven robot are provided with a connecting portion provided for mutual connection.
[0024]
(11) In the service robot system described in (9) above, the main robot includes a main power supply unit, the driven robot includes a sub power supply unit, and the connection unit includes Is provided with a power supply path for connecting the main power supply unit and the driven power supply unit.
[0025]
(12) In a main robot that controls a driven robot that performs a predetermined work, a planning unit that sets an operation plan for the predetermined work based on an instruction from a user and forms a command signal to the driven robot An information transmission unit that transmits information to the user, a main transmission / reception unit that transmits information including at least the command signal to the driven robot, and a driven unit that manages the position and state of the driven robot And a driven robot drive controller for controlling the operation of the driven robot.
[0026]
(13) In a main robot that controls a driven robot that performs a predetermined operation, an operation plan for the predetermined operation is set based on an instruction from a user and a driving unit for movement, and the driven A planning unit that forms a command signal to the robot, an information transmission unit that transmits information to the user, a main transmission / reception unit that transmits information including at least the command signal to the driven robot, and A driven robot management unit that manages the position and state of the driven robot, and a main drive side connection unit that is used for connection to the driven robot are provided.
[0027]
(14) In a driven robot that performs a predetermined operation under the control of the main robot, a working unit that performs the predetermined operation based on a control signal from the main robot, and at least a position signal for the main robot And a driven side transmitting / receiving unit that transmits information including a status signal, and a driven side driving unit that moves based on a control signal from the outside.
[0028]
(15) In a driven robot that performs a predetermined operation under the control of the main robot, a working unit that performs the predetermined operation based on a control signal from the main robot, and at least a position signal for the main robot And a driven-side transmitting / receiving unit that transmits information including a status signal, and a driven-side connecting unit used for connection to the main robot.
[0029]
DETAILED DESCRIPTION OF THE INVENTION
1 is a perspective view showing a service robot system 10 according to a first embodiment of the present invention, FIG. 2 is a perspective view showing a main robot 20, FIG. 3 is a perspective view showing a driven robot 50, and FIG. 4 is a block diagram showing module units 40 and 70 incorporated in the main robot 20 and the driven robot device 50. FIG.
[0030]
As shown in FIG. 1, the service robot system 10 includes a main robot 20 and a plurality of driven robots 50. In FIG. 1, reference numeral 80 denotes a cargo bay that houses the driven robot 50.
[0031]
The main robot 20 includes a robot main body 30 and a module unit 40 provided inside the robot main body 30. The robot body 30 transmits and receives signals to and from the housing 31, the drive wheel 32 provided in the housing 31, a monitor 33 that displays various information to the user U, and the driven robot 50. A coupler provided for coupling the wireless antenna 34 to an input / output device 35 such as a microphone, a speaker, and various switches that perform voice communication with the user U and a driven robot 50 via a coupler 64 described later. 36 and an imaging camera 37.
[0032]
The module unit 40 includes an overall management / operation planning module (planning unit) 41, a user communication module (information transmission unit) 42, an exercise control module (primary drive unit) 43, and an external communication module (external communication unit) 44. Various service modules (working units) 45, a driven robot control module (driven robot drive control unit) 46, a driven robot management module (primary transmission / reception unit / driven robot management unit) 47, and a battery module 48.
[0033]
The overall management / operation planning module 41 has a function of managing the function modules 42 to 46 in an integrated manner and planning work operations of the robot based on instructions from the user U. The user communication module 42 has a function of interpreting and confirming an instruction of the user U by exchange through the input / output device 35 such as a conversation with the user U. The motion control module 43 has a function of receiving the instruction of the user U and generating a route for moving the main robot 20 to a required place and controlling the operation of the drive wheels 32. The external communication module 44 has a function of transmitting / receiving signals to / from external devices via a home network (not shown) and transmitting / receiving necessary information via the Internet network. The various service modules 45 are configured by device devices and application software for providing various services desired by the user U.
[0034]
The driven robot control module 46 has a function for controlling operations such as a driving direction and a driving distance of an actuator module 73 described later of the driven robot 50. The driven robot management module 47 has a function of managing the driven robot by exchanging data with the driven robot 50 by wire or wireless. The battery module 48 has a function of supplying power to the modules 41 to 47.
[0035]
The driven robot 50 includes a robot main body 60 and a module unit 70. The robot body 60 includes a housing 61, a drive wheel 62 provided in the housing 61, an antenna 63, and a coupler 64 that is used for coupling to the main robot 20 via the coupler 36. ing.
[0036]
The module unit 70 includes various service providing device device modules (working units) 71, a data response module (driven transmission / reception unit) 72, an actuator module (driven drive unit) 73 that operates the drive wheels 62, and a battery module 74. And.
[0037]
The various service providing device module 71 is composed of device devices and application software for providing various services desired by the user U. The data response module 72 has a function of transmitting and receiving signals to and from the main robot 20. The actuator module 73 has a function of driving the drive wheels 62 based on the command from the driven robot control module 46 described above. The battery module 74 has a function of supplying power to the modules 71 to 73.
[0038]
Since the operation of the actuator module 73 is performed based on a drive signal from the driven robot control module 46 of the main robot 20, the driven robot 50 has a control for controlling the operation of the actuator module 73. Modules are not installed.
[0039]
The cargo bay 80 includes a housing 81 and a plurality of housing portions 82 that are provided in the housing 81 and house the driven robots 50 one by one. The accommodating portion 82 is provided with a power supply terminal 83 that supplies power to the battery module 74 of the driven robot 50.
[0040]
The cargo bay 80 accommodates the driven robot 50 that is on standby, and the battery module 74 is always charged by the power supply terminal 83. As a result, it is possible to start providing the service in a sufficiently charged state.
[0041]
First, the operation relationship between the initiative robot 20 and the driven robot 50 in the service robot system 10 configured as described above will be described. FIG. 5 is an explanatory diagram showing a situation where the main robot 20 guides the plurality of driven robots 50 to the necessary positions by wireless communication and transmits / receives signals to / from each of them.
[0042]
The main robot 20 sets an operation plan necessary for providing the service desired by the user U by the general management / operation plan module 41 based on a command from the user U, and the driven robot management module 47 sets the operation robot. An inquiry about the position signal / status signal is made to 50 by wired or wireless.
[0043]
Each driven robot 50 that has received an inquiry from the main robot 20 receives the identification ID, information on the contents of services and functions that can be provided, information on how to use, the current situation, etc. by the operation of the data response module 72. In response to this, the main robot 20 selects the driven robot 50 to be used for providing the service based on the information.
[0044]
By controlling the actuator module 73 by the driven robot control module 46, the driving wheel 62 is driven, and the driven robot 50 is guided and moved to a place necessary for providing the service.
[0045]
Then, the service device apparatus mounted on the driven robot 50 is operated and the service is provided to the user U. When the main robot 20 guides the driven robot 50 wirelessly, the imaging camera 37 is used to guide the robot while monitoring the situation around the driven robot 50 in the vicinity or remotely from a remote place. Is possible. It is also possible to control a plurality of driven robots 50 simultaneously.
[0046]
Note that the generation of the movement path to the destination of the driven robot 50 and the operation control (trajectory follow-up control, obstacle avoidance control) are also processed by the driven robot control module 46 of the main robot 20. The amount of data processing on 20 is relatively large.
[0047]
FIG. 6 is a side view showing a state where the main robot 20 and the driven robot 50 are connected. By connecting the driven robot 50 to the driven robot 20, the driven robot 50 can be guided to a desired position. That is, the main robot 20 is connected to the follower robot 50 necessary for providing the service to the user U, and is pulled and moved to a place where the service is provided. Then, the service device apparatus mounted on the driven robot 50 is operated and the service is provided to the user U.
[0048]
In addition, when the main robot 20 and the driven robot 50 are connected, data can be exchanged via a connector incorporated in the couplers 36 and 64 in a wired manner. Furthermore, while the main robot 20 and the driven robot 50 are connected, the power consumed by the main robot 20 is supplied from the battery module 74 of the driven robot 50 via the connectors in the couplers 36 and 64. Thus, power consumption of the battery module 48 of the main robot 20 can be suppressed.
[0049]
Furthermore, by controlling the operation of the actuator module 73 of the driven robot 50 so as to be synchronized with the operation of the main robot 20, the driving force in the driven robot 50 can be assisted. For example, when the large and heavy driven robot 50 is moved, the main robot 20 can assist in moving the robot quickly.
[0050]
Since the main robot 20 shown in FIG. 5 is connected to the driven robot 50 and is towed, generation of a movement path to the destination of the driven robot 50 and motion control (trajectory tracking control, obstacle avoidance) Control) is not required to be processed by the driven robot control module 46, and the data processing amount on the main robot 20 can be reduced.
[0051]
7 to 14 are side views showing specific examples of the driven robot 50. FIG. 7 shows a stock driven robot 50A in which an article S is stored in advance. Examples of the articles S stored in advance include clothes such as clothes. When the user U gives an instruction to the main robot 20 when changing clothes, the main robot 20 guides and moves the driven robot 50A stocked with the clothes to the user U, and provides the user U with the clothes. . Not only tableware but also DVD media and books may be used.
[0052]
FIG. 8 shows a transport driven robot 50B having a built-in article storage box 90 therein. When the user U wants to transport something, for example, when he / she wants to carry the tableware on the dining table to the kitchen, when the main robot 20 gives an instruction to that effect, the main robot 20 follows the user's instruction, The driven robot 50B is moved from the dining room to the kitchen. Not only tableware but also DVD media and books may be used.
[0053]
FIG. 9 shows a driven robot 50 </ b> C for a refrigerator set equipped with a small refrigerator 91. When the user U gives an instruction to the main robot 20 "I want to drink beer", the main robot 20 guides and moves the driven robot 50C close to the user U, and provides the user U with a cold beer.
[0054]
FIG. 10 shows a driven robot 50D for a TV set on which the TV receiver 92 is mounted. When the user U gives an instruction to the main robot 20 "I want to watch TV", the main robot 20 guides and moves the driven robot 50D from the user U to a position optimal for watching TV, and the user U sets the TV. I will provide a. The main robot 20 also performs ON / OFF of the TV receiver 92, setting of a reception channel, and the like according to an instruction from the user U.
[0055]
FIG. 11 shows a follower-type robot 50E for a speaker set on which a speaker 93 is mounted. It is used together with the driven robot 50D or used when listening to music.
[0056]
FIG. 12 shows a driven robot 50 </ b> F for a projector set equipped with a projector 94. When the user U gives an instruction to the main robot 20 "I want to watch a movie in a home theater", the main robot 20 guides and moves the driven robot 50E and the driven robot 50F to the user U, and the surroundings of the user U These are optimally arranged to provide the user U with a home theater system.
[0057]
In this case, the master robot 20 controls a plurality of slave robots 20 such as the slave robot 50E and the slave robot 50F, and controls the setting position of each slave robot 20 so as to obtain an optimal arrangement as a whole. . The main robot 20 also operates each device.
[0058]
FIG. 13 shows a driven robot 50G for an auxiliary battery in which a large-capacity power battery 95 is mounted. When the main robot 20 is providing various services to the user U, when a power shortage occurs in the driven robot 50 equipped with a device device module that consumes a large amount of power, such as the projector set driven robot 50F. The main robot 20 detects this through the exchange of information with each driven robot 50, and supplies the necessary power by inductively connecting the driven robot 50G for the auxiliary battery to the driven robot 50 with insufficient power. To do. As the driven robot 50G, a fuel cell may be used in addition to a rechargeable battery.
[0059]
FIG. 14 shows a driven robot 50H incorporating an electric wheelchair 96 used by an elderly person or a physically handicapped person. When the user U riding the driven robot 50H informs the main robot 20 of the location to move to, the main robot 20 sends an operation instruction to the driven robot 50H, and the user U riding the electric wheelchair 96. Can take you to the place you want.
[0060]
Next, in the service robot system 10, an operation example in which a plurality of driven robots 50 are linked to provide a composite service to the user U, for example, when the user U views a DVD movie on a home theater. Will be described.
[0061]
The user U first instructs the main robot 20. That is, when the user U is relaxing on the sofa in the living room and wants to watch a DVD movie, the user U first calls out to the main robot 20 and calls nearby, “Because you watch a DVD movie, be prepared. ”Is given via the input / output device 35. The master robot 20 generates a sound “I understand” from the input / output device 35, instructs each slave robot 50 to transmit status information, and indicates the location of each slave robot 50 and whether or not the service can be provided. Get status information.
[0062]
Next, the user U selects a DVD title to be viewed. That is, the master robot 20 communicates with the slave robot 50A containing the DVD media and the slave robot 50I in which the DVD set 97 is incorporated, and guides the slave robots 50A and 50I to the vicinity of the user U. Then, the user U is asked, "Which movie do you see?"
[0063]
The user U selects a desired one from the driven robot 50A, sets it to a predetermined position on the driven robot 50I, and informs the main robot 20 that “Start a movie”.
[0064]
Next, the home theater is set. That is, the main robot 20 includes a driven robot 50I, a driven robot 50F, a driven robot 50J incorporating a folding screen 98, and a speaker so as to form a home theater around the place where the user U is present. Each driven robot 50 is moved while communicating with the driven robot 50E in which 93 is incorporated, and these driven robots 50 are appropriately arranged around the user U, and are mounted on these driven robots. Start up the device, configure the connection relationship, and make it operable.
[0065]
In addition, an instruction is sent to the lighting device or curtain opening / closing device in the room to turn off the lighting and close the curtain. In a room where lighting ON / OFF and curtain opening / closing are not automated, an instruction is sent to an arm-mounted driven robot equipped with a robot arm to perform room lighting switch operation and curtain closing operation.
[0066]
Next, viewing of the DVD by the user U starts. That is, the main robot 20 sends an operation start instruction to the DVD set 97 and starts playing a movie. During the subsequent movie playback, the operating status of each device is constantly monitored and adjustments are made to maintain the optimum state. For example, when the brightness of the projector is adjusted or when the power supplied by the battery is insufficient, the auxiliary robot driven robot 50G is called and connected to the driven robot 50F as shown in FIG. Or It also monitors indoor conditions and adjusts and ventilates air conditioners.
[0067]
Next, the provision of various services along the way will be described. When there is a visitor or a telephone call while the movie is being played back, the main robot 20 detects it and stops the movie playback, and informs the user U of the situation by voice, display, or the like. Further, according to the instruction of the user U, the driven robot 50C for a refrigerator set storing beer and juice therein, the stock driven robot 50A storing tableware, snacks, and the like are moved close to the user U. By doing so, various services are provided to the user U.
[0068]
Finally, the withdrawal operation when the viewing of the DVD is finished will be described. That is, when the viewing of the DVD is finished, the main robot 20 returns each driven robot 50 to a predetermined retracted position such as the cargo bay 80, opens the curtain, and turns on the illumination. Further, the transfer driven robot 50B is moved to the side of the user U. When the user U stores used tableware, beer, juice bottles, and trash, the main robot 20 guides the transport driven robot 50B to the kitchen and cleans up the room.
[0069]
As described above, the main robot 20 always grasps commands and situations from the user U, gives appropriate operation instructions according to the times to each driven robot 50, and controls them so that the user U Various desired services can be provided at an appropriate timing.
[0070]
As described above, according to the service robot apparatus 10 according to the first embodiment, in addition to the functions of the general service providing robot such as the overall plan / user U interface, the driven robot 20 is driven. By providing a driven robot management function for managing the driven robot through wire or wireless data exchange with the type robot 50, all of the control can be performed by one unit.
[0071]
On the other hand, the driven robot 50 has a response function that informs the main robot 20 of its own data, and the main robot 20 manages the movement of the driven robot 50 through the exchange of information with the driven robot 50. Various services desired by the user U can be provided. That is, the driven robot 50 does not have a function of controlling its own movement, and is performed according to a command from the main robot 20.
[0072]
In this way, the driven robot 50 is provided with a minimum number of functions and is controlled uniformly by the external main robot 20 so that the function of one high-function and expensive main robot is effective. The advantage is that a driven robot that can be utilized and needs to be prepared in plural can be prepared at low cost.
[0073]
FIG. 16 is a block diagram showing the module units 110 and 120 of the service robot system 100 according to the second embodiment of the present invention. In addition, FIG.1 and FIG.2 is used for description of the service robot system 100. FIG.
[0074]
In the service robot system 100, module units 110 and 120 are provided instead of the module units 40 and 70 in the service robot system 10 described above.
[0075]
The module unit 110 incorporated in the main robot 20 includes an overall management / operation plan module 111, a user communication module 112, a motion control module 113, an external communication module 114, various service modules 115, and a follower robot management. A module 116 and a battery module 117 are provided.
[0076]
The overall management / operation planning module 111 has a function of managing the function modules 112 to 116 in an integrated manner, and planning a robot work operation based on a command from the user U. The user communication module 112 has a function of interpreting and confirming an instruction of the user U through an exchange through the input / output device 35 such as a conversation with the user U. The motion control module 113 has a function of controlling the route generation and the operation of the drive wheels 32 to move the main robot 20 to a necessary place in response to an instruction from the user U. The external communication module 114 has a function of transmitting / receiving signals to / from external devices via a home network (not shown) and transmitting / receiving necessary information via the Internet network. The various service modules 115 are configured by device devices and application software for providing various services desired by the user U. The driven robot management module 116 has a function of managing the driven robot through data exchange with the driven robot 50 by wire or wireless. The battery module 117 has a function of supplying power to the modules 111 to 116.
[0077]
The module unit 120 incorporated in the driven robot 50 includes various service providing device module 121, a data response module 122, and a battery module 123.
[0078]
The various service providing device device modules 121 are configured by device devices and application software for providing various services desired by the user U. The data response module 122 has a function of transmitting / receiving a signal to / from the main robot 20. The battery module 123 has a function of supplying power to the modules 71 and 72.
[0079]
The operation of the service robot system 100 configured as described above will be described. The service robot system 100 operates in the same manner as the service robot 10 described above. However, unlike the module unit 70 described above, the actuator unit 73 is not provided in the module unit 120 incorporated in the driven robot 50 in the service robot system 100.
[0080]
Therefore, since the driven robot 50 cannot self-propell, the main robot 20 moves to the position of the required driven robot 50 to connect to the driven robot 50, and moves the driven robot 50 to the required location. Therefore, the service device provided on the driven robot is operated to provide the service to the user U.
[0081]
In the service robot system 100 according to the present embodiment, the same effects as the service robot system 100 described above can be obtained, and the manufacturing cost of the driven robot 50 is reduced by the amount that the actuator module 73 is not provided. It becomes possible.
[0082]
Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.
[0083]
【The invention's effect】
According to the present invention, a wide variety of services can be provided without increasing the size and complexity of the robot, and the overall cost can be kept low.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a service robot system according to a first embodiment of the present invention.
FIG. 2 is a perspective view showing a main robot used in the service robot system.
FIG. 3 is a perspective view showing a driven robot used in the service robot system.
FIG. 4 is a block diagram illustrating a configuration of a module unit incorporated in the main robot and the driven robot.
FIG. 5 is an explanatory diagram showing an example of the operation of the service robot system.
FIG. 6 is an explanatory diagram showing an example of the operation of the service robot system.
FIG. 7 is a side view showing an example of the driven robot.
FIG. 8 is a side view showing an example of the driven robot.
FIG. 9 is a side view showing an example of the driven robot.
FIG. 10 is a side view showing an example of the driven robot.
FIG. 11 is a side view showing an example of the driven robot.
FIG. 12 is a side view showing an example of the driven robot.
FIG. 13 is a side view showing an example of the driven robot.
FIG. 14 is a side view showing an example of the driven robot.
FIG. 15 is an explanatory diagram showing an operation example of the service robot system.
FIG. 16 is a block diagram showing a module unit incorporated in a service robot system according to a second embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Service robot system, 20 ... Master-acting robot, 30 ... Robot main body, 40, 110 ... Module part, 50 ... Driven robot, 60 ... Robot main body, 70, 120 ... Module part, 80 ... Cargo bay.

Claims (15)

In a service robot system that performs a predetermined work based on an instruction from a user,
A main robot and a driven robot;
The main robot is configured to set an operation plan for the predetermined work based on an instruction from the user and form a command signal to the driven robot, and to transmit information to the user. A driven-side transmission / reception unit that transmits information including at least the command signal to the driven robot, a driven robot management unit that manages the position / state of the driven robot, and the operation of the driven robot A driven robot drive control unit for controlling
The driven robot includes a working unit that performs the predetermined work, a driven transmission / reception unit that transmits information including at least a position signal and a state signal to the main robot, and control by the driven robot drive control unit. A service robot system comprising a driven side drive unit that moves based on a signal. The service robot system according to claim 1, wherein the main robot is provided with a main driving unit for moving. The service robot system according to claim 1, wherein the main robot has a working unit that performs a part of the predetermined work. The service robot system according to claim 1, wherein the main robot includes an external communication unit used for information transmission with an external network. The service robot system according to claim 1, wherein the main robot and the driven robot are provided with a connecting portion for connection to each other. The driving side robot includes a driving side power supply unit,
The driven robot includes a driven power supply unit.
The service robot system according to claim 5, wherein a power supply path that connects the main power supply unit and the driven power supply unit is provided in the connecting unit. In a service robot system that performs a predetermined work based on an instruction from a user,
A main robot and a driven robot;
The main driving robot includes a main driving unit for moving, a planning unit that sets an operation plan for the predetermined work based on an instruction from the user and forms a command signal to the driven robot; An information transmission unit that transmits information to the user, a main transmission / reception unit that transmits information including at least the command signal to the driven robot, and a driven type that manages the position and state of the driven robot A robot management unit,
The driven robot includes a working unit that performs the predetermined work and a driven transmission / reception unit that transmits information including at least a position signal and a state signal to the main robot. Robot system. The service robot system according to claim 7, wherein the main robot has a working unit that performs a part of the predetermined work. The service robot system according to claim 7, wherein the main robot includes an external communication unit used for information transmission with an external network. The service robot system according to claim 7, wherein the main robot and the driven robot are provided with a connecting portion provided for mutual connection. The driving side robot includes a driving side power supply unit,
The driven robot includes a driven power supply unit.
The service robot system according to claim 10, wherein a power supply path that connects the main power supply unit and the driven power supply unit is provided in the connecting unit. In a main robot that controls a driven robot that performs a predetermined work,
A planning unit that sets an operation plan for the predetermined work based on an instruction from a user and forms a command signal to the driven robot;
An information transmission unit for communicating information with the user;
A main transmission / reception unit for transmitting information including at least the command signal to the driven robot;
A driven robot management unit for managing the position and state of the driven robot;
A driven robot comprising a driven robot drive controller for controlling the operation of the driven robot. In a main robot that controls a driven robot that performs a predetermined work,
A main drive unit for movement;
A planning unit that sets an operation plan for the predetermined work based on an instruction from a user and forms a command signal to the driven robot;
An information transmission unit for communicating information with the user;
A main transmission / reception unit for transmitting information including at least the command signal to the driven robot;
A driven robot management unit for managing the position and state of the driven robot;
A main driving type robot comprising: a main driving side connecting portion provided for connection with the driven type robot. In a driven robot that is controlled by a main robot and performs a predetermined work,
A working unit for performing the predetermined work based on a control signal from the main robot,
A driven transmission / reception unit for transmitting information including at least a position signal and a status signal to the main robot;
A driven robot comprising: a driven side drive unit that moves based on a control signal from the outside. In a driven robot that is controlled by a main robot and performs a predetermined work,
A working unit for performing the predetermined work based on a control signal from the main robot,
A driven transmission / reception unit for transmitting information including at least a position signal and a status signal to the main robot;
A driven robot comprising: a driven side connecting portion provided for connection to the main driven robot.

Images