JP2006239849A - Robot control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control system capable of continuing practice of a demanded service even when abnormality of a robot occurs without using a state transition table. <P>SOLUTION: This robot control system practices the demanded service without using the state transition table by memorizing robot holding capacity, a roll back definition, a service practicing state, etc., memorizing the holding capacity, the state, etc. of the robot on a table concerning the robot and referring to a data stored in the table when the abnormality occurs to the robot in the middle of practicing the service and the robot cannot continue the service. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot control system capable of executing a service flow even when an abnormality occurs in a robot that is executing a service.

  A robot control system has been developed which executes a predetermined service by controlling a plurality of robots and has an abnormal system process such as when an abnormality occurs in the robot. As one of such robot control systems, for example, a state transition table is used to describe a state transition of a service flow that covers abnormal system processing such as when an abnormality occurs in a robot. There is a robot control system that performs abnormal system processing based on the description.

  Also, determine whether the task received from the operator can be executed only by an autonomous robot device by referring to the robot specification database, execute the command if it can be executed, and execute if it cannot be executed. There has been disclosed a robot control system that searches for another robot apparatus that complements a portion that cannot be performed, and executes commands in a shared manner with the robot apparatus (see Patent Document 1).

JP 2003-291083 A

However, in the conventional robot control system using the state transition table, when the abnormality processing system is implemented without contradiction as the system, since the state transition table is used, the implementation of addition and change becomes complicated. There was a problem that.
In addition, the technique disclosed in Patent Document 1 has a problem that, when an abnormality occurs in a robot, the service cannot be continued.

  The present invention has been made in view of the above circumstances, and is a robot control system capable of continuing execution of a requested service even when a robot abnormality occurs without using a state transition table. The purpose is to provide.

  In order to achieve the above object, according to the first aspect of the present invention, service flow identification information of a service performed by a robot and a service flow start event required for starting this service flow are associated with each other. The service flow information table stored, the service identification information of the services that make up the service flow, the service flow identification information, the robot possession capability required for service execution, the rollback definition, and the service execution state are associated with each other. The service flow execution state management table, the robot identification information, the robot state, and the robot position stored in association with each other, the robot identification information, and the robot possession ability are associated with each other. Memorized robot possession ability table and service Detection means for detecting a raw start event, and the service flow information table, service flow execution state management table, robot information table, and robot using the detected service flow start event and service execution state as unexecuted as keys By searching the possession capability table, a selection unit that selects robot identification information of a robot that executes a service, a detection unit that detects an abnormality in the service of the selected robot, and the service flow execution state management table By referring to the service flow from the service indicated by the service identification information corresponding to the latest rollback definition having a predetermined value among the rollback definitions before the service identification information of the robot in which the abnormality is detected, the robot Run to Robot control system characterized by comprising an execution means for causing a.

  According to a second invention of the present invention, in the first invention, the execution means rewrites the service execution state corresponding to the most recent rollback definition having the predetermined value as unexecuted, A robot control system comprising: means for causing a robot to execute a service indicated by service identification information corresponding to a service execution state rewritten to be unexecuted.

  Further, according to a third aspect of the present invention, in the second aspect, the execution means corresponds to the service execution state in which the robot corresponding to the identification information of the selected robot is rewritten to the unexecuted state. Means for determining whether or not a service subsequent to the service represented by the service identification information to be executed can be executed, and service identification information corresponding to the unexecuted service execution state when it is determined that the service is not executable Means for acquiring identification information of other robots capable of executing a service after the service represented by reference by referring to the service flow execution state management table, the robot information table, and the robot possession capability table. A robot control system characterized by

  Further, according to a fourth aspect of the present invention, in the first aspect, the selecting means searches for the service flow information table by using the detected service flow start event as a key to search service flow identification information. By obtaining the service flow identification information and the service execution status not executed as a key, the service flow execution state management table is searched to obtain the robot possession capability necessary for service flow execution. And a robot control system that selects identification information of a robot that performs a service by searching the robot information table and the robot possession capability table using the robot state as a standby state as a key. is there.

  According to the present invention, it is possible to provide a robot control system capable of continuing execution of a requested service even when a robot abnormality occurs without using a state transition table.

Hereinafter, a robot control system according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an entire robot control system according to an embodiment of the present invention.
As shown in the figure, a network 1 such as a LAN or the Internet is connected to a robot 2 to 4, a display 5, a speaker 6, and the like that perform services for users via a connection device.

The network 1 is connected to a platform server 7 that detects a service start event and selects an optimal robot that performs the service.
FIG. 2 is a block diagram illustrating functions of the platform server.
As shown in the figure, the platform server 7 includes a service flow database 11, a robot database 12, a service flow activation event detection unit 13, a robot control processing unit 14, and a robot resource management unit 15.

The functions of the service flow activation event detection unit 13, the robot control processing unit 14, and the robot resource management unit 15 are realized by the robot control program of the platform server 7.
The service flow database 11 includes a service flow information table and a service flow execution state management table.

  As shown in Table 1, the service flow information table stores service flow identification information (ID), a service flow name, and a service flow activation event in association with each other.

表１においては、サービスフロー識別情報「１００１」、サービスフロー名「挨拶」及びサービスフロー起動イベント「人がエリアに入る」が記憶されている。
サービスフロー実行状態管理テーブルは、表２に示すように、サービス識別情報、サービスフロー識別情報、サービス名、サービス実行に必要なロボット保有能力、ロールバック定義及びサービス実行状態が互いに関連付けて記憶されている。

In Table 1, service flow identification information “1001”, a service flow name “greeting”, and a service flow activation event “person enters an area” are stored.
As shown in Table 2, the service flow execution state management table stores service identification information, service flow identification information, service name, robot possession ability necessary for service execution, rollback definition, and service execution state in association with each other. Yes.

表２においては、サービス識別情報「１」、サービスフロー識別情報「１００１」、サービス名「発声認識」、サービス実行に必要なロボット保有能力「listenable」、ロールバック定義「１」及びサービス実行状態「実行完了（成功）」などが記憶されている。

In Table 2, service identification information “1”, service flow identification information “1001”, service name “speech recognition”, robot possession capability “listenable” necessary for service execution, rollback definition “1”, and service execution state “ “Execution completed (successful)” and the like are stored.

Here, the service flow execution state management table manages information related to a plurality of service flows in one table, but a service flow execution state management table may be provided for service flow identification information. .
The robot database 12 has a robot information table and a robot possession ability table.

  As shown in Table 3, the robot information table stores robot identification information, a robot name, a robot state, and information on the robot position (x coordinate, y coordinate, z coordinate) in association with each other.

表３においては、ロボット識別情報「００１１」、ロボット名「ロボットＢ」、ロボットの状態「待機中」、ロボットの位置に関する情報（ｘ座標、ｙ座標、ｚ座標）「（ｘ座標、ｙ座標、ｚ座標）＝（１００，７０，０）」が記憶されている。

In Table 3, the robot identification information “0011”, the robot name “Robot B”, the robot state “Standby”, and the information on the robot position (x coordinate, y coordinate, z coordinate) “(x coordinate, y coordinate, z coordinate) = (100, 70, 0) ”is stored.

  As shown in Table 4, in the robot possession ability table, possession ability identification information, robot identification information, and possession ability name are stored in association with each other.

表４においては、保有能力識別情報「０００２」、ロボット識別情報「００１１」及び保有能力名「movable」などが記憶されている。
サービスフロー起動イベント検出部１３は、センサや画像位置計測装置などの外部からのデータに基づいてサービスフロー起動イベントを検出し、この検出されたサービスフロー起動イベントをキーとしてサービスフロー情報テーブルを検索してサービスフロー識別情報を得て、ロボット制御処理部に送信する。

In Table 4, stored capability identification information “0002”, robot identification information “0011”, stored capability name “movable”, and the like are stored.
The service flow activation event detection unit 13 detects a service flow activation event based on data from the outside such as a sensor or an image position measurement device, and searches the service flow information table using the detected service flow activation event as a key. Service flow identification information is obtained and transmitted to the robot control processing unit.

  The robot control processing unit 14 uses the data stored in the service flow database 11 and the robot database 12 based on the service flow identification information transmitted from the service flow activation event detection unit 13 to connect a robot that performs a service. Processing such as transmitting service identification information indicating a service performed by the robot to the devices 21-1 and 21-2 is performed. Further, the processing of the flowchart shown in FIG. 3 is realized together with the service flow activation event detection unit 13 and the robot resource management unit 15.

The robot resource management unit 15 manages processing related to robot resources, and sequentially registers the position and state of the robot periodically sent from the robot state expression conversion units 24-1 and 24-2 in the robot information table. .
The connection devices 21-1 and 21-2 are provided for the robots A and B, respectively, and robot operation command generation units 22-1 and 2-2, robot position / state acquisition units 23-1 and 23-2, and robot state expression conversion unit 24- 1 and 2.

The robot operation command generation units 22-1 and 2 generate a robot-specific operation command that realizes the service indicated by the service identification information transmitted from the robot operation instruction determination unit 14, and outputs the operation command to the corresponding robot.
The robot position / state acquisition units 23-1 and 23-2 acquire the position and state of the corresponding robot and output them to the corresponding robot state expression conversion units 24-1 and 24-2.

  The robot state expression conversion units 24-1 and 24-2 express the expression of the position and state of the robot acquired by the robot position / state acquisition units 23-1 and 23-1 from the expression unique to the robot to the platform server 7. And output to the robot resource management unit 15.

Next, the operation of the robot control system according to the embodiment of the present invention will be described.
First, the preconditions will be described before the operation is described. The prerequisites for the robot control system are as follows.
・ Resources: 1 robot A, 1 robot B, 1 speaker S
・ Robot A possession ability: listenable, movable, able-to-speak, able-to-raise-hands
・ Robot B possession ability: movable, able-to-speak, able-to-raise-hands
・ Speaker S possession ability: possible-to-speak
Services available to users:
- greeting service flow: After recognizing the utterance of the people ( "Hello"), the greeting by raising his hands closer to the people, events to start the service: "a person enters the area."
The operation of the robot control system according to the embodiment of the present invention will be described with reference to the flowchart of FIG. 3 is realized by the robot control program of the platform server 7 described above.

  An event that a user is “a person enters the area” is detected (S1). Here, the user's position is detected by using a known template matching technique (for example, JP-A-9-330402) using a camera installed on the ceiling so that the entire area can be captured within the field of view.

  Next, the service flow ID 1001 (“greeting”) is selected by searching the service flow information table on the condition that the service flow activation event “person enters the area” (S2). By searching the service flow execution status management table on the condition that the “greeting” service flow identification information and the service execution status are “not executed”, the robot possession ability necessary for executing the “greeting” service flow is listed enable, movable, able- Four abilities of to-raise-hands and able-to-speak are selected and stored (S3).

The robot information table is searched under the condition that the status field of the robot information table is “standby”, and identification information of the robot A, robot B, and speaker S is selected as a currently available resource (S4).
Since the robot A is the only resource having the possession ability necessary for executing the “standby” and “greeting” service flow, the identification information of the robot A is selected and determined. If multiple resources other than Robot A are selected for the status “Waiting” and “Greeting” service flow, the identification information of the robot closest to the user is selected. Is done. Further, the robot information table is searched using the selected robot identification information as a key, and the state of the robot is changed from “standby” to “running” (S5, S6). On the other hand, if it is determined in S5 that there is no resource having the possession ability necessary for executing the “waiting” service flow and the “greeting” service flow, the process ends.

  Next, the service flow execution state management table is searched using the selected service flow identification information as a key, one service identification information whose execution state is “unexecuted” is selected from above, and a service execution stack (not shown) is selected. 2) is loaded with the rollback definition value of the service (S7).

  In Table 4, assuming that all the service execution states are not executed, first, an unexecuted “voice recognition” service is selected, and “1” of the rollback definition is loaded on the service execution stack. For example, if the service execution stack is expressed as [abcdefg] (the left a is old and the right g is a new value), the contents of the stack are changed from [] to [1]. Then, an execution command for the service is transmitted to the robot A (S8).

  After instructing the robot A to execute the service, the service execution state of the robot that has performed the instruction is acquired from the robot. Then, the service flow execution state management table is searched using the service identification information instructed to execute the service flow identification information as a key, and the service execution state field is updated (S9).

  Here, the robot A position / state acquisition unit 23-1 acquires the state information from the robot A, the state acquisition from the robot A, and the state information “execution of speech recognition service” as the service execution state is the robot state expression conversion unit. 24-1 is transmitted to the robot resource management unit 15. Then, the robot resource management unit 15 searches the service flow execution state management table using the service identification information instructed to execute the service flow identification information as a key, and updates the service execution state field.

  Next, a determination is made as to the execution state of the service instructed to the robot (S10). If it is determined in S10 that the process is being executed, the process returns to S9. If it is determined that the execution is unsuccessful, the process proceeds to S11, and if it is determined that the execution is completed (success). Goes to S18.

Here, the determination of whether or not the execution has failed due to an abnormality in the robot is performed, for example, when an error is notified from the robot, when communication with the robot is interrupted, or after a certain time after executing the execution instruction. This is the case when there is no response from the robot.
If it is determined in S10 that the execution has failed, the value of the counter (not shown) of the service execution stack is initialized (counter: = 1) (S11), and the value of the service execution stack is extracted (S12). Here, the service execution stack value is extracted by the last-in first-out (LIFO) method.

Then, it is determined whether or not the value extracted from the service execution stack is “1” (S13). If it is determined that the value is not “1”, the counter value is incremented by one (counter + = 1). (S14), the process returns to S12.
On the other hand, if it is determined in S13 that the value extracted from the service execution stack is “1”, service re-execution is selected retroactively by the number of counter values in the service flow execution state management table, and the corresponding service is selected. The execution state of all subsequent services is set to “not executed” (S15).

In the present embodiment, as shown in Table 2, it is assumed that an abnormality has occurred in robot A during execution of the “confirmation of approaching person” service. Then
-Contents of the service execution stack immediately after the robot A error occurred: [11010]
-Contents of the service execution stack after the first retrieval: [1101]
The extracted value is "0" for the rollback definition of the "Check if you are approaching people" service
-Service execution stack contents after the second retrieval: [110]
The extracted value is “1” for the rollback definition of the “approaching people” service
It becomes.

Therefore, all the service execution states after the “approaching person” service in the service flow execution state management table are updated to “unexecuted” so that the service is re-executed back to the “approaching person” service.
After the processing in S15, a status acquisition command is transmitted to the robot (S16), and it is determined whether or not there is a response from the robot within a predetermined time (S17). Here, the status acquisition command is transmitted to the robot A.

If it is determined that there is no response within a certain period even if the status acquisition command is transmitted in S17, it is determined that the robot cannot be used, and the process returns to S3 to search for an alternative robot.
On the other hand, if it is determined in S10 that the service execution state is execution completion, it is determined whether or not there is an unexecuted service in the service flow execution state management table (S18). If it is determined that the service does not exist, the robot information table is searched using the robot identification information of the robot as a key, the state is updated to “standby” (S19), and the process ends. On the other hand, if it is determined in S18 that there is an unexecuted service, the process proceeds to S7 and the unexecuted service is continued.

  In the present embodiment, in the process of S3, the service flow execution state management table is searched on condition that the service execution state is “not executed”, and the service identification information and the robot possession ability necessary for service execution are selected. From the "approach to people" service, the "speak" service, and the three abilities of "movable", "able-to-raise-hands", and "able-to-speak" are selected as the robot possession abilities necessary for service execution.

Then, in the processes of S4 to S6, the robot identification information is searched on the condition that the robot possession ability and state required for the service execution are “standby”, and as a result, the robot ID 0011 (“robot B”) is selected. Is done.
After that, the robot B executes from the “approach person” service, and when it raises its hand and speaks, the greeting service flow ends.

Therefore, according to the robot control system according to the embodiment of the present invention, it is possible to continuously provide a service to the user even when a sudden abnormality occurs in the robot.
Also, the robot position / state information and the execution state information of each service in the service flow are sequentially updated and managed in a database. The service flow execution state management table manages the execution status of each service (not executed / executing / execution completed (success) / execution failure) in a series of service flows composed of services. Each service, which is a component of the service flow, is grouped, and when a robot cannot perform a service due to some abnormality, it is defined and described in advance how far back to execute again. As a result, it is possible to provide a robot control system that can continue execution of a requested service even when a robot abnormality occurs without using a state transition table.

  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.

  In addition, the method described in the embodiment is, for example, a magnetic disk (floppy (registered trademark) disk, hard disk, etc.), optical disk (CD-ROM, DVD) as programs (software means) that can be executed by a computer (computer). , MO, etc.), a semiconductor memory (ROM, RAM, flash memory, etc.) or the like, or can be transmitted and distributed via a communication medium. The program stored on the medium side includes a setting program that configures software means (including not only the execution program but also a table and data structure) in the computer. A computer that implements this apparatus reads a program recorded on a recording medium, constructs software means by a setting program as the case may be, and executes the above-described processing by controlling the operation by this software means. The recording medium referred to in this specification is not limited to distribution, but includes a storage medium such as a magnetic disk or a semiconductor memory provided in a computer or a device connected via a network.

It is a figure showing the whole robot control system concerning an embodiment of the invention. It is a block diagram which shows the function of a platform server. It is a flowchart for demonstrating operation | movement of the robot control system which concerns on embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Network, 2-4 ... Robot, 5 ... Display, 6 ... Speaker, 7 ... Platform server, 11 ... Service flow database, 12 ... Robot database, 13 ... Service flow starting event detection part, 14 ... Robot control processing part, DESCRIPTION OF SYMBOLS 15 ... Robot resource management part, 21-1, 2 ... Connection apparatus, 22-1, 2 ... Robot operation command generation part, 23-1, 2 ... Robot position and state acquisition part, 24-1, ... Robot state expression Conversion part.

Claims (10)

A service flow information table in which service flow identification information of a service performed by the robot and a service flow start event required to start the service flow are stored in association with each other;
Service flow execution state management table for storing service identification information of services constituting the service flow, service flow identification information, robot possession ability necessary for service execution, rollback definition, and service execution state in association with each other ,
A robot information table for storing the robot identification information, the state of the robot, and the position of the robot in association with each other;
A robot possession ability table that stores the robot identification information and the possession ability of the robot in association with each other;
Detection means for detecting a service flow start event;
By searching the service flow information table, the service flow execution state management table, the robot information table, and the robot possession capability table by using the detected service flow start event and the service execution state as unexecuted as a key, a service is obtained. Selecting means for selecting robot identification information of a robot that executes
Detecting means for detecting an abnormality in service of the selected robot;
By referring to the service flow execution state management table, the service identification information corresponding to the most recent rollback definition having a predetermined value among the rollback definitions before the service identification information of the robot in which the abnormality is detected is indicated. A robot control system comprising: execution means for causing the robot to execute the service flow from the service to be executed. The execution means includes
Means for rewriting the service execution state corresponding to the most recent rollback definition having the predetermined value as unexecuted;
2. The robot control system according to claim 1, further comprising means for causing the robot to execute a service indicated by service identification information corresponding to the service execution state rewritten to not executed. The execution means includes
Means for determining whether or not the robot corresponding to the identification information of the selected robot can execute a service after the service represented by the service identification information corresponding to the service execution state rewritten to the unexecuted state;
When it is determined that the service is not executable, the identification information of another robot that can execute the service after the service represented by the service identification information corresponding to the service execution state rewritten to the non-executed state is displayed as the service. The robot control system according to claim 2, further comprising means for obtaining the flow execution state management table, the robot information table, and the robot possession capability table by referring to the flow execution state management table. The selection means includes
The service flow identification information is obtained by searching the service flow information table using the detected service flow activation event as a key, and the service flow execution is performed using the service flow identification information and the service execution state as not executed as a key. By retrieving the state management table, the robot possession ability necessary for executing the service flow is obtained, and the robot information table and the robot possession ability table are stored using the robot possession ability and the robot state as a standby state as a key. 2. The robot control system according to claim 1, wherein identification information of a robot that executes a service is selected by searching. A service flow information table in which service flow identification information of a service performed by the robot and a service flow start event required to start the service flow are stored in association with each other;
Service flow execution state management table for storing service identification information of services constituting the service flow, service flow identification information, robot possession ability necessary for service execution, rollback definition, and service execution state in association with each other ,
A robot information table for storing the robot identification information, the robot state, and the robot position in association with each other;
In the robot control method in the robot control system comprising the robot identification information and the robot possession ability table that stores the robot possession ability in association with each other,
A detection step for detecting a service flow start event;
By searching the service flow information table, the service flow execution state management table, the robot information table, and the robot possession capability table by using the detected service flow start event and the service execution state as unexecuted as a key, a service is obtained. A selection step of selecting robot identification information of a robot that executes
A detecting step of detecting an abnormality in service of the selected robot;
By referring to the service flow execution state management table, the service identification information corresponding to the most recent rollback definition having a predetermined value among the rollback definitions before the service identification information of the robot in which the abnormality is detected is indicated. A robot control method comprising: an execution step of causing the robot to execute the service flow from a service to be executed. The execution step includes:
Rewriting the service execution state corresponding to the most recent rollback definition having the predetermined value as unexecuted,
The robot control method according to claim 5, wherein a service indicated by service identification information corresponding to the service execution state rewritten to the non-executed state is executed. The execution step includes:
Determining whether or not the robot corresponding to the selected robot identification information can execute the service after the service represented by the service identification information corresponding to the service execution state rewritten to the unexecuted state;
When it is determined that the service is not executable, the identification information of another robot that can execute the service after the service represented by the service identification information corresponding to the service execution state rewritten to the non-executed state is displayed as the service. The robot control method according to claim 6, wherein the robot control method is obtained by referring to a flow execution state management table, a robot information table, and a robot possession ability table. The selection step includes
The service flow identification information is obtained by searching the service flow information table using the detected service flow activation event as a key, and the service flow execution is performed using the service flow identification information and the service execution state as not executed as a key. By retrieving the state management table, the robot possession ability necessary for executing the service flow is obtained, and the robot information table and the robot possession ability table are stored using the robot possession ability and the robot state as a standby state as a key. 6. The robot control method according to claim 5, wherein identification information of a robot that executes a service is selected by searching. A service flow information table in which service flow identification information of a service performed by the robot and a service flow start event required to start the service flow are stored in association with each other;
Service flow execution state management table for storing service identification information of services constituting the service flow, service flow identification information, robot possession ability necessary for service execution, rollback definition, and service execution state in association with each other ,
A robot information table for storing the robot identification information, the robot state, and the robot position in association with each other;
In a program executed in a robot control system comprising a robot identification information and a robot possession ability table that stores the robot possession ability in association with each other,
The program is stored in the robot control system.
A detection step for detecting a service flow start event;
By searching the service flow information table, the service flow execution state management table, the robot information table, and the robot possession capability table by using the detected service flow start event and the service execution state as unexecuted as a key, a service is obtained. A selection step for selecting identification information of a robot that executes
A detection step of detecting an abnormality in service of the selected robot;
By referring to the service flow execution state management table, the service identification information corresponding to the most recent rollback definition having a predetermined value among the rollback definitions before the service identification information of the robot in which the abnormality is detected is indicated. An execution step of executing the service flow from the service to be executed. The selection step includes
The service flow identification information is obtained by searching the service flow information table using the detected service flow activation event as a key, and the service flow execution is performed using the service flow identification information and the service execution state as not executed as a key. By retrieving the state management table, the robot possession ability necessary for executing the service flow is obtained, and the robot information table and the robot possession ability table are stored using the robot possession ability and the robot state as a standby state as a key. 10. The program according to claim 9, wherein identification information of a robot that executes a service is selected by searching.

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