JP2008003807A - Robot control device, method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a user with services appropriate for environments. <P>SOLUTION: A robot control device 2 includes: a storage means 9 wherein service identification data and sense classification data are stored in association with each other; a storage means 10 wherein robot identification data and capability holding data are stored in association with each other; a storage means 8 wherein environment data 21 are stored; a service selection means 14 which select service identification data associated with sense classification data in the case that contents of the sense classification data and contents of environment data 21 are consistent with each other; a robot selection means 16 which selects robot identification data associated with capability holding data in the case that a capability indicated by the capability holding data is a capability to be able to provide a service indicated by service identification data selected by the service selection means 14; and an instruction means 17 which gives an instruction to provide the service indicated by the service identification data selected by the service selection means 14, to a robot indicated by the robot identification data selected by the robot selection means 16. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot control apparatus, method, and program for selecting a robot that provides a service and performing control for providing the service by the selected robot.

  Targeting reception / guidance and entrance / exit management of office buildings, condominiums, etc., it has an absolute self-position measurement function, recognizes visitors by face authentication using a camera, and provides guidance services according to pre-registered guidance menus Autonomous mobile robots have been proposed (Robotics and Mechatronics Lecture '05, development of building service robots).

Robotics and Mechatronics Lecture '05, Development of building service robot

In the conventional robot control apparatus, a service and a robot according to the environment in which the user exists are not selected for the user who is a service recipient.
The present invention has been made in view of the above circumstances, and provides a robot control apparatus, method, and program for selecting a service and a robot according to an environment in which a user exists and providing an appropriate service for the environment. The purpose is to do.

  The robot control apparatus according to the first example of the present invention includes service identification data used for identifying a service provided by a robot to a user, and sensory classification data representing a result of classifying a service according to a human sense. Service data storage means for storing the information in association with each other, robot data storage means for storing the robot identification data used for robot identification and the robot possessing ability data in association with each other, and the state of the environment in which the service is provided to the user The environmental data storage means for storing environmental data representing the human sensation according to the human sense, the content of the sensory classification data stored in the service data storage means and the content of the environmental data stored in the environmental data storage means Service selection means for selecting service identification data associated with sensory classification data, If the ability indicated by the possessed ability data stored in the network data storage means is an ability capable of providing the service indicated by the service identification data selected by the service selecting means, the robot identification data associated with the possessed ability data is obtained. Robot selection means for selecting, and command means for giving a command for causing the robot indicated by the robot identification data selected by the robot selection means to provide the service indicated by the service identification data selected by the service selection means.

Thereby, it is possible to provide a user with a service suitable for the environment using a suitable robot.
A robot control device according to a second example of the present invention relates to user identification data used for user identification and user sensory data representing a user's sensory feature in the robot control device of the first example. User data storage means for storing the data, and the service selection means includes the content of the sensory classification data stored in the service data storage means, the content of the environmental data stored in the environmental data storage means, and the use The service identification data associated with the sensory classification data is selected when the contents of the user sensory data stored in the user data storage means match.

In the second example, an appropriate service can be provided to the user by an appropriate robot according to the sensory characteristics and environment of the user.
In the robot control apparatus according to the third example of the present invention, in the robot control apparatus of the second example, the user data storage means stores user identification data, user sense data, and a service activation event in association with each other. And event detection means for detecting the occurrence of a service activation event, the service selection means, when a service activation event is detected by the event detection means, the content of sensory classification data, the content of environmental data, The service identification data associated with the sensory classification data is selected when the contents of the user sensory data associated with the service activation event match.

In this third example, an appropriate service can be provided to a user who has generated a service activation event by an appropriate robot in accordance with the sensory characteristics and environment of the user.
In the robot control device according to the fourth example of the present invention, in the robot control device of the second example, the user data storage means is provided to the user identification data, user sense data, and the user. It further includes event detection means for associating and storing service specifying data for specifying a service, and detecting the occurrence of a service activation event. The service selection means is configured to detect a service activation event detected by the event detection means. Obtains service identification data associated with the activation event, retrieves service identification data consistent with the service identification data, content of sensory classification data associated with the service identification data, content of environmental data, and service activation When the content of the user sense data associated with the event is consistent, Associated with the classification data to select the service identification data is, it is set to.

  In this fourth example, user data and service data are linked by service specifying data and service identification data. Therefore, the service assigned to the user can be provided to the user by an appropriate robot according to the sensory characteristics and environment of the user.

  In the robot control apparatus according to the fifth example of the present invention, in any of the first to fourth robot control apparatuses, the service data storage means provides service identification data and a service indicated by the service identification data. Service providing capability data indicating the capability required for the service is stored in association with each other, the service selecting unit selects service providing capability data associated with the service identification data together with the service identification data, and the robot selecting unit includes the robot data. If the capability indicated by the possessed capability data stored in the storage means matches the capability indicated by the service providing capability data stored in the service data storage means, the robot identification data associated with the retained capability data is To choose.

In the fifth example, the service data and the robot data are linked by the service providing ability data and the robot possessing ability data, and a robot having the ability necessary for providing the service can be selected.
In the robot control apparatus according to the sixth example of the present invention, in any of the first to fifth robot control apparatuses, the service data storage means includes service identification data and a priority selection level of a service indicated by the service identification data. Are stored in association with each other, and when a plurality of service identification data are selected by the service selection means, priority selection means for preferentially selecting service identification data having a high priority selection level is further provided.

In the sixth example, service identification data with high priority can be selected from among a plurality of service identification data.
The first to sixth examples are expressed as devices. However, the present invention is not limited to this, and the first to sixth examples may be expressed by a method, a program, a computer-readable storage medium, and the like.

  According to the present invention, it is possible to select a service and a robot according to an environment in which a user exists and provide an appropriate service according to the situation.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in the following each figure, about the part which implement | achieves the same function, the same code | symbol is attached | subjected and description is abbreviate | omitted.
(First embodiment)
FIG. 1 is a block diagram showing an example of a robot control system according to the present embodiment.

The robot control system 1 includes a robot control device (platform server) 2, a network 3, a plurality of robots 41 to 4 n, a service device 5, and a sensor 6.
The robots 41 to 4n may have different types. Although the service device 5 is not a robot, it is a device used for providing services. For example, an image output device such as a display, a sound output device such as a speaker, or the like is used. The sensor 6 is a device that detects data (data such as a person, a robot state, a position, and environmental information) necessary for providing a service. For example, a human body sensor, a position detection sensor for a user (service recipient) Robot position detection sensors, cameras, and the like are used. The robots 41 to 4n, the service device 5, and the sensor 6 receive or transmit data via the robot control device 2 and the network 3. A plurality of service devices 5 and sensors 6 may be provided, and the types may be different. A service is configured by one or a plurality of service commands and provided to a user. The service command is a command issued to any device.

For example, the service of “approaching to greet” includes service commands of “approaching a person”, “stopping”, “speaking”, and “entering a standby state”.
The robot control device 2 includes a user data storage device 7, an environment data storage device 8, a service data storage device 9, a robot data storage device 10, a service state transition data storage device 11, a data registration unit 12, an event detection unit 13, and a service. A selection unit 14, a priority selection unit 15, a robot selection unit 16, a command unit 17, a position detection unit 18, and a state detection unit 19 are provided.

  User data storage device 7, environmental data storage device 8, service data storage device 9, robot data storage device 10, and service state transition data storage device 11 include user data 20, environmental data 21, service data 22, and robot, respectively. Data 23 and service state transition data 24 are stored.

  In the present embodiment, the robot control device 2 accesses the built-in user data storage device 7, environment data storage device 8, service data storage device 9, robot data storage device 10, and service state transition data storage device 11. As an example, the robot control device 2 includes an external user data storage device 7, an environmental data storage device 8, a service data storage device 9, a robot data storage device 10, and a service state transition data storage device 11. It may be accessible.

FIG. 2 is a diagram illustrating an example of a relationship among user data 20, environment data 21, service data 22, robot data 23, and service state transition data 24.
User data 20 includes a user ID 20a, a user name 20b, a service activation event 20c representing an event for starting service provision to the user, a service classification 20d representing a class of service provided to the user, Service providing status data 20e indicating the status of the service provided to the user, user sense data 20f representing a list of sensory features possessed by the user along the five human senses, and user position / posture data 20g. Have.

Here, the user ID 20a and the user name 20b are an example of user identification data used for user identification.
As the service activation event 20c, for example, an event such as entering or leaving an area is used.
The service classification 20d is an example of service specifying data for specifying a service provided to the user. As the service classification 20d, for example, greetings, explanations, guidance, and the like are used.

The service provision status data 20e represents, for example, not provided, being provided, or provided.
The user sense data 20f represents a sense that the user can feel among the five senses such as sight, hearing, smell, touch, and taste.
The service data 22 includes a service classification 22a to which the service belongs, a service ID 22b, a service name 22c, a sensory classification data 22d representing a sense used by the user when the service is provided, a service priority selection level (grade) 22e, and a service. It has service providing capability data 22f representing the capability of the robot necessary for providing.

Here, the service ID 22b and the service name 22c are examples of service identification data used for service identification. The service name 22c represents, for example, approaching speech, speech, approaching, and the like.
The sensory classification data 22d is a result of previously classifying with which sensory organ the user perceives the service, and represents, for example, any one of visual, auditory, olfactory, tactile, and taste, or any combination.

The priority selection level 22e represents, for example, any one of upper, middle, and lower, or a numerical value indicating a priority order.
The service provision capability data 22f represents, for example, rotation, movement, utterance, or any combination thereof.
The robot data 23 has a robot ID 23a, a robot name 23b, robot possession ability data 23c representing the ability possessed by the robot, robot state data 23d representing the current robot state, and robot position / posture data 23e for each robot.

Here, the robot ID 23a and the robot name 23b are an example of robot identification data used for robot identification.
The robot possession ability data 23c represents, for example, any one or any combination of rotatable, movable, and utterable.

The robot state data 23d represents, for example, unused, moving, speaking, etc.
The service state transition data 24 has a service transition ID 24a, an event 24b, state data 24c, a service command 24d, and a service ID 24e for each service.
The service state transition data 24 is data that makes it possible to select a service command to be given to the robot from the event that has occurred and the state of the robot. The service data 22 and the service state transition data 24 are linked by the service ID 22b of the service data 22 and the service ID 24e of the service state transition data 24. By using the service state transition data 24, a service command corresponding to the event 24b of the service state transition data 24 is executed every time the event 24b occurs after the activation event occurs.

  By using the service classification 20d of the user data 20 as a search key, it is possible to search for service data 22 having the same service classification 22a. That is, a list of services provided to the user for the event that has occurred can be acquired. Furthermore, by using the user sense data 20f of the user data 20 as a search key, the service data 22 having the sense classification data 22d having the same contents can be searched.

  By using the service providing capability data 22f of the service data 22 as a search key, the robot data 23 having the robot possessing capability data 23c having the same contents as the service providing capability data 22f can be searched. That is, it is possible to search for robots having the ability to realize this service.

  By using the service activation event 20c of the user data 20 and the robot state data 23d of the robot data 23 as search keys, the service state transition data 24 having the event 24b and the state data 24c having the same contents can be searched. The service command 24d of the retrieved service state transition data 24 is transmitted to the robot related to the robot data 23, and the service is provided.

  The environment data 21 stores a value representing the environment of the space where the service is provided. In the present embodiment, the environmental data 21 represents how suitable it is to provide each of visual services, auditory services, tactile services, olfactory services, and taste services. When using a plurality of environment data for a plurality of areas, each environment data is assigned an ID and defined for each area.

  By using the user sense data 20f of the user data 20 and the environment data 21 as search keys, the user data 20 is provided to the user represented by the user data 20 in the environment represented by the environment data 21. It is possible to search service data 22 relating to a service suitable for the above.

  In FIG. 1, the data registration unit 12 registers data to be defined among user data 20, environment data 21, service data 22, robot data 23, and service state transition data 24. For example, by using the data registration unit 12, the user data 20 other than the service provision state data 20 e and the user position / posture data 20 g other than the data 20 a to 20 d and 20 f, the service data 22, and the robot data 23 among the robot data 23 Data 23a to 23c other than the state data 23d and the robot position / posture data 23e, and service state transition data 24 are registered.

  The state detection unit 19 receives data observed by the sensor 6, the robots 41 to 4n, etc. from the sensor 6, the robots 41 to 4n, etc. via the network 3, and stores the environment data 21 of the environment data storage device 8, for example. Or update. The state detection unit 19 may store or update the service provision state data 20e of the user data 20 based on data from the sensor 6, the robots 41 to 4n, and the robot state of the robot data 23, for example. The data 23d may be stored or updated.

  The event detection unit 13 inputs user identification data from a user identification data input device such as a sensor, for example, and receives detection data such as the sensor 6 via the network 3, for example. The occurrence of the service activation event 20c associated with the identification data is detected. Furthermore, the event detection unit 13 also detects the event 24b. When the event 24b is detected, the process moves from the event detection unit 13 to the command unit 17.

  When the service activation event 20c is detected by the event detection unit 13, the service selection unit 14 stores the user data 20 stored in the user data storage device 7 and the environment data stored in the environment data storage device 8. 21. The service data 22 stored in the service data storage device 9 is accessed.

  When the service activation event 20c is detected by the event detection unit 13, the service selection unit 14 acquires the service category 20d associated with the service activation event 20c, and matches the acquired service category 20d. 22a is acquired.

  Then, the service selection unit 14 matches the contents of the sensory classification data 22d associated with the service classification 22a, the contents of the environment data 21, and the contents of the user sensory data 20f associated with the service activation event 20c. When the service classification is performed, the service classification associated with the sensory classification data 22d is selected.

Here, “match” means that the sense included in the sensory classification data 22d is included in the user sensory data 20f, and the evaluation of the sensory included in the sensory classification data 22d is high in the environment data 21. Say.
When there are a plurality of service data having the service classification selected by the service selection unit 14, the priority selection unit 15 selects service data having a high priority selection level 22e associated with each selected service data.

  The robot selection unit 16 includes the capability indicated by the service provision capability data 22f associated with the service data selected by the service selection unit 14 or the priority selection unit 15, and the robot possession capability data stored in the robot data storage device 10. If the data matches 23c, the robot identification data associated with the robot possessing ability data 23c is selected. Further, when there is no matching robot identification data or when all matching robot identification data is in use, the robot selection unit 16 may attempt to select the robot identification data by lowering the priority selection level. It may be possible to switch to try selecting robot identification data.

Here, “match” means that the ability indicated by the service provision ability data 22f is included in the ability indicated by the robot possession ability data 23c.
The robot selection unit 16 obtains the ability to provide the service indicated by the service classification 22a or the service name 22c associated with the selected service data, and selects the robot identification data of the robot having the obtained ability. It is good. For example, robot identification data of a robot having “movement ability” and “speech ability” may be selected based on the service “approaching and speaking”.

  The command unit 17 includes an event 24b and status data 24c having the same contents as the service activation event 20c detected by the event detection unit 13 and the robot status data 23d associated with the robot identification data selected by the robot selection unit 16. Search for.

The command unit 17 acquires a service command 24d associated with the retrieved event 24b and state data 24c.
Then, the instruction unit 17 transmits the acquired service command 24d to the robot indicated by the robot identification data selected by the robot selection unit 16.

Note that the service command 24 d transmitted to the robot corresponds to a command for providing a service indicated by the service identification data selected by the service selection unit 14 or the priority selection unit 15.
The position detection unit 18 receives data from the sensor 6, the robots 41 to 4n, etc. via the network 3, and associates the user position / posture data 20g representing the position of the user in the predetermined management space with the user identification data. Store in the user data storage device 7.

  Further, the position detection unit 18 receives data from the sensor 6, the robots 41 to 4n, etc. via the network 3, and associates the robot position / posture data 23e representing the position of the robot in the predetermined management space with the robot identification data. Store in the data storage device 10.

Hereinafter, specific examples of the user data 20, the environment data 21, and the robot data 23 will be described.
FIG. 3 is a diagram illustrating an example of the user data 20.
User data 20 for a certain user includes a user ID “U1”, a user name “user_A”, a tag ID “1234” carried by the user, a service classification “10”, and a service activation event “entering area”. , Service provision status data "not provided", user position data "(120,35,-)", user attitude data "(-,-, 25) deg.", User sense data "visual, auditory, olfactory" , Tactile sense, taste ”.

FIG. 4 is a diagram showing an example of the relationship between the type of the environmental data 21 and its contents.
The environment data 21 is normal or appropriate for a service using these senses for the user because of the ease of visual, auditory, tactile, olfactory, and gustatory sensations in the environment in which the service is provided to the user. Or a three-stage evaluation value that is judged to be inappropriate.

  For example, in a dark environment, since the display screen is easy to see, it is considered that a service using vision is suitable. Since the display screen is difficult to see in a bright environment, it is considered that a service using vision is not suitable. However, even if the services use the same vision, for example, when a robot with physicality provides services by gestures, it can be set that a bright environment is suitable.

For example, in a quiet environment, it is easy to hear sound, so that a service using hearing is suitable. In the case of noise and noise, it is difficult to hear the sound, so the service using hearing is not suitable.
For example, when the space filling rate of the environment (the ratio of substances / persons etc. in the space, the degree of congestion) is low, there are few opportunities for users to contact other substances / people, etc. A service that uses a tactile sensation (for example, guidance by touching a user) is considered suitable.

  For example, when the scent / smell of the environment is weak, the user can easily perceive the scent / smell. Therefore, a service using the scent / smell is considered suitable. If the scent or smell of the environment is strong, it is difficult for the user to feel the scent or smell. Therefore, the service using the scent or smell is not suitable.

  In FIG. 4, the environment is evaluated based on the criteria of “appropriate”, “normal”, and “inappropriate”, but the relationship between the state of the environment and the sense is not limited to this criterion and can be set arbitrarily. It is. The consistency of the robot and service with respect to the environment can be appropriately determined according to the capability of the robot and the content of the service.

The environmental data 21 is created for each area, for example, based on data and threshold values acquired by a light sensor, a sound sensor, a camera, a scent sensor, or the like installed in each area.
In the present embodiment, for example, the environment is “dark”, “normal”, or “bright” based on the sum of the difference values for each pixel between the image data of the area photographed by the camera and the reference image data at the time of specification. It may be determined whether the area is busy or not.

Further, for example, it may be determined from the sound level measured by the microphone whether the environment is “quiet”, “normal”, or “noise / noise”.
The environment data 21 may be automatically set and updated as described above, or may be manually set and updated.

FIG. 5 is a diagram showing an example of the robot data 23 according to the present embodiment.
The robot data 23 for a robot includes a robot ID “R0001”, a robot name “RobotA”, a tag ID “2345” carried by the robot, a robot possession ability data “movable, rotatable, utterable”, robot status data “ Unused ”, robot position data“ (100,25, −) ”, and robot posture data“ (−, −, 15) deg. ”.

Further, the robot data 23 has a robot service available range (current value, maximum value) for each sense. The service provision range is considered when selecting a robot.
FIG. 6 is a diagram illustrating an example of the service data 22, and FIG. 7 is a diagram illustrating an example of the service state transition data 24.

  In the present embodiment described above, user data 20, environment data 21, service data 22, and robot data 23 are managed according to human senses. When the environment changes due to the brightness of the environment, volume, number of robots, number of users, increase / decrease of other articles, etc., the environment data 21 is sequentially rewritten.

Thereby, according to the state of the environment, it is possible to provide an appropriate service according to the user's sense.
In the present embodiment, the environment data 21 can be freely set or updated manually, and can be automatically set or updated from the measured value by the sensor 6. Thereby, it is possible to provide a service corresponding to a dynamic change of the environment (including a change caused by the user and the robot).

  In the present embodiment, the position of the robot and the position of the user can be represented on a predetermined space. That is, in this embodiment, position data output from different sensors can be mapped to the absolute space coordinate system, and position data based on data measured by various sensors can be handled in a common format.

  In the present embodiment, for example, when the user is a weak visual person, it is possible to provide a service that gives priority to other senses other than vision, such as hearing and tactile sense. Services according to the characteristics can be provided. For example, when the user is a weak hearing person, it is possible to provide services that prioritize other sensations other than hearing, such as visual and tactile sensations, and increase the volume of output sound according to the characteristics of the user. Service can be provided.

In the present embodiment, the case where the operation using the environment data 21 is performed and the case where the operation is performed without using the environment data 21 may be switched.
(Second Embodiment)
In the present embodiment, a modified example of the operation of the robot control apparatus 2 according to the first embodiment will be described.

FIG. 8 is a flowchart showing an example of the operation of the robot control apparatus 2 according to the present embodiment.
In step S1, the data registration unit 12 and the state detection unit 19 are based on the data input by the administrator and the data received from the sensor 6, and the user data storage device 7, the environmental data storage device 8, and the service data storage device. 9. The user data 20, environment data 21, service data 22, robot data 23, and service state transition data 24 are stored in the robot data storage device 10 and the service state transition data storage device 11, respectively.

In step S2, the event detection unit 13 determines whether a service activation event 20c or an event 24b has occurred.
If neither the service activation event 20c nor the event 24b has occurred, the process returns to step S2.
When the event 24b occurs, in step S3, the instruction unit 17 selects a service command to be executed next from service commands that are sequentially executed. Thereafter, the process proceeds to step S13.

  When the service activation event 20c occurs, in step S4, the service selection unit 14 uses the input user ID 20a, the generated service activation event 20c, and the service provision state data 20e as conditions, and the service classification 20d associated therewith. Is selected from the user data storage device 7.

  In step S5, the service selection unit 14 acquires, from the service data storage device 9, the service class 22a that matches the selected service class 20d on the condition of the selected service class 20d and the service class 22a, and acquires the service class 22a. The service ID 22b and the service providing capability data 22f associated with the service classification 22a are selected.

  In step S6, the robot selecting unit 16 uses the service providing ability data 22f and the robot state data 23d selected by the service selecting unit 14 as conditions, and the robot possessing ability data 23c having the same contents as the selected service providing ability data 22f. The associated robot ID 23a is selected from the robot data storage device 10.

In step S7, the service selection unit 14 stores the service ID 22b corresponding to the selected robot ID 23a in any storage device.
In step S8, the service selection unit 14 determines whether there is a stored service ID 22b.
If there is no stored service ID 22b, an error is displayed on the display device in step S9, and the process proceeds to step S14.

  When there is a stored service ID 22b, in step S10, the service selection unit 14 selects the user sense data 20f of the user data 20, the contents of the environment data 21, the service data 22 of the stored service ID 22b. The service ID 22b that matches the sensory classification data 22d is selected.

In step S11, the priority selection unit 15 selects the service ID 22b having the maximum associated priority selection level 22e from the service IDs 22b selected in step S10.
If a service or robot that satisfies the user's sense is not selected in selecting a service or robot, the service or robot that satisfies this lower level is selected by lowering the level of this condition. To do.

In step S12, the command unit 17 selects the service command 24d of the service state transition data 24 on the condition of the service activation event 20c and the robot state data 23d associated with the selected robot ID 23a.
In step S13, the command unit 17 transmits the selected service command 24d to the robot indicated by the selected robot ID 23a.
In step S14, it is determined whether or not the process is terminated. If not, the process returns to step S2.

(Third embodiment)
In the present embodiment, a modified example of the robot control system 1 according to the first and second embodiments will be described.
In the first and second embodiments, the environmental data 21, the robot data 23, and the service data 22 are determined to be consistent on the condition of human sense, and the robot identification data and the service command 24d are selected. .

  However, for example, as shown in FIG. 9, energy consumption, service provision time, and the like are set, and the human senses represented by the environmental data 21, the robot data 23, and the service data 22 are matched, The robot identification data and the service command 24d may be selected on condition that the energy consumption is low or the service provision time is short.

Moreover, you may use as conditions that a service can be provided simultaneously with respect to several users.
In addition, in each said embodiment, as long as the same function is realizable, you may change variously. For example, the user data storage device 7, the environment data storage device 8, the service data storage device 9, the robot data storage device 10, and the service state transition data storage device 11 may be freely combined or freely divided. .

The functions of the robot control device 2 according to each of the above embodiments may be realized by, for example, a processor controlled by a program.
The program in this case can be applied to a computer having a processor by writing it in a storage medium such as a magnetic disk (flexible disk, hard disk, etc.), an optical disk (CD-ROM, DVD, etc.), and a semiconductor memory. The program can also be applied to a computer by being transmitted through a communication medium. The computer reads the program and realizes the function as the robot control device 2 by controlling the operation by the program. The program may be distributed and arranged in a plurality of computers, and the processing may be executed while the plurality of computers cooperate with each other.

  The present invention is effective in the field of providing services by robots.

1 is a block diagram showing an example of a robot control system according to a first embodiment of the present invention. The figure which shows an example of the relationship of user data, environmental data, service data, robot data, and service state transition data. The figure which shows an example of user data. The figure which shows an example of the relationship between the kind of environmental data, and its content. The figure which shows an example of robot data. The figure which shows an example of service data. The figure which shows an example of service state transition data. The flowchart which shows an example of operation | movement of the robot control apparatus which concerns on the 2nd Embodiment of this invention. The figure which shows an example of the setting state of energy consumption and service provision required time.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Robot control system, 2 ... Robot control apparatus, 3 ... Network, 41-4n ... Robot, 5 ... Service equipment, 6 ... Sensor, 7 ... User data storage device, 8 ... Environmental data storage device, 9 ... Service data Storage device, 10 ... Robot data storage device, 11 ... Service state transition data storage device, 12 ... Data registration unit, 13 ... Event detection unit, 14 ... Service selection unit, 15 ... Priority selection unit, 16 ... Robot selection unit, 17 ... Command unit, 18 ... Position detection unit, 19 ... State detection unit, 20 ... User data, 21 ... Environment data, 22 ... Service data, 23 ... Robot data, 24 ... Service state transition data

Claims (8)

Service data storage means for storing service identification data used for identifying a service provided by a robot to a user and sensory classification data representing a result of classifying the service according to a human sense;
Robot data storage means for storing the robot identification data used for identifying the robot and the robot's possession ability data in association with each other;
Environmental data storage means for storing environmental data representing the state of the environment in which the service is provided to the user according to a human sense;
The service associated with the sensory classification data when the content of the sensory classification data stored in the service data storage means matches the content of the environmental data stored in the environmental data storage means Service selection means for selecting identification data;
When the ability indicated by the possessed ability data stored in the robot data storage means is an ability capable of providing the service indicated by the service identification data selected by the service selecting means, the ability is associated with the possessed ability data. Robot selection means for selecting the robot identification data,
Commanding means for giving a command for causing the robot indicated by the robot identification data selected by the robot selecting means to provide the service indicated by the service identification data selected by the service selecting means. Control device. The robot control device according to claim 1,
User data storage means for storing user identification data used for identification of the user and user sensory data representing the sensory characteristics of the user in association with each other;
The service selection means is stored in the content of the sensory classification data stored in the service data storage means, the content of the environmental data stored in the environment data storage means, and the user data storage means. When the content of the user sense data is matched, the service identification data associated with the sense classification data is selected. The robot control device according to claim 2, wherein
The user data storage means stores the user identification data, the user sense data, and a service activation event in association with each other,
Event detecting means for detecting occurrence of the service activation event;
The service selection means, when the service activation event is detected by the event detection means, the content of the sense classification data, the content of the environment data, and the user sense associated with the service activation event. The robot control device, wherein the service identification data associated with the sensory classification data is selected when the contents of the data match. The robot control device according to claim 2, wherein
The user data storage means stores the user identification data, the user sense data, and service specifying data for specifying a service provided to the user in association with each other,
Event detecting means for detecting occurrence of the service activation event;
The service selection means acquires the service identification data associated with the service activation event when the service activation event is detected by the event detection means, and matches the service identification data with the service identification data And the content of the sensory classification data associated with the service identification data, the content of the environment data, and the content of the user sensory data associated with the service activation event match. The robot control device selecting the service identification data associated with the sensory classification data. The robot control device according to any one of claims 1 to 4,
The service data storage means stores the service identification data in association with service providing capability data indicating capability required to provide the service indicated by the service identification data;
The service selection means selects the service providing capability data associated with the service identification data together with the service identification data,
The robot selection means, when the ability indicated by the possessed ability data stored in the robot data storage means matches the ability indicated by the service providing ability data stored in the service data storage means, The robot control apparatus, wherein the robot identification data associated with the possessed ability data is selected. The robot control device according to any one of claims 1 to 5,
The environmental data represents the appropriateness of service provision in the environment for at least one of human vision, hearing, touch, and smell.
The sense classification data represents a sense suitable for the service indicated by the service identification data among at least one of human vision, hearing, touch, and smell.
The service selecting means selects service identification data associated with the sensory classification data when a high sense of appropriateness in the environmental data matches a sensory indicated by the sensory classification data. Robot control device. Service identification data used for identifying a service provided to a user by a robot and sensory classification data representing a result of classifying the service according to a human sense are associated and stored in a service data storage unit, The robot identification data used for robot identification and the robot possession ability data are associated and stored in the robot data storage means, and the state of the environment in which the service is provided to the user according to the human sense Storing the environmental data to be represented in the environmental data storage means;
The service associated with the sensory classification data when the content of the sensory classification data stored in the service data storage means matches the content of the environmental data stored in the environmental data storage means Selecting identification data from the service data storage means;
When the ability indicated by the possessed ability data stored in the robot data storage means is an ability capable of providing the service indicated by the service identification data selected from the service data storage means, the ability data is associated with the possessed ability data. The robot identification data being selected from the robot data storage means,
A robot control method comprising: giving a command for providing a service indicated by service identification data selected from the service data storage means to a robot indicated by robot identification data selected from the robot data storage means. In a program that loads and runs on a computer,
The computer
Service data storage means for storing service identification data used for identifying a service provided by a robot to a user and sensory classification data representing a result of classifying the service according to a human sense;
Robot data storage means for storing the robot identification data used for identifying the robot and the robot's possession ability data in association with each other;
Access to the environment data storage means for storing environment data representing the state of the environment in which the service is provided to the user according to a human sense;
The computer,
The service associated with the sensory classification data when the content of the sensory classification data stored in the service data storage means matches the content of the environmental data stored in the environmental data storage means Service selection means for selecting identification data;
When the ability indicated by the possessed ability data stored in the robot data storage means is an ability capable of providing the service indicated by the service identification data selected by the service selecting means, the ability is associated with the possessed ability data. Robot selection means for selecting the robot identification data,
A program for causing a robot indicated by robot identification data selected by the robot selection means to function as an instruction means for giving a command for providing a service indicated by the service identification data selected by the service selection means.

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