JP2010137292A - Robot and drive control method of robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot and a drive control method of a robot which prevent an interference or a collision between the robots. <P>SOLUTION: In the drive control method of the robot driven with a drive program, the robot is driven with the drive program and detects the driving state of the robot. The detected driving state is recorded as driving state data, the drive program is updated on the basis of the driving state data and the robot is driven with the updated drive program. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a robot and a robot drive control method.

  A conventional robot includes learning means for inputting self-position information and obstacle information of an obstacle, updating an environment map based on the input information, and outputting steering information (for example, Patent Document 1). reference).

JP 2007-316799 A

  However, although the above robot can move while avoiding a stationary obstacle, for example, in the case where a plurality of robots are operating on both sides, it cannot handle drive control between them. Therefore, there is a problem that the robots collide with each other.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A robot drive control method according to this application example is a robot drive control method to be driven according to a drive program, wherein the robot is driven according to the drive program to detect the drive status of the robot. The detected driving situation is recorded as driving situation data, the driving program is updated based on the driving situation data, and the robot is driven in accordance with the updated driving program.

  According to this configuration, when driving according to the driving program, the driving status data is recorded, and the driving program is updated based on the driving status data. Since the robot is driven in accordance with the updated drive program, interference and collision in driving the robot can be suppressed even when the robot drives a plurality of times.

  Application Example 2 In the robot drive control method according to the application example, when the robot collides with another robot during driving, the drive program is updated so as to avoid the collision. To do.

  According to this configuration, when the robot is driven according to the drive program, for example, when a dangerous situation such as interference or collision with another robot occurs, the dangerous situation is avoided. The drive program is updated. Therefore, it is possible to prevent recurrence such as interference and collision.

  Application Example 3 In the robot drive control method according to the application example described above, the recording of the drive status data and the update of the drive program are repeated.

  According to this configuration, every time the robot is driven, driving accuracy is improved, and interference, collision, and the like can be prevented.

  Application Example 4 In the robot drive control method according to the application example, the updated drive program is shared between the robot and the other robot, and the updated drive program is shared based on the updated drive program. The drive program is updated.

  According to this configuration, since the updated driving program is shared between the robots, the driving status of each other can be predicted, so that a more accurate driving program can be generated.

  Application Example 5 In the robot drive control method according to the application example, the position of the robot is recorded as the drive status data.

  According to this configuration, it is possible to perform drive control related to the position of the robot and prevent interference, collision, and the like.

  Application Example 6 In the robot drive control method according to the application example, the position of the other robot is recorded as the drive status data.

  According to this configuration, drive control for other robots can be performed, and for example, interference and collision between robots can be prevented.

  Application Example 7 In the robot drive control method according to the application example, the drive program is executed so as to change the operation direction of at least one of the robot and the other robot based on the drive status data. It is characterized by updating.

  According to this configuration, it is possible to prevent interference, collision, and the like, and to drive at the same time, thereby improving driving efficiency.

  Application Example 8 In the robot drive control method according to the application example, the drive program is updated so as to stop one of the robot and the other robot based on the drive status data. It is characterized by that.

  According to this configuration, interference, collision, and the like can be reliably prevented.

  [Application Example 9] A robot according to this application example is a robot that is driven according to a drive program, detects a drive situation of the robot associated with the drive program, and records the detected drive situation as drive situation data. And a controller that updates the driving program based on the driving status data and drives the driving program according to the updated driving program.

  According to this configuration, when driving according to the driving program, the driving status data is recorded, and the driving program is updated based on the driving status data. Since the robot is driven in accordance with the updated drive program, interference and collision in driving the robot can be suppressed even when the robot drives a plurality of times.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. In addition, each member in each drawing is illustrated with a different reduction for each member in order to make the size recognizable on each drawing.

(Robot configuration)
First, the configuration of the robot will be described. FIG. 1 is a block diagram showing the configuration of the robot. As shown in FIG. 1, the robot 1 includes a control unit 2. The control unit 2 includes a CPU (arithmetic processing unit) 3 that performs various arithmetic processes as a processor and a recording unit 4 that records various types of information. Have.

  The recording device 4 is a concept including a semiconductor memory such as a RAM and a ROM, and an external storage device such as a hard disk and a CD-ROM. Functionally, a storage area for storing a drive program in which a control procedure of the operation in the robot 1 is described, and a recording area for recording position data acquired from a detection device 7 or the like described later are set. In addition, a recording area for recording the newly updated driving program is set. In addition, a storage area that functions as a work area for the CPU 3, a temporary file, and the like, and other various storage areas are set.

  The CPU 3 performs control for driving according to the purpose in accordance with a driving program stored in the recording device 4.

  The input device 6, the detection device 7, the communication device 8, and the drive device 9 are connected to the CPU 3 via the input / output interface 5.

  The input device 6 is a device for inputting driving conditions and the like for driving the robot 1. For example, it is not particularly limited as long as it is a device capable of inputting, such as a keyboard and a touch key.

  The detection device 7 detects the position of the robot 1 itself, detects obstacles such as other robots and figurines, or interferes or collides with obstacles such as other robots and figurines while the robot 1 is driven. It is a device that detects the driving status of the robot. The detection device 7 includes various sensors such as an acceleration sensor, a gyro sensor, an ultrasonic sensor, and a pressure sensor.

  The communication device 8 is a device that transmits and receives drive status data, a drive program, and the like between the robot 1 and other robots (including obstacles). The communication device 8 may be wired or wireless.

  The drive device 9 is a drive system device that is driven based on a drive signal from the control unit 2.

  When a plurality of robots 1 are driven at the same time, the above-described configuration is mounted on each robot 1. In addition, even if it is obstacles, such as an ornament, the structure similar to the above may be mounted.

(Robot drive control method)
Next, a drive control method for the robot 1 will be described. FIG. 2 is a flowchart showing a robot drive control method. FIG. 4 is an operation diagram showing a driving state by driving control of the robot 1. In the present embodiment, a method for driving and controlling the plurality of robots 1A and 1B will be described.

  In FIG. 2, in step S1, a drive program is executed to drive the robot 1. Specifically, a driving signal is transmitted to each driving device 9 of the robots 1A and 1B, and driving is started based on the driving signal. FIG. 4A shows a situation in which the robot 1A and the robot 1B are driven to face each other.

  In step S2, it is determined whether or not the robot 1 and the robot 1B (corresponding to another robot) collide. Specifically, as shown in FIG. 4B, when the robot 1A and the robot 1B collide, the presence or absence of the collision is detected based on the detection data detected by the detection device 7 and detected by the control unit 2. To be judged. If it is determined that there is a collision (YES), the process proceeds to step S3. If it is determined that there is no collision (NO), the process proceeds to step S1.

  In step S3, drive status data when the robot 1 collides is recorded. Specifically, the position data of the robot 1 at the time of the collision acquired by the detection device 7 is recorded.

  In step S4, the drive program is updated based on the position data acquired in step S3. In step S4, the drive program is updated so as to avoid a dangerous situation such as a collision. In addition, as a collision avoidance method, several avoidance methods can be considered like FIG.4 (c), (d), (e). Hereinafter, each avoidance method will be described.

  FIG. 4C illustrates an avoidance method in which the robot 1A and the robot 1B are driven to avoid collision with each other. In this case, the drive program is modified to change the drive direction before the collision point. By correcting the drive program in this way, the robots 1A and 1B can be driven at the same time, and the drive efficiency of the robots 1A and 1B can be increased.

  FIG. 4D shows an avoidance method in which only the robot 1A is driven by changing the drive direction. In this case, the drive program is modified to change the drive direction of the robot 1A before the collision point. The driving program is not corrected for the other robot 1B. By correcting the drive program in this way, the avoidance area of the robots 1A and 1B can be minimized.

  In FIG. 4E, only the robot 1A is driven by changing the driving direction, and the other robot 1B is temporarily stopped from the collision area until the robot 1A passes, and the robot 1A avoids driving after passing the collision area. Is the method. By correcting the drive program in this way, the collision of the robots 1A and 1B can be reliably prevented. Alternatively, only the robot 1A may be driven by changing the driving direction, and the other robot 1B may be driven at a low speed, and after the robot 1A passes through the collision area, the avoidance method may be adopted in which the driving speed is changed to the normal driving speed. it can. Even if it does in this way, the effect similar to the above can be acquired.

  Thereafter, a driving signal is transmitted to the driving device 9 based on the updated driving program, and the robot 1 is driven. Thereafter, steps S1 to S4 are repeated.

  FIG. 3 is a flowchart showing another drive control method.

  In FIG. 3, in step S11, a driving program is executed to drive the robot 1. Specifically, a driving signal is transmitted to each driving device 9 of the robots 1A and 1B, and driving is started based on the driving signal. FIG. 4A shows a situation where the robot 1A and the robot 1B are driven to face each other.

  In step S12, it is determined whether the robot 1 and the robot 1B (corresponding to other robots) collide. Specifically, as shown in FIG. 4B, when the robot 1A and the robot 1B collide, the presence or absence of the collision is detected based on the detection data detected by the detection device 7 and detected by the control unit 2. To be judged. If it is determined that there is a collision (YES), the process proceeds to step S13. If it is determined that there is no collision (NO), the process proceeds to step S11.

  In step S13, drive status data when the robot 1 collides is recorded. Specifically, the position data of the robot 1 at the time of the collision acquired by the detection device 7 is recorded.

  In step S14, the drive program is updated based on the position data acquired in step S13. In step S14, the drive program is updated so as to avoid a dangerous situation such as a collision. As the collision avoidance method, the drive program is updated by a plurality of avoidance methods as described in FIGS. 4C, 4D, and 4E.

  In step S15, the drive program updated in step S14 is transmitted / received. In the present embodiment, the driving program updated in the robot 1A is transmitted to the robot 1B, and the robot 1B receives the driving program. Similarly, the driving program updated in the robot 1B is transmitted to the robot 1A, and the robot 1A receives the driving program.

  In step S16, the drive program is updated based on the received drive program. Thus, by sharing the drive program of both the robots 1A and 1B and updating the drive program based on the drive program received from the other robot 1, a more reliable avoidance method can be taken. .

  Thereafter, a driving signal is transmitted to the driving device 9 based on the updated driving program, and the robot 1 is driven. Thereafter, step S11 to step S16 are repeated.

  Therefore, according to the above embodiment, the following effects can be obtained.

  According to this configuration, when the robot 1A and the robot 1B collide during driving according to the driving program, the driving situation data is recorded, and the driving program is updated based on the driving situation data. The drive status data includes the position data of the robot 1, and the drive program is updated so as to avoid collision based on the position data. Since the robot 1 is driven in accordance with the updated drive program, it is possible to prevent a recurrence such as interference or collision between the robots 1A and 1B.

  In addition, it is not limited to said embodiment, The following modifications are mentioned.

  (Modification 1) In the above embodiment, the drive program is updated when the robot 1A and the robot 1B collide, but the present invention is not limited to this. For example, even if the robot 1A and the robot 1B interfere with each other, the drive program may be updated. In this case, it is only necessary to detect the interference state by the detection device 7 and determine whether or not there is interference based on the detected interference state. In this way, dangerous driving of the robot can be avoided more reliably.

  (Modification 2) In the above embodiment, the mode of transmitting and receiving the updated drive program has been described, but the present invention is not limited to this. For example, a configuration may be adopted in which drive status data acquired when the robot 1 collides is transmitted and received. In this way, an inconvenient situation in driving the robot 1 can be quickly grasped.

  (Modification 3) In the above embodiment, the driving relationship between the plurality of robots 1 has been described. However, the present invention is not limited to this. For example, in the relationship between the robot 1 and a stationary object (obstacle), when the robot 1 interferes or collides with the stationary object, position data may be acquired and the drive program may be updated. In this way, it is possible to prevent recurrence such as interference or collision with an obstacle or the like.

The block diagram which shows the structure of a robot. The flowchart which shows the drive control method of a robot. The flowchart which shows the other drive control method of a robot. The operation | movement figure which shows the drive of a robot.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1,1A, 1B ... Robot, 2 ... Control part, 3 ... CPU, 4 ... Recording apparatus, 5 ... Input / output interface, 6 ... Input device, 7 ... Detection apparatus, 8 ... Communication apparatus, 9 ... Drive apparatus.

Claims (9)

A drive control method for a robot driven according to a drive program,
Driving the robot according to the driving program;
While detecting the driving status of the robot, the detected driving status is recorded as driving status data,
Updating the driving program based on the driving situation data;
A robot drive control method, wherein the robot is driven according to the updated drive program. The robot drive control method according to claim 1,
When the robot collides with another robot during driving, the driving program is updated so as to avoid the collision. In the robot drive control method according to claim 1 or 2,
A drive control method for a robot, wherein recording of the drive status data and updating of the drive program are repeated. In the robot drive control method according to claim 2 or 3,
The robot drive control method, wherein the updated drive program is shared between the robot and the other robot, and the drive program is updated based on the shared updated drive program. In the robot drive control method according to any one of claims 1 to 4,
A robot drive control method, wherein the robot position is recorded as the drive status data. In the robot drive control method according to any one of claims 2 to 5,
A drive control method for a robot, wherein the position of the other robot is recorded as the drive status data. The robot drive control method according to any one of claims 2 to 6,
A drive control method for a robot, wherein the drive program is updated so as to change an operation direction of at least one of the robot and the other robot based on the drive status data. The robot drive control method according to any one of claims 2 to 6,
A drive control method for a robot, wherein the drive program is updated so as to stop one of the robot and the other robot based on the drive status data. A robot driven according to a drive program,
Detecting the driving status of the robot accompanying the driving program,
The detected driving situation is recorded as driving situation data,
A robot comprising: a control unit that updates the drive program based on the drive status data and drives the program according to the updated drive program.

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