JP2012110996A5

JP2012110996A5 -

Info

Publication number: JP2012110996A5
Application number: JP2010261900A
Authority: JP
Filing date: 2010-11-25
Publication date: 2013-10-24
Anticipated expiration: 2030-11-25

Description

第４の発明は、役割を持った複数の人間の移動行動データから構成されるデータベース（２０）および役割が設定されるロボット（１４）を含む、ロボットの移動制御システム（１００）のプロセッサ（１６）によって実行されるロボットの移動制御プログラムであって、ロボットの移動制御システムのプロセッサを、ロボットに設定された役割に基づいてデータベースから移動行動データを選択する選択手段（Ｓ４７）、選択手段によって選択された移動行動データからロボットの複数の移動行動を予測する予測手段（Ｓ４９）、予測手段によって予測された複数の移動行動のそれぞれの発生確率を算出する算出手段（Ｓ５７，Ｓ５９）、および算出手段によって算出された複数の発生確率に基づいて、ロボットに移動行動を指示する指示手段（Ｓ６１，Ｓ６３）として機能させる、ロボットの移動制御プログラムである。 A fourth invention comprises a robot (14) a database (20) and role consists movement behavior data of a plurality of human having a role is set, the processor of the robot movement control system (100) ( 16) a robot movement control program executed by 16) , wherein the processor of the robot movement control system selects the movement action data from the database based on the role set in the robot (S47), Prediction means (S49) for predicting a plurality of movement actions of the robot from the selected movement action data, calculation means (S57, S59) for calculating each occurrence probability of the plurality of movement actions predicted by the prediction means, and calculation An instruction to instruct the robot to move based on the multiple occurrence probabilities calculated by the means To function as a step (S61, S63), a movement control program of the robot.

第５の発明は、役割を持った複数の人間の移動行動データから構成されるデータベース（２０）および役割が設定されるロボット（１４）を含む、ロボットの移動制御システム（１００）におけるロボットの移動制御方法であって、ロボットの移動制御システムのプロセッサが、ロボットに設定された役割に基づいてデータベースから移動行動データを選択する選択ステップ（Ｓ４７）、選択ステップによって選択された移動行動データからロボットの複数の移動行動を予測する予測ステップ（Ｓ４９）、予測ステップによって予測された複数の移動行動のそれぞれの発生確率を算出する算出ステップ（Ｓ５７，Ｓ５９）、および算出ステップによって算出された複数の発生確率に基づいて、ロボットに移動行動を指示する指示ステップ（Ｓ６１，Ｓ６３）を実行する、ロボットの移動制御方法である。 A fifth invention comprises a robot (14) a database (20) and role consists movement behavior data of a plurality of human having a role is set, the movement of the robot in the movement control system of the robot (100) a control method, a processor of a mobile control system of the robot, the selection step (S47) of selecting a moving behavior data from the database based on the role that has been set in the robot, the movement behavior data of the robot selected by the selecting step multiple prediction step of predicting the movement behavior (S49), calculating a respective probability of occurrence of a plurality of mobile behavior predicted by the prediction step (S57, S59), and a plurality of probability calculated by the calculating step based on an instruction step of instructing movement action to a robot (S 1, S63) is executed, a movement control method of the robot.

Claims

A robot movement control system including a database composed of movement data of a plurality of humans having roles and a robot to which roles are set,
Selection means for selecting movement behavior data from the database based on a role set in the robot;
First prediction means for predicting a plurality of movement actions of the robot from the movement action data selected by the selection means;
Calculation means for calculating the occurrence probability of each of the plurality of movement actions predicted by the first prediction means, and instruction means for instructing the robot of the movement action based on the plurality of occurrence probabilities calculated by the calculation means A robot movement control system comprising:

It further comprises movement trajectory acquisition means for acquiring the movement trajectory of the robot,
The selection means selects movement behavior data from the database based on a movement locus acquired by the movement locus acquisition means, a role set for the robot, and a movement locus included in each movement behavior data. The robot movement control system according to 1.

The movement behavior predicted by the first prediction means includes the future position of the robot,
A second predicting means for predicting the future position of the human when a human is present around the robot;
It said calculation means, based on the future position of the robot, except for the future position of the human predicted by the second prediction means calculates the occurrence probabilities of the plurality of moving behavior, according to claim 1 or 2, wherein the robot Mobile control system.

Including a robot database and role consists movement behavior data of a plurality of human is set with a role, a robot movement control program to be executed by a processor of a mobile control system of the robot,
A processor of the robot movement control system ;
Selection means for selecting movement behavior data from the database based on a role set in the robot;
Prediction means for predicting a plurality of movement behaviors of the robot from the movement behavior data selected by the selection means;
Function as calculation means for calculating the occurrence probability of each of the plurality of movement actions predicted by the prediction means, and instruction means for instructing the robot on the movement action based on the plurality of occurrence probabilities calculated by the calculation means A robot movement control program.

A robot movement control method in a robot movement control system, including a database composed of a plurality of human movement behavior data having roles and a robot in which a role is set, wherein the processor of the robot movement control system includes: ,
A selection step of selecting movement behavior data from the database based on a role set in the robot;
Prediction step of predicting a plurality of mobile behavior of the robot from moving behavior data selected by said selecting step,
A calculation step of calculating an occurrence probability of each of the plurality of movement behaviors predicted by the prediction step ; and
A robot movement control method, wherein an instruction step for instructing the robot to move is executed based on a plurality of occurrence probabilities calculated in the calculation step .