JP2008137127A - Robot control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot which is usable in a human living environment and a working environment with sufficient safety, and exerts high flexibility. <P>SOLUTION: There is provided a control method for controlling operation of an autonomous control type robot. According to the method, prediction is made as to whether or not the autonomous control type robot makes contact with a person, based on the operation of the autonomous control type robot (step S69). If the contact of the robot with the person is predicted (step S69:YES), the operation of the autonomous control type robot is limited so as not to make contact with a vital spot of the person (step S76). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot control method, and more particularly to a method for controlling the operation of an autonomous control robot.

  A robot is a device that performs an action similar to that of a human by using an electrical or magnetic action. Such robots are often used to perform tasks on behalf of humans or to assist human tasks. Therefore, it is often used in a human living environment or work environment, and it is desired to realize a robot that can be used safely without causing harm to humans in such an environment.

In response to such a demand, recently, an autonomous control type robot that autonomously controls its own behavior according to the surrounding environment has been proposed (see, for example, Patent Document 1). The legged mobile robot described in Patent Document 1 includes a pinch detection unit provided between a mechanical movable part and a part in contact with the mechanical movable part, and a human hand or the like between the movable part and the part in contact with the movable part. It is detected that is inserted. When pinching is detected, pinching avoidance operation or release operation is performed.
JP 2004-174644 A

  By the way, the conventional autonomous control robot, like the legged mobile robot described in Patent Document 1, detects an abnormality after it has occurred and takes measures to remove the abnormality, thereby reducing the damage caused by the robot. can do. However, this is to respond to the accident after the fact and tolerate the occurrence of the accident. Also, with this robot, it is difficult to deal with accidents that cause great damage to humans in an instant, such as a person's eyes. Therefore, the conventional autonomous control type robot cannot realize a robot that can be used with sufficient safety in a human living environment or work environment.

  Here, as an autonomous control type robot that solves the above problem, a robot that does not approach a human for a certain distance or more can be considered. By using this robot, it is possible to prevent accidents caused by the robot. However, since the versatility of this robot is reduced, the field of use of the robot is limited. For example, in the field of nursing care, contact between a human and a robot is indispensable, and cannot be handled. Therefore, this robot cannot solve the above problem.

  In view of the above problems, an object of the present invention is to provide a highly versatile robot that can be used with sufficient security in a human living environment or work environment.

  In order to achieve the above object, a robot control method of the present invention is a motion control method in a robot, wherein the prediction step predicts whether or not the robot comes into contact with a human by the motion of the robot, And a limiting step of limiting the operation of the robot so that the robot does not contact the human critical point when it is predicted to make contact in the prediction step. Here, the robot control method further includes an image storing step of storing a human image indicating a human critical point and a human shape, and recognizing the human shape of the contact, and recognizing the recognized human shape and And a step of identifying a human emergency from the image. In the limiting step, the robot may be restricted from moving so that the robot does not contact the specified human emergency.

  As a result, contact with a human is predicted in advance, and in the case of contact, the operation of the robot is limited so as not to contact the human critical point. Therefore, since it is possible to predict the occurrence of a major accident and prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Further, the present invention is a method for controlling an operation in a robot, wherein a measuring step for measuring a distance between the robot and a human, and a warning step for issuing a warning to the human when the distance is shorter than a predetermined distance; It can also be set as the control method of the robot characterized by including these. Here, in the warning step, when the distance is shorter than the predetermined distance, a predetermined image may be displayed on a display unit included in the robot, and the robot control method may further include the predetermined distance. If the distance is shorter than the distance, a limiting step of slowing down the operation speed of the robot or stopping the operation of the robot may be included.

  As a result, when the distance to the person is likely to come into contact, a warning that the robot may come into contact with the person can be issued. Therefore, it is not possible for a human to come into contact with the robot in a state where it is unprotected against contact from the outside or does not recognize this. As a result, it is possible to prevent a major accident from occurring and to realize a robot that can be used with sufficient safety in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Further, the present invention is a method for controlling an operation in a robot, in a prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot, and when predicted to contact in the prediction step, The robot control method may further include a restricting step for restricting the operation of the robot so that the robot does not contact the human at a predetermined contact angle. Here, the robot control method further includes an angle table for storing a human image indicating a position of a human part and a human shape, and an angle table in which the human part and the predetermined contact angle are associated with each other. Recognizing the shape of the person to be contacted and the part that contacts the robot, and identifying the part of the person that contacts the robot from the recognized shape of the person and the part that contacts the robot and the image In the part specifying step and the restricting step, the robot operation may be restricted so that the robot does not contact the person at a predetermined contact angle associated with the specified human part in the angle table. Good.

  As a result, it is possible to predict contact with a human in advance, and to limit the operation of the robot so that it does not come into contact with a human at a dangerous angle that causes great damage to the human. Therefore, it is possible to predict the occurrence of a major accident and prevent the occurrence of a major accident. As a result, it is possible to realize a robot that can be used with sufficient peace of mind in human living and work environments. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Further, the present invention is a method for controlling an operation in a robot, in a prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot, and when predicted to contact in the prediction step, The robot control method may further include a restricting step for restricting the operation of the robot so that the robot does not contact the human at a speed higher than a predetermined contact speed. Here, the robot control method further includes a contact image storing a human image indicating a position of a human part and a human shape, and a contact speed table in which the human part and the predetermined contact speed are associated with each other. A speed table storing step, recognizing the shape of the person to be touched and a portion that is in contact with the robot, and determining the portion of the human being in contact with the robot from the recognized shape of the human being, the portion in contact with the robot and the image In the specifying part specifying step and the restricting step, the robot is controlled so that the robot does not contact the human at a speed greater than a predetermined contact speed associated with the specified human part in the contact speed table. The operation may be limited.

  As a result, it is possible to predict contact with a human in advance, and to limit the operation of the robot so as not to contact the human at a dangerous speed that would cause great damage to the human in the case of contact. Therefore, it is possible to predict the occurrence of a major accident and prevent the occurrence of a major accident. As a result, it is possible to realize a robot that can be used with sufficient peace of mind in human living and work environments. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Further, the present invention is a method for controlling an operation in a robot, in a prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot, and when predicted to contact in the prediction step, A state recognizing step for recognizing a state of the predetermined part of the human, and a restricting step for restricting the operation of the robot based on the state of the predetermined part recognized in the state recognizing step. It can also be a robot control method. Here, in the state recognition step, the orientation of the human face or the vertical movement of the human shoulder is recognized, and in the limiting step, the recognition result of the orientation of the human face or the vertical movement of the human shoulder is recognized. Based on this, the operation of the robot may be limited.

  This predicts contact with humans in advance, and when touching, the robot moves so as not to touch humans who are unprotected against contact from outside or who are not aware of this. Can be limited. Therefore, since it is possible to predict the occurrence of a major accident and prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  The present invention can be realized not only as such a robot control method but also as a robot whose operation is controlled by the method, a program for the robot, and a storage medium for storing the program. be able to.

  According to the present invention, it is possible to realize a highly versatile robot that can be used with sufficient security in a human living environment or work environment.

  Hereinafter, an autonomous control robot according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1A is a front view of the autonomous control type robot of the present embodiment, and FIG. 1B is a side view of the robot.

  This robot is a biped walking type robot that automatically controls the operation according to the surrounding environment, and includes a torso unit 100, a head unit 110, a right arm unit 120, a left arm unit 130, a right leg unit 140, and a left unit. The leg unit 150 is configured.

The head unit 110 is connected to the upper part of the trunk unit 100.
The right arm unit 120 includes an upper right arm portion 120a, a right forearm portion 120b, and a right wrist portion 120c, and is connected to the right side portion of the trunk unit 100. The left arm unit 130 includes a left upper arm portion 130a, a left forearm portion 130b, and a left wrist portion 130c, and is connected to the left side portion of the torso unit 100.

  The right leg unit 140 includes a right thigh 140a, a right lower leg 140b, and a right ankle 140c, and is connected to the lower right side of the torso unit 100. The left leg unit 150 includes a left thigh 150a, a left lower leg 150b, and a left ankle 150c, and is connected to the lower left side of the torso unit 100.

FIG. 2 is a diagram schematically showing the drive structure of the autonomous control robot.
The head unit 110 can be independently rotated about two orthogonal axes by driving the motors M1 and M2, respectively. The head unit 110 is provided with CCD or MOS type cameras 210 and 220 for imaging the surroundings of the robot, and a display unit 230 such as a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display). . The display unit 230 changes the image when the distance is shorter than a predetermined distance, and issues a warning to a person.

  The upper right arm 120a can be independently rotated around two orthogonal axes by driving the motors M3 and M4, respectively. The right forearm 120b can be independently rotated around two orthogonal axes by driving the motors M5 and M6, respectively. The right wrist 120c can be rotated around one axis by driving a motor M7.

  The upper left arm portion 130a can be rotated independently around two orthogonal axes by driving motors M8 and M9, respectively. The left forearm 130b can be independently rotated about two orthogonal axes by driving the motors M10 and M11, respectively. The left wrist portion 130c can be rotated around one axis by driving a motor M12.

  The body unit 100 can be independently rotated around two orthogonal axes by driving the motors M13 and M14, respectively. The body unit 100 is provided with a motor M1 to 24 connected to the motors M1 to 24 and the cameras 210 and 220, a display unit 230, and a control unit 200 that controls driving of the cameras 210 and 220.

  The right thigh 140a can be independently rotated around two orthogonal axes by driving motors M15 and M16, respectively. The right lower leg 140b can be independently rotated around two orthogonal axes by driving motors M17 and M18, respectively. The right ankle portion 140c can be rotated around one axis by driving a motor M19.

  The left thigh 150a can be independently rotated about two orthogonal axes by driving the motors M20 and M21, respectively. The left lower leg 150b can be independently rotated around two orthogonal axes by driving motors M22 and M23, respectively. The left ankle portion 150c can be rotated around one axis by driving a motor M24.

FIG. 3 is a functional block diagram showing the configuration of the autonomous control robot.
The robot includes a control unit 200, a mechanism unit 300, a storage unit 320, a human recognition unit 350, a memory unit 360, a prediction unit 370, a measurement unit 380, and a state recognition unit 390.

  The mechanism unit 300 is a set of mechanism parts including the motors M1 to 24, the display unit 230, the cameras 210 and 220, and the like.

  The control unit 200 loads and executes the operation program 320a from the storage unit 320 to the memory unit 360, and controls the mechanism unit 300 according to the execution result.

  The storage unit 320 is a hard disk, a memory, or the like. The storage unit 320 stores an operation program 320a, reference image data 320b, an angle table 320c, an truth determination table 320d, a distance table 320e, a contact speed table 320f, and the like.

  As shown in FIG. 4, the reference image data 320b is a human three-dimensional image showing the three-dimensional shape of a human, the position of a human sharp point (the hatched portion in FIG. 4), and the position of a human part. At this time, examples of human vital points include the throat, the groove, the money, the part on the midline (the center line of the body) such as the person and the nose, the temple, the eyes, and the like.

  As shown in FIG. 5, the angle table 320 c is a table in which the human part shown in FIG. 4 is associated with the dangerous contact angle of the robot. At this time, the contact angle of danger is a contact angle that is allowed when the robot contacts a human, that is, a contact angle that does not cause great damage to the human, and varies depending on the human part. For example, if the grooving is pushed up from below to push into the ribs, human damage will be caused. Therefore, the “groove” is associated with “a contact angle of 0 to 90 ° with respect to a line from the foot toward the head”.

  As shown in FIG. 6, the truth determination table 320 d is a table in which the human part shown in FIG. 4 is associated with a predetermined state of the part. At this time, the predetermined state of the part is a state indicating that a person is unprotected against contact from the outside or is not recognizing this. That is, humans are more vulnerable when they are inhaling than when they are exhaling, and when they touch the robot in this state, humans are greatly damaged. Therefore, in the table of FIG. 6, “the state of moving upward” is associated with “shoulder”. In addition, human beings are greatly damaged if they are surprised. Therefore, in the table of FIG. 6, “face facing” is associated with “face”.

  As shown in FIG. 7, the distance table 320e is a table in which the distance between the human and the robot, the image content of the display unit 230, and the operation speed of the robot are associated with each other. In this table, when either the human or the robot does not operate to reduce the distance between them, the distance that the robot and the human do not touch each other, for example, the distance between the human and the robot is 1 m to 2 m. It is shown that a yellow image is displayed at 230 and the operation speed of the robot is 0.1 m / sec. In addition, even if either the human or the robot does not reduce the distance between each other, the distance that the robot and the human make contact with each other, for example, when the distance between the human and the robot is 1.0 m or less is displayed. It is shown that a red image is displayed on the unit 230 and the robot operating speed is 0.01 m / sec.

  As shown in FIG. 8, the contact speed table 320f is a table in which the human part shown in FIG. 4 is associated with the dangerous contact speed of the robot. The dangerous contact speed is a contact speed that is allowed when the robot contacts a human, that is, a contact speed that does not cause much damage to the human, and is different for each human part. For example, a contact speed of “0.0001 m / sec” is associated with “face”.

  The human recognition unit 350 recognizes a person who exists within a predetermined distance from the robot based on the images acquired by the cameras 210 and 220, and uses a stereo matching method or the like from the two images acquired by the cameras 210 and 220. To generate a human three-dimensional image. Furthermore, the human recognizing unit 350 recognizes the position of the portion that contacts the human robot recognized using the generated three-dimensional image.

  The memory unit 360 is a RAM (Random Access Memory) that provides a work area for the control unit 200, the human recognition unit 350, the prediction unit 370, the measurement unit 380, the state recognition unit 390, and the like.

  Based on the three-dimensional image generated by the human recognition unit 350, the prediction unit 370 predicts whether or not the human recognized by the human recognition unit 350 and the robot come into contact with each other by the operation of the robot.

  The measurement unit 380 measures the distance between the human recognized by the human recognition unit 350 and the robot based on the three-dimensional image generated by the human recognition unit 350.

  The state recognition unit 390 pattern-matches the three-dimensional image generated by the human recognition unit 350 with the reference image data 320b, and recognizes the state of the human part.

  Next, the operation of the autonomous control type robot having the above configuration will be described. FIG. 9 is a flowchart showing the operation of the robot.

  First, the control unit 200 causes the human recognition unit 350 to recognize a human who exists within a predetermined distance from the robot, and further generates a recognized human three-dimensional image (step S60). The position and shape of the recognized human is specified by this three-dimensional image. The predetermined distance differs depending on the performance of the cameras 210 and 220, and is, for example, 10 m.

  Next, the control unit 200 causes the measurement unit 380 to measure the distance between the recognized human and the robot (step S61).

  Next, the control unit 200 determines whether or not the measured distance is a dangerous distance in contact with a human (step S62). Specifically, it is determined whether or not the measured distance is a distance of 1.0 m or less shown in the distance table 320e.

  Next, when it is determined that the measured distance is not a dangerous distance (NO in step S62), the control unit 200 determines whether or not the measured distance is a safe distance with a low possibility of contact with a human. Is determined (step S63). Specifically, it is determined whether or not the measured distance is a distance of 2 m or more shown in the distance table 320e.

  Next, when it is determined that the measured distance is a safe distance (YES in step S63), the control unit 200 displays a blue image on the display unit 230 according to the distance table 320e (step S64).

  Next, when it is determined that the measured distance is not a safe distance (NO in step S63), the control unit 200 displays a yellow image on the display unit 230 according to the distance table 320e and issues a warning to a human. At the same time (step S65), the operation speed of the robot is changed to a low speed of 0.1 m / sec (step S66).

  Next, when it is determined that the measured distance is a dangerous distance (YES in step S62), the control unit 200 displays a red image on the display unit 230 according to the distance table 320e and issues a warning to a human. At the same time (step S67), the robot operation speed is changed to a low speed of 0.01 m / sec (step S68).

  Next, the control unit 200 causes the prediction unit 370 to predict whether or not the recognized human and the robot come into contact with each other by the operation of the robot (step S69).

  Next, when it is predicted that the human body will be contacted (YES in step S69), the control unit 200 causes the human recognition unit 350 to recognize the position of the portion that contacts the human robot. Thereafter, the control unit 200 identifies a part that contacts the human robot from the three-dimensional image generated by the human recognition unit 350, the reference image data 320b, and the position of the recognized part that contacts the human robot (Step S200). S70). Specifically, the three-dimensional image generated by the human recognizing unit 350 is pattern-matched with the reference image data 320b to specify which part of the human contact the part in contact with the human robot.

  Next, the control part 200 makes the state recognition part 390 recognize the state of the specified site | part (step S71). For example, the recognized human face orientation or shoulder movement is recognized.

  Next, the control unit 200 determines whether or not the recognized human posture or state is unstable (step S72). Specifically, it is determined whether any of the specified part states is a predetermined state shown in the truth determination table 320d. For example, it is determined whether or not the shoulder motion is upward, or whether or not the face is facing the robot.

  Next, when it is determined that the recognized posture or state of the human is unstable (YES in step S72), the control unit 200 causes the robot to move away from the recognized human (step S73).

  Next, when it is determined that the recognized human posture or state is not unstable (NO in step S72), the control unit 200 specifies the position of the recognized human critical point. Specifically, the three-dimensional image generated by the human recognizing unit 350 is pattern-matched with the reference image data 320b to identify the position of the recognized human critical point (step S74).

  Next, the control unit 200 determines whether or not to contact a human emergency (step S75). Specifically, it is determined whether or not the position of the identified human critical point coincides with the position of the part in contact with the human robot recognized by the human recognition unit 350.

  Next, in the case of contact with a human emergency (YES in step S75), the control unit 200 restricts the operation of the robot so that the robot does not contact the emergency and the portion other than the human emergency is in contact with the robot ( Step S76).

  Next, the control unit 200 identifies the contact angle with the recognized human robot (step S77).

  Next, the control unit 200 determines whether or not the specified contact angle is a dangerous angle with respect to a human part that contacts the robot (step S78). Specifically, it is determined whether or not the dangerous contact angle associated with the part in contact with the human robot in the angle table 320c matches the specified contact angle. For example, when an eye is specified as a human part to contact and 20 ° is specified as a contact angle, the contact angle is dangerous because 20 ° is different from 90 ° associated with the eye in the angle table 320c. It is determined that it is not.

  Next, when it is determined that the specified contact angle is a dangerous angle (YES in step S78), the control unit 200 contacts the robot with a human so that the contact at the dangerous angle is not performed. The angle is changed (step S79).

  Next, the control unit 200 specifies the contact speed with the recognized human robot (step S80).

  Next, the control unit 200 determines whether or not the specified contact speed is a dangerous speed for a human part that contacts the robot (step S81). Specifically, it is determined whether or not the safe contact speed associated with the part in contact with the human robot in the contact speed table 320f is slower than the specified contact speed.

  Next, when it is determined that the identified contact speed is a dangerous speed (YES in step S81), the control unit 200 applies a human part that contacts the robot so as not to contact the human at a dangerous speed. The contact speed is gradually changed to the contact speed associated with the contact speed table 320f (step S82). At this time, the rate of change of the speed is changed according to the operation speed of the robot at the time of contact speed determination and the distance between the robot and the person, and when the operation speed is relatively fast or the distance from the person is relatively far The rate of change in speed is increased, and conversely, the rate of change in speed is reduced when the operation speed is relatively slow or when the distance to a human is relatively close.

  As described above, according to the autonomous control type robot of the present embodiment, it is determined whether a person is unprotected against contact from the outside, or is not aware of this, and is applicable. It is controlled not to come into contact with humans. Therefore, since it is possible to prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Further, according to the autonomous control type robot of the present embodiment, the image on the display unit 230 may be changed when the distance to the person is likely to come into contact, and the robot may come into contact with the person. A warning that there is. Therefore, it is not possible for a human to come into contact with the robot in a state where it is unprotected against contact from the outside or does not recognize this. As a result, it is possible to prevent a major accident from occurring and to realize a robot that can be used with sufficient safety in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  In addition, according to the autonomous control type robot of the present embodiment, it is determined whether or not the human part that comes into contact is a sudden place, and if applicable, the part that comes into contact with the sudden place is changed. Therefore, since it is possible to prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  In addition, according to the autonomous control type robot of the present embodiment, it is determined whether the contact angle with the human being is a dangerous angle that causes great damage to the human being, and if applicable, the contact angle with the human being is changed. . Therefore, since it is possible to prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  Also, according to the autonomous control type robot of the present embodiment, it is determined whether the contact speed with the human is a dangerous speed that causes great damage to the human, and if applicable, the contact speed with the human is changed. . Therefore, since it is possible to prevent the occurrence of a major accident, it is possible to realize a robot that can be used with confidence in a human living environment or work environment. In addition, since human beings are not greatly damaged by contact, it can be used at a distance close to humans, and a highly versatile robot can be realized.

  As described above, the autonomous control type robot of the present invention has been described based on the embodiment. However, the present invention is not limited to this embodiment. The present invention includes various modifications made by those skilled in the art without departing from the scope of the present invention.

  For example, when the distance to the person is a dangerous distance, the image on the display unit 230 is changed, and a warning is given that the robot may come into contact with the person. However, the present invention is not limited to this as long as a warning can be issued to a human, and the robot may include a voice output unit, and the robot may touch the human by changing the output content of the voice according to the distance. May be issued. Here, the display unit and the audio output unit are examples of the warning unit of the present invention.

  In addition, when the part in contact with the human robot is a human emergency, the control unit 200 restricts the operation of the robot so that the robot contacts a part other than the human emergency. However, since the contact angle and contact speed determination performed after determining whether or not the portion that contacts the human robot is a human emergency, contact with a human at a dangerous angle and speed is avoided. There is no need to limit the operation. However, in this case, in order not to cause great damage to humans, other operation restrictions such as reducing the operation speed of the robot to a predetermined speed are added to the robot.

  In addition, when the recognized human posture and state are unstable, the control unit 200 is configured to cause the robot to perform an operation of leaving the recognized human. However, the present invention is not limited to this as long as it restricts the movement of the robot, and the robot may be caused to perform an action that makes the recognized human posture and state not unstable. For example, when it is determined that the human face is not facing the robot, the control unit 200 may cause the robot to move to the front of the human face.

  Further, when it is determined that the measured distance is a dangerous distance, the operation speed of the robot is changed to a low speed of 0.01 m / sec. However, the present invention is not limited to this as long as it restricts the operation of the robot, and the operation of the robot may be stopped.

  Further, when it is determined that the contact angle with the human is a dangerous angle, the contact angle of the robot with the human is changed. However, the present invention is not limited to this as long as it restricts the operation of the robot, and the operation of the robot may be stopped.

  Further, when it is determined that the contact speed with a human is a dangerous speed, the contact speed is changed. However, the present invention is not limited to this as long as it restricts the operation of the robot, and the operation of the robot may be stopped.

  Moreover, in the said embodiment, although the autonomous control type robot was illustrated as a robot, if it is a robot which can control operation | movement, it will not be restricted to this.

  The present invention can be used for a robot control method, and in particular, can be used for an operation control method of an autonomous control type robot.

(A) It is a front view of the autonomous control type robot of an embodiment of the invention. (B) It is a side view of the robot. It is a figure which shows typically the drive structure of the robot. It is a functional block diagram which shows the structure of the robot. It is a figure which shows reference | standard image data. It is a figure which shows an angle table. It is a figure which shows a truth determination table. It is a figure which shows a distance table. It is a figure which shows a contact speed table. It is a flowchart which shows operation | movement of the robot.

Explanation of symbols

100 torso unit 110 head unit 120 right arm unit 120a upper right arm part 120b right forearm part 120c right wrist part 130 left arm unit 130a left upper arm part 130b left forearm part 130c left wrist part 140 right leg unit 140a right thigh part 140b right lower leg part 140c Right ankle part 150 Left leg unit 150a Left thigh part 150b Left lower leg part 150c Left ankle part 200 Control part 210, 220 Camera 230 Display part 300 Mechanism part 320 Storage part 320a Operation program 320b Reference image data 320c Angle table 320d Reality determination table 320e Distance Table 320f Contact speed table 350 Human recognition unit 360 Memory unit 370 Prediction unit 380 Measurement unit 390 State recognition unit

Claims (21)

A method for controlling movement in a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
A robot control method comprising: a restricting step of restricting the operation of the robot so that the robot does not contact the human emergency when it is predicted to contact in the predicting step. The robot control method further includes:
An image storing step for storing a human image indicating a human vitality and a human shape;
Recognizing the shape of the person in contact and identifying a human emergency from the recognized human shape and the image,
2. The robot control method according to claim 1, wherein in the restricting step, the robot is restricted so that the robot does not contact the identified human critical point. 3. A method for controlling movement in a robot,
A measuring step for measuring a distance between the robot and a human;
And a warning step of issuing a warning to the human when the distance is shorter than a predetermined distance. The robot control method according to claim 3, wherein, in the warning step, when the distance is shorter than a predetermined distance, a predetermined image is displayed on a display unit included in the robot. The method for controlling the robot further includes a limiting step of slowing down the operation speed of the robot or stopping the operation of the robot when the distance is shorter than a predetermined distance. Robot control method. A method for controlling movement in a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
And a limiting step of limiting the operation of the robot so that the robot does not contact the person at a predetermined contact angle when it is predicted to contact in the prediction step. The robot control method further includes:
An angle table storage step for storing a human image indicating the position and shape of a human part, and an angle table in which the human part and the predetermined contact angle are associated;
A part specifying step for recognizing the human shape and the part contacting the robot, and specifying the human part contacting the robot from the recognized human shape and part contacting the robot and the image; ,
The operation of the robot is restricted in the restricting step so that the robot does not contact the human at a predetermined contact angle associated with the identified human part in the angle table. 6. The robot control method according to 5. A method for controlling movement in a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
A restriction step for restricting the operation of the robot so that the robot does not contact the human at a speed greater than a predetermined contact speed when predicted to be touched in the prediction step. Control method. The robot control method further includes:
A contact speed table storing step for storing a human image indicating the position and shape of a human part, and a contact speed table associated with the human part and the predetermined contact speed;
A part specifying step for recognizing the human shape and the part contacting the robot, and specifying the human part contacting the robot from the recognized human shape and part contacting the robot and the image; ,
In the limiting step, the operation of the robot is limited so that the robot does not contact the human at a speed larger than a predetermined contact speed associated with the identified human part in the contact speed table. The robot control method according to claim 8. A method for controlling movement in a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
A state recognition step of recognizing the state of the predetermined part of the human when it is predicted that contact will be made in the prediction step;
And a restricting step for restricting the operation of the robot based on the state of the predetermined part recognized in the state recognizing step. In the state recognition step, the human face direction or the vertical movement of the human shoulder is recognized,
The robot control method according to claim 10, wherein, in the limiting step, the operation of the robot is limited based on a recognition result of the orientation of the human face or the vertical movement of the human shoulder. Predicting means for predicting whether or not the robot comes into contact with a human by the operation of the robot;
Limiting means for limiting the operation of the robot so as to prevent the robot from coming into contact with the human emergency when it is predicted by the prediction means. A measuring means for measuring the distance between the robot and a human,
A robot comprising warning means for issuing a warning to the human when the distance is shorter than a predetermined distance. Predicting means for predicting whether or not the robot comes into contact with a human by the operation of the robot;
Limiting means for limiting the operation of the robot so as to prevent the robot from coming into contact with the human at a predetermined contact angle when predicted by the predicting means. Predicting means for predicting whether or not the robot comes into contact with a human by the operation of the robot;
Limiting means for limiting the operation of the robot so that the robot does not contact the human at a speed greater than a predetermined contact speed when predicted by the predicting means. Predicting means for predicting whether or not the robot comes into contact with a human by the operation of the robot;
A state recognizing unit for recognizing a state of the predetermined part of the human when it is predicted to be touched by the predicting unit;
Limiting means for limiting the operation of the robot based on the state of the predetermined part recognized by the state recognition means. A program for a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
A program for causing a computer in a robot to execute a restriction step for restricting the operation of the robot so that the robot does not come into contact with the human's critical point when it is predicted that contact is made in the prediction step. A program for a robot,
A measuring step for measuring a distance between the robot and a human;
A program for causing a computer in a robot to execute a warning step of issuing a warning to the human when the distance is shorter than a predetermined distance. A program for a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
When it is predicted that contact is made in the prediction step, the computer in the robot is caused to execute a restriction step for restricting the operation of the robot so that the robot does not contact the human at a predetermined contact angle. Program to do. A program for a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
When it is predicted that contact is made in the prediction step, the computer in the robot includes a restriction step for restricting the operation of the robot so that the robot does not contact the human at a speed higher than a predetermined contact speed. A program characterized by that. A program for a robot,
A prediction step of predicting whether or not the robot comes into contact with a human by the operation of the robot;
A state recognition step of recognizing the state of the predetermined part of the human when it is predicted that contact will be made in the prediction step;
A program for causing a computer in a robot to execute a limiting step of limiting the operation of the robot based on the state of the predetermined part recognized in the state recognition step.

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