JP2009269162A - Control program construction method for robot and robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a program environment capable of suppressing complexity of a program and relieving an operator's burden in preparing a robot control program for attaining various operations such as grasping of various types of articles of a traveling robot in a living space and operations with verbal exchange. <P>SOLUTION: This method includes the following steps: storing a grasp sequence program for articles for each article information of a database; reading electronic tag information of articles to be grasped with an electronic tag reader 13 in executing a control program of a robot 10; acquiring a grasp sequence for the articles from the database with the electronic tag information as a key; and inserting the sequence into a robot control program. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a control program for a mobile robot, and in particular, a program construction method for realizing various operations required in a living space by using information acquired by the mobile robot and information stored in a database. And about the system.

In the past, research on robots such as service robots and robot systems that perform and assist human tasks in various environments has been underway. Robots are required to perform a wide variety of actions in order to provide various services such as taking out clothes and putting away dishes in a human living environment.
The system that enables various operations includes an autonomous mobile robot that moves by driving wheels, and is detachably attached to the autonomous mobile robot, and has predetermined functions (vacuum cleaner, serving function, wheelchair function, gripping A function variable type robot system has been proposed in which a plurality of function modules that execute functions) are combined according to the purpose and operated easily. (For example, refer to Patent Document 1). The robot can be controlled from a personal computer as an autonomous mobile robot having the target function by downloading a control program of the function module to be used from a database.
Japanese Patent Laid-Open No. 2007-193736, page 10, FIG.

However, in a human living environment, there may be a case where different movements are required depending on the operation target even in one service content. For example, the movement of the robot arm when removing clothes from the hanger and the movement when grasping tableware are different, and even if only tableware is considered, the required operation differs depending on the type. In the prior art, a gripping function module is mentioned as a function module. After the function module is made usable, a control method (robot control program) on the personal computer side, for example, an operation corresponding to the gripping object is performed. The switching is not specifically described. That is, since there are various shapes and weights depending on articles, it is difficult to pattern the movement position and posture of the hand into several types, and it is necessary to realize various operations according to the situation. In addition, it is necessary to realize an operation according to the content of a conversation with a human and an operation according to an event from an environmental sensor such as a camera.
As an example, FIG. 7 shows a program that describes the sequence of the robot gripping operation. Here, it is assumed that the robot is equipped with an electronic tag reader at the hand, etc., reads the electronic tag attached to the article, and inquires the article information on the database system using the read electronic tag ID as a key.
In the figure, first, an electronic tag attached to an article is read with a “ReadTag” command. Next, the article information is inquired to the database by the “GetTagInfo” command. Next, according to the article information, a “Switch” sentence branches to execute a corresponding gripping operation. For the sake of explanation, only one case shown on the left side of the figure is described. In the gripping operation, first, necessary parameters are set using the “SetVar” command, then the moving carriage is controlled using “MOVLvcl”, the left and right gripper is controlled using “MOVJgrp”, and the left and right arms are controlled using “MOVJarm” in parallel. is doing. In addition, command parameters such as position information are set in the properties of each command. The above sequence is expected to require branching every time the number of different types of articles increases, resulting in problems such as a complicated program. Similarly, it is expected that branching according to the type of audio or the type of event is required in realizing the operation according to the content of the conversation with the human or the operation according to the event from the environmental sensor.
The present invention has been made in view of such problems, and in creating a robot control program for realizing various operations, a programming environment capable of suppressing the complexity of the program and reducing the burden on the operator is provided. The purpose is to provide.

In order to solve the above problems, the present invention is configured as follows.
The invention according to claim 1 comprises reading means for reading the article identification information of the article identification means provided on the article, gripping means for gripping the article, and moving means for moving the floor surface. A robot system comprising a mobile robot provided and a control means for controlling the mobile robot, comprising a first database for storing the article identification information and a gripping program sequence of an article corresponding to the article. It is characterized by.
The invention according to claim 2 is characterized in that the article identifying means is an electronic tag.
The invention according to claim 3 is characterized in that the reading means is an electronic tag reader.
According to a fourth aspect of the present invention, the control means is provided in a first computer, the first database is provided in a second computer, the mobile robot, the first and second computers. Is characterized in that data is transmitted and received via a network equipped with a relay device.
The invention according to claim 5 is a microphone, voice identification means for analyzing voice obtained from the microphone and obtaining voice identification information corresponding to the voice, movement means for moving the floor surface, , And a control means for controlling the mobile robot, the voice identification information obtained from the voice identification means and an operation program sequence corresponding to the voice identification information are stored. The second database is provided.
According to a sixth aspect of the present invention, the control means is provided in a first computer, the second database is provided in a second computer, the mobile robot, the first and second computers. Is characterized in that data is transmitted and received via a network equipped with a relay device.
Further, the invention according to claim 7 is a reading means for reading the article identification information of the article identification means provided on the article, a gripping means for gripping the article, and a moving means for moving the floor surface. A robot system comprising: a mobile robot comprising: a control means for controlling the mobile robot; and a first database for storing the article identification information and an article gripping program sequence corresponding to the article. When executing the control program of the robot, processing is performed by a procedure of acquiring a gripping sequence of the article from the first database using the article identification information of the article to be gripped as a key and inserting it into the control program. To do.
The invention according to claim 8 is characterized in that the article identifying means is an electronic tag.
The invention according to claim 9 is characterized in that the reading means is an electronic tag reader.
According to a tenth aspect of the present invention, the control means is provided in a first computer, the first database is provided in a second computer, the mobile robot, the first and second computers. Is characterized in that data is transmitted and received via a network equipped with a relay device.
The invention according to claim 11 is a microphone, voice identification means for analyzing voice obtained from the microphone and obtaining voice identification information corresponding to the voice, moving means for moving the floor, A mobile robot comprising: a control means for controlling the mobile robot; a second database for storing voice identification information obtained from the voice identification means and an operation program sequence corresponding to the voice identification information; In the robot system provided, at the time of execution of the robot control program, an operation program sequence corresponding to the voice is obtained from the second database using the voice identification information as a key, and inserted into the control program. It is characterized by processing.
In the invention according to claim 12, the control means is provided in the first computer,
The second database is provided in a second computer, and the mobile robot and the first and second computers transmit and receive data via a network having a relay device.
The invention described in claim 13 is a mobile robot comprising a gripping means for gripping an article, a moving means for moving the floor, a control means for controlling the mobile robot, A robot system comprising sensing means for sensing the mobile robot and a moving body including a human and the environment, and a third database for storing event identification information issued by the sensing means and an operation program sequence corresponding to the event. It is characterized by that.
The invention as set forth in claim 14 is characterized in that the sensing means comprises an environmental sensor and a third computer for processing sensing information.
The invention described in claim 15 is a mobile robot comprising a gripping means for gripping an article, a moving means for moving the floor surface, a control means for controlling the mobile robot, A robot system comprising: sensing means for sensing the mobile robot and a moving body including a human and an environment; and a third database for storing event identification information issued by the sensing means and an operation program sequence corresponding to the event. In the process of executing the control program of the robot, the operation program sequence corresponding to the event is acquired from the third database using the event identification information as a key and inserted into the control program. It is a feature.
The invention described in claim 16 is a reading means for reading the article identification information of the article identification means provided on the article, a gripping means for gripping the article, a moving means for moving the floor surface, , And a control means for controlling the mobile robot, the article identification means storing the article identification information and a gripping program sequence for the article corresponding to the article in advance. In the above, when a predetermined command of the mobile robot is executed, a gripping sequence stored in the article identification means is acquired and inserted into the control program of the mobile robot. .

According to the present invention, a sequence program that realizes different gripping operations depending on the type of article is stored in the database for each article type, and when the robot control program is executed, the electronic tag information of the article to be gripped is used as a key from the database. Since the grip sequence of the article is acquired and inserted into the robot control program, it is not necessary for the operator to describe the grip sequence for each article on the robot control program in advance, and the burden can be reduced and the program can be complicated. It is suppressed. For voice recognition information and event information, the operation sequence program corresponding to the type of voice and event type is stored in the database so that it can be dynamically acquired and inserted when the robot control program is executed. The effect can be expected.
In addition, since the sequence program stored in the database can be shared by a plurality of clients, it is not necessary to describe the same sequence program for each robot control program.
Further, a sequence program for realizing different gripping operations depending on the type of the article is stored in the storage area of the electronic tag of the article, and the gripping sequence of the article is stored from the storage area of the gripping target article when the robot control program is executed. The same effect can be expected by acquiring and inserting into the robot control program.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings. In the embodiment, a housing is taken as an example of a place where the robot system is applied, and a service robot that assists and substitutes for a resident's work, such as taking out and storing tableware, is assumed.

FIG. 1 is a schematic diagram showing the configuration of the robot system of the present invention. In the figure, reference numeral 10 denotes a mobile robot, which includes a left and right arm 11, a left and right gripper 12, and a moving carriage 14 (moving means). The mobile carriage 14 may be a legged moving means.
An electronic tag reader 13 (reading means) installed at the tip of the gripper 12 is used to read an electronic tag (article identification means) affixed to an article such as a gripping object. An electronic tag reader 15 installed on the bottom surface of the mobile carriage 14 is used to read an electronic tag laid on the floor surface. Reference numeral 16 denotes a microphone, which is used for recognizing an operator's voice. Reference numeral 17 denotes a database system that stores article information and the like in a database and provides an interface for data acquisition. A control computer 18 creates and executes a control program for the mobile robot 10.
Reference numeral 60 denotes an environmental sensor, such as a camera or a laser range finder for detecting the presence or absence of a person or the presence or absence of an obstacle. Reference numeral 61 denotes a sensor computer, which processes position information of the moving body detected by the environmental sensor 60. The mobile robot 10, the database system 17, the control computer 18, and the sensor computer 61 exchange data with each other via a network that uses the relay device 19.
The control computer 18 and the database system 17 may be the same computer, and may be the same computer including the sensor computer 61. That is, the database system 17, the control computer 18, and the sensor computer 61 do not have to be independent of each other. In short, the database in the database system 17, the function of the control computer 18, and the environmental sensor 60 are It is only necessary that data can be transmitted and received with each other in some way. Furthermore, some or all of these can be incorporated in the mobile robot 10.

  FIG. 2 is a block diagram showing a functional configuration of the mobile robot 10 that implements the method of the present invention. In the figure, 21 is an arm control module, which controls the left and right arms 11 of the mobile robot 10. Here, the module includes a controller, servo motor, software, etc. necessary for control. A gripper control module 22 controls the left and right grippers 12 of the mobile robot 10. Reference numeral 23 denotes a mobile carriage control module that controls the mobile carriage 14 of the mobile robot 10. A tag reader control module 24 processes read data of the electronic tag reader 13 installed in the gripper of the mobile robot 10 and the electronic tag reader 15 installed in the mobile carriage. Reference numeral 25 denotes a voice recognition module which performs a process for discriminating voices input from the microphone 16 of the mobile robot 10. The module management unit 20 manages information for exchanging with each of the modules, and provides information via the communication unit 26.

FIG. 3 is a block diagram showing the configuration of the control computer 18 for implementing the method of the present invention. In the figure, reference numeral 30 denotes a user interface, which includes an input receiving unit 31 and a display unit 32. The operator creates commands by executing commands and executes the created programs while referring to the programming screen displayed on the display unit 32. FIG. 7 shows an example of a program created using such a user interface. Each command is iconified and dragged onto the program. In FIG. 3, reference numeral 33 denotes an operation determination unit that distributes processing according to the operation status of the user interface 30. Reference numeral 34 denotes a program analysis unit that reads a program stored in the program storage unit 36, analyzes it, and displays it on the display unit 32. Reference numeral 35 denotes a program execution unit that executes a designated program. The execution of the program is realized while exchanging data with the mobile robot 10 and the database system 17 via the communication unit 37. For example, in FIG. 7, an “Tag” command is used to read an electronic tag attached to an article. In this case, the program execution unit 35 acquires information for communicating with the tag reader control module 24 from the module management unit 20 of the mobile robot 10, and acquires the tag information read by inquiring the tag reader control module 24. In the “GetTagInfo” command, the program execution unit 35 inquires of the database system 17 about article information.
The arm 11 of the mobile robot 10 is controlled by the “MOVJarm” command. In this case, the program execution unit 35 acquires information for interacting with the arm control module 21 from the module management unit 20 of the mobile robot 10 and transmits a drive command to the arm control module 21.
Note that the program created as shown in FIG. 7 is saved in a text format described in XML (extensible Markup Language).

  FIG. 4 is a block diagram showing the configuration of the database system 17 for implementing the method of the present invention. In the figure, 50 is a database, article tag information 51 for associating electronic tag ID (article identification information) with article information, floor tag information 52 for associating electronic tag ID and floor position information, conversation (voice) information and movement Conversation information 53 that correlates the movement of the robot, moving body information 54 including shape information and position information of the mobile robot, map information 55 that is electronic tag arrangement information on the floor, event ID (event identification information), and movement of the mobile robot The associated event information 59 is stored. 56 analyzes the data transmission / reception request sent from the control computer 18 via the communication unit 57, updates and extracts the data in the database 50, and based on the sensing information sent from the sensor computer 61. This is a database processing module for notifying data subscribers (mobile robots) of event when data update or event information is notified. Reference numeral 58 denotes a user interface for directly editing and referring to data in the database 50.

  FIG. 5 is a diagram showing a database setting example of the database system 17 for implementing the present invention. 5A shows an example in which article tag information 51 is stored, FIG. 5B shows conversation information 53, and FIG. 5C shows event information 59 stored therein. In (a), article tag information (name, size, color, gripping sequence) corresponding to an electronic tag ID (article identification information) is stored as a database (first database). In (b), conversation information (words, operation program sequence) corresponding to an ID (voice identification information) assigned to voice data is stored as a database (second database). In (c), event information (description, operation program sequence) corresponding to an event ID (event identification information) is stored as a database (third database).

  FIG. 6 is a diagram showing a program example when the program construction method according to the present invention is used. 6A is an example using the article tag information 51, and FIG. 6B is an example using the conversation information 53. FIG. FIG. 6C shows an example using event information 59, and FIG. 6D shows an example using a program sequence stored in an electronic tag.

A method for constructing a program for controlling the robot will be described with reference to FIGS. First, a program sequence for gripping an article will be described. In the article tag information 51 in FIG. 5A, the electronic tag ID of the electronic tag attached to each article is associated with the article information. As the article information, in addition to the name “name”, size “size”, color “color”, and the like, an XML file “grip sequence” describing a program sequence for gripping the article is associated. On the other hand, when the program is created as shown in FIG. 6A on the programming screen of the control computer 18 and the program is executed, the program execution unit 35 firstly has an electronic tag attached to the article based on the “ReadTag” command. And inquires of the database system 17 about article information based on the “GetTagInfo” command. For example, when the read electronic tag ID is “E005”, the information of the corresponding row of the article tag information 51 is acquired.
In the “ParseGrip” command, an XML file “dish1.xml” describing a program sequence for gripping obtained by executing the “GetTagInfo” command is inserted at the position of the command and executed. Thereby, the gripping operation corresponding to the article can be executed.
When the XML file is not associated as the data of the article tag information 51, the program description is as shown in FIG. 7, and it is necessary to describe the gripping sequence for each article.

Next, a program sequence for switching the operation of the mobile robot based on voice information will be described. Here, the voice recognition module (voice identification means) 25 of the mobile robot 10 analyzes the voice inputted from the microphone 16 and compares it with a recognizable voice data list managed by itself, and if it matches, the voice data is converted into the voice data. The assigned ID (voice identification information) is transmitted to the control computer 18.
In the conversation information 53 in FIG. 5B, an ID assigned to each voice data is associated with an XML file “action sequence” that describes an operation program sequence of the mobile robot 10 when the voice is recognized. On the other hand, when the program is generated as shown in FIG. 6B on the programming screen of the control computer 18 and the program is executed, the program execution unit 35 firstly specifies a specified event (in this case, a conversation) based on the “WaitEvent” command. Event). The “WaitEvent” command executes the first branch (left side of the figure) of the “Switch” statement when a voice ID is transmitted from the voice recognition module 25 of the mobile robot 10, and otherwise (for example, an interruption event) The second branch (right side of the figure) is executed. Next, the database system 17 is queried for conversation information based on the “GetWordInfo” command. For example, when the received voice ID is “1002”, information on the corresponding line of the conversation information 53 is acquired. The “action sequence” in the corresponding row stores a sequence program for moving to the entrance.
In the “ParseAction” command, an XML file “entrance.xml” describing a program sequence obtained by executing the “GetWordInfo” command is inserted at the position of the command and executed. The operation corresponding to the voice of the operator can be executed.
When the conversation information 53 does not exist in the database, it is necessary to describe an operation sequence for each voice as in the gripping operation of FIG.

Next, a method for constructing a program for switching the operation of a mobile robot according to event information will be described. First, the sensor computer 61 notifies the database system 17 of event information based on the information detected by the environmental sensor 60. Here, the event includes visitor detection and obstacle detection, and the event information is an event ID for identifying the type of the event.
The database processing module 16 of the database system 17 transmits the notified event information to the mobile robot control computer 18.
In the event information 59 of FIG. 5, an ID assigned to each event and an XML file “action sequence” describing the operation program sequence of the mobile robot 10 when the event occurs are associated. For example, the event ID “101” is a visitor detection event, and the program sequence may be “move to the entrance and speak”. The event ID “103” is an obstacle detection event, and “re-acquire map information of living space” can be considered as a program sequence.
When the program is executed as shown in FIG. 6C on the programming screen of the control computer 18 and the program is executed, the program execution unit 35 first waits for an event based on the “WaitEvent” command. This command can be operated in a pattern that specifies the type of event to be waited for (event ID) and a pattern that waits for an arbitrary event without being specified, and is executed in the latter pattern here.
When the event ID is transmitted from the database system 17, the “WaitEvent” command shifts to execution of the “GetEventInfo” command. In the “GetEventInfo” command, event information is inquired to the database system 17 based on the notified event ID. For example, when the received event ID is “101”, information on the corresponding line of the event information 59 is acquired.
Next, in the “ParseAction” command, an XML file “visitor.xml” describing a program sequence obtained by executing the “GetEventInfo” command is inserted at the position of the command and executed. In this way, an operation corresponding to the event type can be executed.
If the event information 59 is not registered in the database and the event and the operation sequence are not associated, for each event ID acquired by the “WaitEvent” command, a “Switch” statement branches and the corresponding operation sequence is displayed. Need to describe.

Thus, according to the present invention, a sequence program that realizes different gripping operations depending on the type of article is stored in the database 50 for each article type, and when the robot control program is executed, the electronic tag information of the article to be gripped is stored. Since the grip sequence of the article is acquired from the database 50 as a key and inserted into the robot control program, it is not necessary for the operator to describe the grip sequence for each article on the robot control program in advance, and the burden can be reduced. Program complexity is suppressed.
Similar effects can be expected for voice recognition information by storing an operation sequence program corresponding to the type of voice in the database 50 so that it can be dynamically acquired and inserted when the robot control program is executed. it can.
The same effect can be expected for event information by storing an operation sequence program corresponding to the type of event in the database 50 so that it can be dynamically acquired and inserted when the robot control program is executed. .
In addition, since the sequence program stored in the database 50 can be shared by a plurality of clients, it is not necessary to describe the same sequence program for each robot control program.

Next, a method for constructing a program based on information stored in an electronic tag attached to an article such as a gripping object will be described. An electronic tag ID and a program sequence (XML format) for gripping the article are stored in advance in the storage area of the electronic tag attached to each article.
When the program is created as shown in FIG. 6D on the programming screen of the control computer 18 and the program is executed, the program execution unit 35 first reads the electronic tag attached to the article based on the “ReadTag” command. At this time, a program sequence for gripping the article is acquired.
In the “ParseGrip” command, the program sequence for gripping obtained from the storage area of the electronic tag is inserted at the position of the command and executed. Thereby, the gripping operation corresponding to the article can be executed.
When the program sequence information is not stored in the electronic tag, the program description is as shown in FIG. 7, and it is necessary to describe the gripping sequence for each article.

  Thus, according to the present invention, a sequence program for realizing different gripping operations depending on the type of article is stored in the storage area of the electronic tag of the article, and the storage of the article to be gripped is executed when the robot control program is executed. By acquiring the grip sequence of the article from the area and inserting it into the robot control program, it is not necessary for the operator to describe the grip sequence for each article on the robot control program in advance. Is suppressed.

Schematic showing the configuration of a robot system that implements the present invention The block diagram which shows the functional structure of the mobile robot which implements the method of this invention 1 is a block diagram showing the configuration of a control computer that implements the method of the present invention. 1 is a block diagram showing the configuration of a database system that implements the method of the present invention. Database setting example of database system for implementing the present invention Program example when using the program construction method according to the present invention Example of a program that describes the sequence of gripping operations of a conventional robot

Explanation of symbols

10 Mobile robot 11 Arm 12 Gripper 13 Electronic tag reader (gripper installed)
14 Moving cart 15 Electronic tag reader (Moving cart installed)
16 microphone 17 database system 18 control computer 19 relay device 20 module management unit 21 arm control module 22 gripper control module 23 moving carriage control module 24 tag reader control module 25 voice recognition module 26 communication unit 30 user interface 31 input reception unit 32 display unit 33 Operation Determination Unit 34 Program Analysis Unit 35 Program Execution Unit 36 Program Storage Unit 37 Communication Unit 50 Database 51 Article Tag Information 52 Floor Tag Information 53 Conversation Information 54 Mobile Information 55 Map Information 56 Database Processing Module 57 Communication Unit 58 User Interface 59 Event information 60 Environmental sensor 61 Sensor computer

Claims (16)

A mobile robot comprising reading means for reading the article identification information of the article identification means provided on the article, a gripping means for gripping the article, and a moving means for moving the floor;
A robot system comprising a control means for controlling the mobile robot,
A robot system comprising: a first database for storing the article identification information and an article holding program sequence corresponding to the article. The robot system according to claim 1, wherein the article identification unit is an electronic tag. The robot system according to claim 1, wherein the reading unit is an electronic tag reader. The control means is provided in the first computer,
The first database is provided in a second computer;
The robot system according to claim 1, wherein the mobile robot and the first and second computers transmit and receive data via a network including a relay device. A mobile robot comprising a microphone, voice identification means for analyzing voice obtained from the microphone and obtaining voice identification information corresponding to the voice, and movement means for moving on the floor;
A robot system comprising a control means for controlling the mobile robot,
A robot system comprising a second database for storing voice identification information obtained from the voice identification means and an operation program sequence corresponding to the voice identification information. The control means is provided in the first computer,
The second database is provided in a second computer;
6. The robot system according to claim 5, wherein the mobile robot and the first and second computers transmit and receive data via a network having a relay device. A mobile robot comprising reading means for reading the article identification information of the article identification means provided on the article, a gripping means for gripping the article, and a moving means for moving the floor;
In a robot system comprising: control means for controlling the mobile robot; and a first database for storing the article identification information and an article gripping program sequence corresponding to the article,
When the robot control program is executed, a gripping sequence of the article is obtained from the first database using the article identification information of the article to be gripped as a key,
A method for constructing a robot control program, which is processed by a procedure of insertion into the control program. 8. The method for constructing a robot control program according to claim 7, wherein the article identification means is an electronic tag. 8. The method for constructing a robot control program according to claim 7, wherein the reading means is an electronic tag reader. The control means is provided in the first computer,
The first database is provided in a second computer;
8. The method for constructing a robot control program according to claim 7, wherein the mobile robot and the first and second computers transmit and receive data via a network having a relay device. A mobile robot comprising a microphone, voice identification means for analyzing voice obtained from the microphone and obtaining voice identification information corresponding to the voice, and movement means for moving on the floor;
Control means for controlling the mobile robot;
In a robot system comprising: a second database for storing voice identification information obtained from the voice identification means and an operation program sequence corresponding to the voice identification information;
When executing the robot control program, an operation program sequence corresponding to the voice is obtained from the second database using the voice identification information as a key,
A method for constructing a robot control program, which is processed by a procedure of insertion into the control program. The control means is provided in the first computer,
The second database is provided in a second computer;
12. The robot control program construction method according to claim 11, wherein the mobile robot and the first and second computers transmit and receive data via a network having a relay device. A mobile robot comprising a gripping means for gripping an article and a moving means for moving a floor, a control means for controlling the mobile robot, a mobile body including the mobile robot and a human, and an environment In a robot system equipped with sensing means for sensing
A robot system comprising a third database for storing event identification information issued by the sensing means and an operation program sequence corresponding to the event. 14. The robot system according to claim 13, wherein the sensing means comprises an environmental sensor and a third computer that processes sensing information. A mobile robot comprising a gripping means for gripping an article and a moving means for moving a floor, a control means for controlling the mobile robot, a mobile body including the mobile robot and a human, and an environment A robot system comprising: a sensing means for sensing an event identification information issued by the sensing means; and a third database for storing an operation program sequence corresponding to the event.
When executing the control program of the robot, the operation program sequence corresponding to the event is acquired from the third database using the event identification information as a key, and is processed by the procedure of inserting into the control program. To build a robot control program. A mobile robot comprising: reading means for reading article identification information of article identification means provided on an article; gripping means for gripping the article; and moving means for moving a floor surface; and the mobile robot A robot system in which the article identification information and a gripping program sequence for an article corresponding to the article are stored in advance in the article identification means,
Construction of a robot control program characterized in that when a predetermined command of the mobile robot is executed, a gripping sequence stored in the article identification means is acquired and inserted into the control program of the mobile robot. Method.

Images