JP2020046759A - Robot, action planning device, and action planning program - Google Patents

Abstract

To successively update by selecting an action plan of a robot for efficiently and effectively avoiding interference with a moving obstacle according to a relative relation between the robot and the moving obstacle at present.SOLUTION: A robot 10 is provided with interference degree determination means 21 for determining a possibility of interfering with a moving obstacle in the future and action planning means 23 for planning action of the robot 10 so as to move the robot 10 to a target position according to surrounding conditions. The action planning means 23 includes an interference avoidance action determination section 31 for determining different interference avoidance action according to a relative relation at present with the moving obstacle as the action of the robot 10 for avoiding interference. The interference avoidance action determination section 31 selects one of a sympathizing action for avoiding interference by the robot 10 in accordance with a movement of the moving obstacle and a claiming action for claiming a travelling direction of the robot 10 to the moving obstacle and including a driving action for expecting the moving obstacle's action to avoid interference avoidance.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot that operates autonomously while avoiding future interference or collision with a moving obstacle according to a moving situation of a moving obstacle such as a human, and an action planning device and an action planning program for the robot About.

  2. Description of the Related Art As a robot that autonomously moves from a predetermined departure point to a destination, there is a robot that can move while sensing the current moving state of a moving obstacle such as a human and avoiding interference with the moving obstacle. In such a robot, when moving in an environment where there are many humans, such as crowds, it is not only one-way to avoid humans, but also considers human movements and other obstacles to reduce interference. It is required to work cooperatively with humans to avoid obstacles. That is, when moving in such an environment, in addition to passive movements against human movements, such as interference avoidance movements and stop movements, the robot intends to convey the robot's intention to the movements through the movements, thereby causing interference with the humans themselves. It is necessary to actively work on avoidance behavior. For example, when many people are crowded on the route when the robot moves to the destination through a gap that the robot can not slip through, while moving the robot toward the gap, In order to secure a passage for the robot, it is necessary to encourage a person around the gap to move.

  Therefore, in addition to the operation of avoiding a moving obstacle, there has been proposed a robot that enables a work to encourage a moving obstacle to avoid the obstacle (for example, see Patent Documents 1 and 2).

JP 2012-130986 A Patent No. 5409924

  Here, in an environment where there are many moving obstacles such as human beings, in order to move the robot more efficiently to the destination without interfering with the moving obstacle, the current robot It is necessary to sequentially update the robot's action plan including the above-mentioned action to an appropriate one according to the relative relationship such as the relative position and relative speed between the robot and the human. However, in the robots of Patent Literatures 1 and 2, no consideration is given to appropriately selecting and updating the action plan of the robot in accordance with the current relative relationship between the robot and the moving obstacle.

  The present invention has been devised in view of such a problem, and its object is to efficiently and effectively communicate with a moving obstacle according to the relative relationship between the robot and the moving obstacle at the present time. An object of the present invention is to provide a robot capable of selecting a robot's action plan for avoiding interference and sequentially updating the action plan, and an action planning device and an action planning program for the robot.

  In order to achieve the above object, the present invention mainly provides a predetermined operation unit, a detection device that detects position information of a moving obstacle existing around the moving object, and a moving obstacle based on a detection result of the detecting device. And a control device for controlling the operation of the operation unit so as to avoid future interference with the robot, wherein the control device determines whether there is a possibility that the robot will interfere with the moving obstacle in the future. The degree determining means, the action planning means for planning the action of the robot so as to move the robot to a target position according to the surrounding situation, and the action unit to execute the action planned by the action planning means. Operation command means for performing an operation command, the action planning means, when the interference degree determination means determines that there is a possibility that the robot will interfere with the moving obstacle in the future As an action of the robot for avoiding the interference, an interference avoiding action determining unit that determines a different interference avoiding action according to a current relative relationship with the moving obstacle is included. Assertion behavior that includes a synchronizing action in which the robot avoids interference in accordance with the movement of the obstacle, and a lobbying action in which the direction of movement of the robot is asserted to the moving obstacle and an action for avoiding interference with the moving obstacle is expected. And either one of the actions is selected.

  According to the present invention, at an appropriate timing in accordance with the time until the robot interferes with the moving obstacle and the relative positional relationship between them, the claim that the robot performs interference avoidance including the action to expect the interference avoiding action of the moving obstacle is performed. Either an action or a tuning action in which the robot avoids the interference without expecting the action of avoiding the interference of the moving obstacle can be selected. Therefore, when confronting a moving obstacle in the real world, it is necessary to perform an assertive action to act on the moving obstacle according to the situation such as the relative relationship with the moving obstacle, as if by human behavior. It is possible to plan an action based on an appropriate judgment as to whether or not to perform a synchronization action that should be avoided. Further, since the degree of consolidation, which is the degree at which the robot yields its path to the moving obstacle, is determined according to the angle of interference between the robot and the moving obstacle at the time of the interference, an efficient and effective moving obstacle can be obtained. Can plan an interference avoidance action.

FIG. 2 is a block diagram schematically illustrating only an overall configuration related to the operation control of the robot according to the first embodiment. It is a conceptual diagram for deriving the movement information of a robot and a human. FIG. 3 is a conceptual diagram illustrating a state in which a robot and a human are laid side by side from the state of FIG. 2. (A)-(C) is a conceptual diagram for demonstrating the determination of the human recognition degree with respect to a robot. It is a conceptual diagram for explaining the parameter at the time of calculating the degree of recognition. FIG. 3 is a block diagram illustrating a configuration of an interference planning unit according to the first embodiment. It is a conceptual diagram for explaining each area specified by the existing area specification function. It is a conceptual diagram for explaining the relative distance for determination. (A) is a conceptual diagram for explaining the interference angle, and (B) is a conceptual diagram for explaining the concept of the degree of consolidation according to the difference in the interference angle. It is a flowchart for demonstrating the processing procedure in an action content identification part. (A)-(D) is a conceptual diagram for explaining the processing content in a constant velocity trajectory generation function. FIG. 9 is a conceptual diagram for explaining trajectory generation when WP4 is added. (A), (B) is a conceptual diagram for explaining the processing content in the acceleration trajectory generation function. It is a flowchart for demonstrating the processing procedure in a trajectory candidate search part. It is a conceptual diagram for explaining each item of the cost formula which calculates | requires interference avoidance energy. (A)-(C) are conceptual diagrams illustrating trajectories of patterns excluded from trajectory candidates. (A)-(E) is a conceptual diagram for demonstrating the procedure of the trajectory generation in an iterative action search system. It is a conceptual diagram for explaining action by a robot when there is no passing space. It is a flowchart for demonstrating the action planning procedure of the robot which concerns on 1st Embodiment. FIG. 9 is a block diagram illustrating a configuration of an interference planning unit according to a second embodiment. It is a conceptual diagram for explaining the kind of orbit. It is a flowchart for demonstrating the action planning procedure of the robot which concerns on 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(1st Embodiment)

  FIG. 1 is a block diagram schematically illustrating only the entire configuration related to the operation control of the robot 10 according to the first embodiment. In this figure, the robot 10 functions as an autonomous robot that autonomously moves from a preset departure point (start position) to a destination (target position), and interference with an obstacle during movement is assumed. In this case, it is possible to move while performing various operations for avoiding the interference.

  The obstacles here include not only fixed obstacles (fixed obstacles) such as walls existing around the movement path of the robot 10 but also moving obstacles whose positions change over time. In each of the following embodiments, a moving obstacle is assumed to be a walking or running person and will be described below.

  In addition, as the various operations for avoiding interference, in addition to the movement for avoiding interference performed only by the robot 10 without expecting the operation for avoiding human interference, the movement for promoting human movement for avoiding interference may be used. For example, the robot 10 may work on a human being. The behavior of the robot 10 performing these various operations is appropriately selected according to various situations and the like, as described later.

  Here, examples of the urging action include an assertion action that makes an assertion to a human so as to expect a certain degree of interference avoidance action from a human, and the assertion action includes a traveling direction of the robot 10. In addition to the movement that suggests a course to make the human notice, there is an action of calling out to make a voice prompting the human to avoid, an action of intentionally contacting the human, and the like.

  As shown in FIG. 1, the robot 10 includes an operation unit 11 including mechanisms and devices configured to perform various operations, a detection device 12 for detecting environmental information around the robot 10, and a detection device 12. And a control device 13 for controlling the operation of the robot 10 based on the detection result.

  The operating unit 11 includes a moving unit 14 including a mechanism for autonomously moving within a predetermined range and its power source, an arm 15 including a mechanism for operating within a predetermined space and its power source, Etc. and a speaker 16 that emits a predetermined sound. The moving means 14, the arm 15, and the speaker 16 are all composed of known members, mechanisms, devices, and the like, and are not essential parts of the present invention.

  The detection device 12 includes a surrounding environment detection sensor 18 that detects position information of an obstacle such as a human or an object existing around the robot 10, a recognition state detection sensor 19 that detects a recognition state of the human H with respect to the robot 10, The detection results of the sensors 18 and 19 are sequentially transmitted to the control device 13.

  The surrounding environment detection sensor 18 is not particularly limited, but each surface of an obstacle around the robot 10 may be determined based on a reflection state of an object including a human due to irradiation of the laser beam around the robot 10. A known distance measuring sensor such as a laser range finder for detecting the position of the portion is used. That is, in the surrounding environment detection sensor 18, the two-dimensional position of each point in the point group forming the surface portion of the various obstacles in plan view is measured with the robot 10 as a reference.

  As the surrounding environment detection sensor 18, other sensors and devices such as a sensor using a GPS or the like may be applied as long as the position of an obstacle such as a human present around the robot 10 can be detected. It is possible.

  As the recognition state detection sensor 19, a known depth sensor such as KINECT (registered trademark) is used, and a human face portion is specified. The orientation is detected.

  As the recognition state detection sensor 19, other sensors or devices capable of performing the same detection may be used.

  The control device 13 issues various operation commands to the operation unit 11 so that the robot 10 can autonomously move to a destination designated in advance while avoiding interference with humans and other obstacles. Is performed.

  The control device 13 is provided integrally with or separately from the robot 10, and is configured by a computer including an arithmetic processing device such as a CPU and a storage device such as a memory and a hard disk. The computer is installed with a program for functioning as each of the following units.

  Next, a specific configuration of the control device 13 will be described.

  The control device 13 uses the detection result of the surrounding environment detection sensor 18 to determine the possibility that a human will interfere with the robot 10 in the future, and the detection result of the recognition state detection sensor 19. Using the recognition result estimating means 22 for estimating the degree of human recognition of the robot 10 at the current moment, the judgment result of the interference degree judging means 21 and the estimation result of the recognition degree estimating means 22, Planning means 23 for planning various actions including the above-described action so as to move the robot 10 to the destination according to the situation of the obstacle or obstacle, and estimating the degree of achievement of intention transmission to humans by the above-described action. The achievement degree estimating means 24, the plan adjusting means 25 for changing the action plan of the robot 10 based on the estimation result of the achievement degree, and the robot 10 operating based on the determined action plan. In, and a operation command unit 26 for operation command to the operation unit 11.

  Therefore, the control device 13 functions as an action planning device that plans various actions (actions) for avoiding future interference with the person in accordance with the detection result of the position information of the person existing around. Will be.

(Interference degree determination means)
As shown in FIG. 2, the interference degree determination means 21 determines the current state of the human H based on the detection result of the surrounding environment detection sensor 18 in a situation where the robot 10 and the human H approach each other while moving. Is obtained, and it is determined whether there is a possibility that the robot 10 will interfere with the human H in the future.

First, as a premise, the movement information including the position information and the speed information (speed and direction) of the robot 10 is specified as trajectory information in which a route, which is position information to a destination, corresponds to time. Here, the current position of the robot 10 is not particularly limited, but is a position of a central portion of the robot 10 in plan view (hereinafter, referred to as “the center of the trunk of the robot 10”), and is expressed in an absolute coordinate system in plan view. 2-dimensional coordinates _(x R, _{y R)} is identified as. The speed information of the robot 10 in the absolute coordinate system, the two-dimensional coordinate direction velocity component _{(v Rx,} v _Ry) is specified as the velocity vector _{V R} consisting of. In addition, the absolute coordinate system used in the description herein has a predetermined position in the path P of the robot 10 as an origin, an up-down direction in FIG. 2 along the path P as an x-axis, and a left-right direction as a y-axis. I do.

  On the other hand, the movement information of the person H is obtained based on the position information of the person H detected by the surrounding environment detection sensor 18.

That is, in the surrounding environment detection sensor 18, the position of each point of the point group forming the surface portion of each obstacle such as the human H or the object existing around the robot 10 is determined in the relative coordinate system with respect to the robot 10. Is detected. Then, in the interference degree determination means 21, continuity is determined from the point group representing the surface of the obstacle by the magnitude of the pitch of each point, and the existence and type of each obstacle are determined according to the continuity. Is specified. Here, an obstacle having a width corresponding to the shoulder width of the human H (hereinafter, referred to as “the trunk width of the human H”) is specified as the human H, and a point group on the surface of the human H is approximated by an ellipse. As a result, the position of the central portion in plan view (hereinafter, referred to as “the center of the torso of the person H”) is set as the current position of the person H. The current position of the person H in this manner detected relative coordinate system, the coordinates (x _{R, y R)} of the absolute coordinate system at the current position of the robot 10 from the coordinates (x _H in the absolute coordinate system, It is converted into y _H). Further, by the measurement of the predetermined time in the ambient environment detection sensor 18, since the surface portion of the same shape constituting the human H is displaced, over time displacement of the coordinates of the human H (x _{H, y H)} the velocity component _{(v Hx,} v _Hy) velocity vector _{V H} of human H in the absolute coordinate system consisting are calculated.

Then, the current position of the robot 10 and the human _{H (x R, y R)} , (x H, y H) from every predetermined time, x-axis of the trunk center of the robot 10 and the human H at the present time A vertical separation distance l _{HR in the} direction is calculated.

Then, from each of the speed information of the robot 10 and the person H, the time S _t to the robot 10 and the person H is future side-by-side is calculated by the following equation.

Next, from the time _St , as shown in FIG. 3, when the robot 10 and the human H lie side by side, the lateral (y-axis direction) separation distance D _{HR of the} center of each trunk is expressed by the following equation. Is calculated by

Finally, based on the separation distance _DHR , when the robot 10 or the human H does not perform the avoidance operation at the present time, a degree of interference indicating whether there is a possibility that they will interfere in the future is determined.

ここで、前記定数Ｋは、人間Ｈがある物体に接近したときに回避行動を取れるパーソナルスペースの横幅（マージン）に相当する倍数（例えば、１．３倍）とされる。そして、前記離間距離Ｄ_ＨＲが、閾値Ｄ_Ｌ以上の場合は、干渉度が「無」とされ、逆に、当該離間距離Ｄ_ＨＲが、閾値Ｄ_Ｌよりも小さい場合は、干渉度が「有」とされる。つまり、本実施形態においては、前記各パーソナルスペースＰＳ_Ｒ，ＰＳ_Ｈが重なり合う状態が、「干渉」と称される状態となる。 Specifically, as shown in FIG. 3, a constant K (K> K) is set for a lateral width (hereinafter, referred to as “the trunk width of the robot 10”) S _{LR of the} robot 10 and a trunk width S _{LH of the} human H, respectively. 1) personal space of circular with a double-diameter PS _R, PS H and _(dashed line part in the figure) set virtually. Then, the respective personal space _PS R, the radius _R LR of PS _H, interference degree as the threshold for determining the interference distance _{D L} obtained by adding the _{R LH} is determined.
That is, _DL is represented by the following equation.

Here, the constant K is a multiple (for example, 1.3 times) corresponding to the width (margin) of the personal space in which the human H can take an avoidance action when approaching an object. Then, the distance D _HR is the case of more than the threshold value D _L, the interference degree is judged as "no", on the contrary, if the distance D _HR is smaller than the threshold value D _L, the interference level is "Yes It is said. That is, in the present embodiment, each of the personal space PS _R, is a state in which PS _H overlap, a state called "interference".

In addition, the interference degree determination means 21 uses the shortest straight lines at the time when they approach in the future based on the current movement information of the robot 10 and the human H instead of the horizontal separation distance _DHR. Using the relative distance that is the distance, a threshold value may be set in the same manner as described above to determine the presence or absence of the degree of interference.

(Recognition degree estimation means)
The recognition degree estimating means 22 determines the visual recognition degree of the human H to the robot 10 based on the orientation of the human H's face detected by the recognition state detection sensor 19 when the human H approaches the robot 10. , "Small", and "absent".

Specifically, first, human current position of the robot 10 _{(x R, y} R) and the current position of the person H detected by the surrounding environment detection sensor 18 _(x H, _{y H)} from the, the current robot 10 A relative distance that is a straight line distance between each trunk center of H is calculated by calculation. Note that the current position (x _H , y _H ) of the person H can be detected by using the distance measurement function of the recognition state detection sensor 19.

When the relative distance _DSHR becomes smaller than a predetermined distance (for example, 5 m), the recognition degree is estimated as follows.

That is, as shown in FIG. 4A, the robot 10 moves the center line C extending along the first angle range θ _R1 (for example, along the face direction of the human H) with respect to the face direction of the human H. If it exists within ± 15 degrees between the two), it is determined that the human H is capturing the robot 10 in the central visual field, and the recognition level is determined to be “large”. Further, as shown in FIG. 2B, the robot 10 moves the human H's face in a direction exceeding the first angle range θ _R1 and the second angle range θ _R2 (for example, the center line C). If it exists within ± 100 degrees between the two), it is determined that the human H is capturing the robot 10 in the peripheral visual field, and the degree of recognition is “small”. Further, as shown in FIG. 3C, when the robot 10 exists beyond the second angle range θ _R2 with respect to the direction of the human H's face, the robot 10 It is determined that it exists outside, and the recognition level is “none”.

  Specifically, the recognition degree is determined by the following calculation.

As a premise, the head angle θ _HEAD corresponding to the direction of the face of the person H is detected by the recognition state detection sensor 19. As shown in FIG. 5, the head angle θ _HEAD is an inclination angle formed by a center line C extending in the direction of the face of the person H with respect to the y-axis direction. Further, the current position of the robot 10 _{(x R, y} R) and the current position of the person obtained by the surrounding environment detection sensor 18 _(x H, _{y H)} from a, relative angle theta _HR human H and robot 10 It is obtained by the following equation (4). Then, when the following expression (5) is satisfied, that is, when the magnitude of the absolute value of the difference between the relative angle θ _HR and the head angle θ _HEAD is equal to or smaller than _の of the first angle range θ _R1 , Recognition is "large". Further, when the following expression (6) is satisfied, that is, when the magnitude of the absolute value exceeds 1/2 of the first angle range θ _{R1 and} is equal to or less than 1/2 of the second angle range θ _R2. Is recognized as "small". Further, when the following equation (7) is satisfied, i.e., the magnitude of the absolute value is, if more than half of the second angular range theta _R2 is awareness is "none".

  In the present embodiment, the recognition level is determined as an instantaneous recognition level indicating the possibility that the human H is visually recognizing the robot 10 at the moment of the determination, but the present invention is not limited to this. Instead, it is also possible to judge whether the degree of recognition is "large", "small", or "absent" based on the state of recognition over time.

  This temporal recognition level is determined, for example, as follows. That is, when the state of the instantaneous recognition level “large” is present a predetermined number of times within a predetermined time up to the present, the recognition level is determined to be “high”. In addition, when the state of the instantaneous recognition degree “large” is present more than a predetermined number of times within a predetermined time in the past, not in the present, the recognition degree is set to “small”. Further, in other cases, the recognition level is set to “none”. The above various degrees of recognition are appropriately selected according to the use and properties of the robot 10.

(Action planning means)
As shown in FIG. 1, when the interference degree determination means 21 determines that the degree of interference is "absent", the action planning means 23 performs the non-interference planning to plan the route of the robot 10 from the current position to the destination. A planning unit 28 and an interference planning unit 29 that plans the path and operation of the robot 10 from the current position to the destination while avoiding interference with humans when it is determined that the degree of interference is “present”. Become.

  The non-interference planning unit 28 avoids collision with a fixed obstacle such as a wall detected or detected in advance by the detection device 12 because no interference with a human being, which is a moving obstacle, is assumed at this time. The shortest path is planned. Then, a trajectory corresponding to the position information and time is generated for the route, and the trajectory is specified as an execution trajectory for moving the robot 10.

  As shown in FIGS. 1 and 6, the interference time planning unit 29 includes a passing space determining unit that determines whether there is a passing space having a passing width that is a width required when the robot 10 passes by a human. 31 and an interference avoiding action determining unit 32 that determines an interference avoiding action, which is an action of the robot 10 for avoiding interference, according to the presence or absence of a passing space.

  The passing space determination unit 31 determines whether there is a passing space as follows.

At the time of this determination, as in the case of the above-described calculation based on the detection result of the surrounding environment detection sensor 18, in the time when the human H will be next to the robot 10 in the future, the horizontal direction (y-axis direction) shown in FIG. width _{l s} of) is calculated. In other words, the width l _s is the width between a fixed obstacle such as the wall W of the passage P located in the lateral direction of the person H and the person H. Furthermore, the width l _s is a robot passage width required for passage of the robot 10, in this case, the robot passes width l _s is the diameter (2R _LR as the width of the personal space PS _R of the robot 10 ) Is determined. Then, when the robot passes through width l _s is wider than the width of the personal space PS _R is a "pass through space Yes", otherwise, are "through space Mu".

  In the passing space determination unit 31, the robot 10 passes in the future next to the human H based on the position information of the specified fixed obstacle and the like and the current movement information of the robot 10 and the human H. Other calculation methods can be adopted as long as it is possible to estimate whether or not this is physically possible.

  As shown in FIG. 6, the interference avoiding action determining unit 32 includes a large space action determining unit 34 that specifies an interference avoiding action when there is a passing space, and an interference avoiding action when there is no passing space. And an action determining unit for a narrow space to be specified.

1. The configuration and processing contents of the behavior determining unit for the large space will be described below.

  As shown in FIG. 6, the action determining unit 34 for the vast space includes an action content specifying unit 37 that specifies an action content for avoiding interference with a human based on the relative relationship between the robot 10 and the human at the current time; An execution trajectory specifying unit 38 for specifying an execution trajectory related to the movement route of the robot 10 from the current position to the destination is provided so as to correspond to the action content of the robot 10 specified by the specifying unit 37.

  1-A Description of Action Content Specification Unit 37

  The action content specifying unit 37 includes, at the current time, an existing area specifying function 40 that specifies where the robot 10 is located in a plurality of areas set according to the relative position and the relative speed with the human H; Angle calculation function 41 for calculating the interference angle of the robot 10 and the human at the time of interference between the robot 10 and the human, and based on each of the interference angles calculated by the recognition degree and the interference angle calculation function 41 obtained earlier, And determining a degree of consolidation, which is a degree of giving the robot 10 a course, for each of the areas, thereby specifying a degree of congruence of the robot 10 for avoiding interference.

  First, the existing area specifying function 40 will be described.

In the existing area specifying function 40, first, the relative distance _LRH for determination between the robot 10 and the person at the current time is obtained by calculation as described later, and is shown in FIG. 7 according to the relative distance _LRH for determination. Which of the three areas is present is specified. These regions are divided into first, second, and third regions A1, A2, and A3 in the order in which the time required for the interference is short, that is, in the order from the person H to the distance. Here, the first area A1 is a tuning action area in which a tuning action of performing interference avoidance only by the robot 10 in accordance with the motion of the human H without performing the interference avoiding action of the human H is performed. In addition, the second area A2 suggests the traveling direction of the robot 10 to the human H, thereby causing the robot 10 to perform an assertive action including a lobbying action for avoiding interference in expectation of the interference avoiding action of the human H. It is regarded as a claim action area. Further, the third area A3 has a distance between the robot 10 and the human H at the present time. This is an area where the intention is difficult to convey. For this reason, the third area A3 is an area outside the interference avoiding action in which the user is not yet conscious of the interference avoiding action including the action of acting on the robot 10.

The relative distance _LRH for determination is obtained by converting an estimated interference time from the current time required until the robot 10 and the human H interfere with each other into a distance in a relative direction between the robot 10 and the human H, and is obtained as follows. Can be

First, the interference estimation time T _if is calculated by calculation based on the velocity vectors V _R and V _H of the robot 10 and the human H specified by the detection result of the detection device 12. Then, based on the respective velocities v _Rr , v _Hr of the robot 10 and the human H in the relative direction, which is the extension direction of the straight line L (see FIG. 8) connecting the centers of the trunks of the robot 10 and the human H, The distance obtained by multiplying the speed by the estimated interference time T _if is obtained as the determination relative distance L _RH . That is, the determination relative distance _LR is calculated by the following equations (8) and (9). Here, phi _R, as shown in FIG. 8 represents the angle formed between the straight line L connecting the direction and the robot 10 and the human H of the velocity vector V _R of the robot 10, phi _H is the human H It represents the angle formed between the direction of the velocity vector V _H and the straight line L.

The tuning action area A1 is an area where the determination relative distance L _RH is within a predetermined boundary distance of the human H. As shown in FIG. 7, this boundary distance is, as described later, a critical avoidance distance L that is obtained by adding a preset work preparation time T _la to a shortest avoidance distance L _PSE longer than the personal space critical distance L _{PS. IL} . This critical avoidance distance _LIL is obtained by the following equations (10) to (12).

Determining the personal space critical distance L _PS means a psychological distance of the human H that do not want to approach the robot 10 is more, the radius R _LR for each personal space of the robot 10 and the _human, in response to R _LH Is set to 1 m, for example.

Further, the shortest avoidance distance L _PSE is a collision avoidance preparation required for the robot 10 to take any action in order to avoid an unexpected collision when the robot 10 has entered the personal space of the human H. considering time T _pp, the distance obtained by multiplying the relative velocity to the collision avoidance preparation time T _pp, means the distance obtained by adding the personal space critical distance L _PS. Here, the collision avoidance preparation time _Tpp takes a predetermined constant value.

Further, the critical avoidance distance _LIL is necessary for causing the robot 10 to perform any action to expect the interference avoidance action on the human H before entering the area from the human H to the shortest avoidance distance _LPSE. Means the minimum distance from the person H. That is, the critical avoidable distance L _IL, the urging encourage preparation time T _la is a minimum time required action is set in advance as a fixed value, the distance obtained by multiplying the relative velocity to the appeal preparation time T _la , The shortest avoidance distance _LPSE .

The claimed action area A2, determining the relative distance L _RH is critical avoidable distance L longer than _IL from a human H is the distance to the boundary of the tuning action area A1, and, urging action of the robot 10 is effective top The region is a range shorter than the farthest working distance which is a distance from the distant person H. The farthest working distance is set in advance as a constant value (for example, 7 m).

  The non-interference avoiding action area A3 is an area that is farther from the person H than the asserting action area A2.

  Next, the interference angle calculation function 41 will be described.

The interference angle calculation function 41 calculates an interference angle for each of the robot 10 and the human at an interference time when the robot 10 and the personal space of the human come into contact in the future. As shown in FIG. 9A, the interference angle is determined from the traveling direction of each of the robot 10 and the human H (the direction of each arrow in FIG. 9), and from the trunk centers C _R and C _H to each personal space. PS _R, is an angle formed between a direction of the interference point P serving as contact point PS _H. Hereinafter, an interference angle of the robot 10 and the angle theta _R, the interference angle of human H and the angle theta _H.

These interference angles θ _R and θ _H are values specified based on the detection result of the detection device 12, that is, the respective velocity vectors V _R and V _{H of} the robot 10 and the human H, and the interference point P. And the position vectors S _R , S _H in the directions between the torso centers C _R , C _H of the robot 10 and the human H are calculated by the following equation. In the following equation, the coordinates of the interference point P are (p, q), and the coordinates of each trunk center C _R , C _{H at} the interference time are (x _R , y _R ), (x _H , y _H ). And

  Next, the assignment degree determination function 42 will be described.

In the consolidation degree determining function 42, the difference between the existing area of the robot 10 specified by the existing area specifying function 40 and each of the interference angles θ _R and θ _H calculated by the interference angle calculating function 41 is as follows. , based on the recognition of the estimated by recognizing estimating means 22 human, the Yuzurugodo P _R is determined, action content of the robot 10 corresponding to the Yuzurugodo P _R is specified.

As illustrated on the left side in FIG. 9B, when the difference between the respective interference angles θ _R and θ _H is large, the robot 10 should avoid the left side and the human H should avoid the right side. Each avoiding direction is easy to understand, for example, as determined. On the other hand, when the difference between the interference angles θ _R and θ _H is small as shown on the right side in FIG. Therefore, setting the respective interference angle theta _R, the threshold [Delta] [theta] _t of the difference theta _H, when less than the threshold value [Delta] [theta] _t, Yuzurugodo P _R of the robot 10 is set higher than that in the above the threshold [Delta] [theta] _t.

In the present embodiment, in accordance with the following various circumstances, action corresponding to Yuzurugodo P _R and the Yuzurugodo P _R of the robot 10 is determined, for numerical values as a prerequisite, the present invention is not particularly limited without the interference angle theta _R, as the difference in theta _H is small, the extent of setting high Yuzurugodo P _R of the robot 10, and various modifications are possible.

Further, at this time, if the robot 10 is present in the claims action area A2, also considering recognition estimated by recognizing estimating means 22, Yuzurugodo P _R of the robot 10 is determined. Here, Yuzurugodo P _R of the robot 10, as awareness is large, since it seems to interference avoidance behavior of the human H and more can be expected, is set lower.

In this case, when the degree of recognition is “large” and the difference between the interference angles θ _R and θ _H is _{equal to} or larger than the threshold Δθ _t (hereinafter, referred to as “there is a difference in the interference angle”), the robot 10 is equivalent to the human H. as handled, Yuzurugodo _{P R} of the robot 10 is 50%. On the other hand, when the degree of recognition is “large” and the difference between the interference angles θ _R and θ _H is smaller than the threshold value Δθ _t (hereinafter, referred to as “there is no difference in the interference angle”), the robot 10 can move a little more. to, Yuzurugodo _{P R} of the robot 10 is 75%. Therefore, in these cases, that is, when the robot 10 is presently in the asserted action area A2 and the degree of recognition is “large” at this point, the human H is physically and psychologically indicated by suggesting the course of the robot 10. The insistence behavior of the robot 10, which is an urging behavior that promotes a dynamic change, is planned.

Moreover, awareness is "small" or "no", when the difference is present in the interference angle, Yuzurugodo P _R of the robot 10 is set to 100%. On the other hand, in recognition of the "small" or "no", when there is no difference in the interference angle, further in consideration of safety, Yuzurugodo P _R of the robot 10 is set to 125%. Therefore, in these cases, that is, in a case where the robot 10 is present in the asserted action area A2 and the degree of recognition is “small” or “absent”, the human H does not expect the avoidance action so much, A tuning action is planned in which only the robot 10 avoids interference in accordance with the movement of H. However, in this case, as the first approaching action, an asserting action of calling out to approach the psychology of the human H in order to increase the intention transmission rate of the robot 10 is also planned.

On the other hand, when the robot 10 is present in the tuning action area A1 at the present time, only the tuning action is planned according to the difference in the interference angle regardless of the degree of recognition. That is, in this case, only the tuning action in which the robot 10 is present in the asserted action area A2 and has the same recognition degree as when the recognition degree is “small” or “none” is planned. That is, when the difference is present in the interference angle, while Yuzurugodo P _R of the robot 10 is 100%, when there is no difference in the interference angle, Yuzurugodo P _R of the robot 10 is set to 125%.

In the case where the robot 10 is present on the interference avoidance behavior outside region A3, without yet determined Yuzurugodo P _R, action of the robot 10 for interference avoidance is not yet planned.

  The processing procedure in the action content specifying unit 37 having the above configuration will be described below with reference to the flowchart of FIG.

  First, the existing area specifying function 40 specifies at which point in time the robot 10 is present in the synchronous action area A1, the assertion action area A2, and the area A3 outside the interference avoidance action (step S101).

When the robot 10 is present in the tuning action area A1, the interference angle calculation function 41 calculates the respective interference angles θ _R and θ _H between the robot 10 and the human H (step S102). By Yuzurugodo determination function 42, a difference of the interference angle theta _R, theta _H is determined (step S103), when the difference is present in the interference angle, tuning action Yuzurugodo _{P R} of the robot 10 is 100% while it is planned (step S104), and when there is no difference in the interference angle, the tuning action Yuzurugodo _{P R} of the robot 10 is 125% is planned (step S105).

Even when the robot 10 is in the asserted action area A2, first, the interference angles θ _R and θ _H are calculated by the interference angle calculation function 41 (step S102). Then, it is confirmed whether the recognition degree of the human H at the present time estimated by the recognition degree estimating means 22 is “large” or “small” or “absence” other than that (step S106).

  Next, the assignment degree determination function 42 determines whether there is a difference in the interference angle between the case where the recognition degree is “large” and the other cases where the recognition degree is “small” and “absent” (steps S107 and S108). ).

Here, in recognition of the "large", when the difference is present in the interference angle, claims action is planned to Yuzurugodo P _R of the robot 10 is 50% (step S109). On the other hand, in recognition of the "large", when there is no difference in the interference angle, claims action is planned to Yuzurugodo P _R of the robot 10 is 75% (step S110).

Moreover, awareness of "small", in the case of "no", when the difference is present in the interference angle, the tuning action Yuzurugodo P _R of the robot 10 is 100% is planned (step S111). On the other hand, recognition is "small", in the case of "no", when there is no difference in the interference angle, the tuning action Yuzurugodo P _R of the robot 10 is 125% is planned (step S112). Furthermore, it is confirmed whether or not the voice action has already been performed (step S113), and only when the voice action has not been performed yet, the voice action to perform the voice action is planned (step S114). In other words, when the robot 10 is present in the assertion action area A2 at this time and the degree of recognition is “small” or “none”, a voice call, which is one of the assertion actions, is planned once together with the synchronizing action. .

  In the assertion action area A2, the situation of human interference avoidance action can be sensed, and the assertion action and the synchronization action can be selected according to the result. For example, if it is determined that the human has claimed the interference avoidance behavior, the robot 10 performs the tuning action, and if it is determined that the human does not change the behavior, the robot 10 is set to perform the claim action. Is also good.

  At this time, when the robot 10 exists in the area A3 outside the interference avoiding action, the action of the robot 10 to avoid the interference with the human is not yet planned.

  1-B Description of execution trajectory identification unit 38

In the execution track identification unit 38, in response to Yuzurugodo P _R identified by the action content identification unit 37, so as to derive a running track of the moving path of the robot 10 from the current position to the destination. The execution trajectory identification unit 38 includes a trajectory candidate search unit 44 that searches for a plurality of patterns of trajectory candidates that can move the robot 10 toward the destination without interfering with humans. And an optimum trajectory extraction unit 45 for extracting an optimum trajectory from the trajectory and using the extracted trajectory as an execution trajectory for actually moving the robot 10.

  First, the trajectory candidate search unit 44 will be described below.

  The trajectory candidate search unit 44 includes an interference time calculation function 47 for calculating an interference time, which is a time at which the mutually moving robot 10 and a human will interfere in the future, and moves the robot 10 at a predetermined steady speed (constant speed). And a constant velocity trajectory generating function 48 for generating a constant velocity trajectory in the case where the robot 10 is accelerated or decelerated with respect to the steady speed in a partial section. A generation function 49 and a trajectory candidate determination function 50 for excluding some trajectories from the constant velocity trajectory and the acceleration / deceleration trajectory based on predetermined requirements and finally determining a trajectory candidate are provided. The constant speed trajectory generation function 48 and the acceleration / deceleration trajectory generation function 49 constitute a trajectory generation function for generating various trajectories related to a route for avoiding interference at the interference time.

In the interference time calculating function 47 based on the detection result of the detector 12, the personal space _PS R of future robot 10 and the human H, when interference PS _H is in contact (FIG. 11 (A) refer to a broken line portion) The interference time, which is the expected time, is calculated. In other words, in this case, each of the velocity vector _V R, and _{V H} of the robot 10 and the person H, the position vector _P R of the robot 10 and the human H at the current time t0 _(t0), from the _{P H (t0),} the operation the relative distance of the robot 10 and the person H is, each of the personal space _PS R, the radius _R LR _{+ R LH} and become time is the sum of the PS _H is determined, the time is the interference time _{t i.}

  Next, the constant velocity trajectory generation function 48 will be described.

  In the constant velocity trajectory generation function 48, a path for avoiding interference is specified by moving the robot 10 at a steady speed so that the personal space of the robot 10 does not overlap with the personal space of the human as described below. A fast orbit is required. That is, first, three passing points (Way Points) of the trajectory for avoiding interference with humans are specified. Then, a constant speed trajectory is specified by connecting the current position, each passing point, and the destination of the robot 10 with a straight line in the order of travel time. In the following description, the respective passing points are referred to as “WP1,” “WP2,” and “WP3” in the order of the movement time of the robot 10.

  As shown in FIG. 6, the constant velocity trajectory generation function 48 includes a provisional trajectory generation function 52 for obtaining a provisional trajectory that is a provisional constant velocity trajectory, and a function for adjusting the provisional trajectory to avoid a desired interference. And a trajectory adjusting function 53 for specifying the final constant velocity trajectory.

  In the temporary trajectory generation function 52, a temporary trajectory is derived in the following procedure.

That is, first, the position of WP2 (see FIG. 11B), which is the closest approach point, which is the side-by-side position of the robot 10 closest to the human H in the orbit, is temporarily determined. Here, the position vector _{PR (wp2)} of the temporarily determined WP2 is obtained as follows. That is, from the position of the human H at the interference time t _i obtained by the interference time calculation function 47 (broken line portion in FIG. 11B), the current position SP of the robot 10 (coordinates: (x _Rs , y _Rs )) The position is set at a position shifted by a predetermined distance away from the person H in the normal direction N with respect to the target traveling direction T linearly _{pointing to the} ground GP (coordinates: ( _xRg , _yRg )). 15) to (17). In the following equation, ΔP _SG is a relative position vector between the current position SP and the destination GP.
The predetermined distance where each personal space _PS R of the robot 10 and the human H, the _R LR _{+ R LH} is the sum of the radii of the PS _H as a reference distance _{L b,} to the reference distance _{L b,} above a value obtained by multiplying the obtained Yuzurugodo _P R (%).
Further, in the _{formula, P H (ti)} represents the position vector of the human H in the interference time _{t i.}

Thereafter, the positions of WP1 and WP3 are provisionally determined from the provisionally determined position of WP2. Here, WP1, WP2, and WP3 are arranged so as to be aligned on the same straight line parallel to the target traveling direction T, as shown in FIG. In addition, the linear distance between WP1 and WP2 and the linear distance between WP2 and WP3 are set to take constant values, respectively. For example, the linear distance between the WP1 and WP2 are about 1 m, the linear distance WP2 and WP3 are the radius _{R LR} same length as the personal space PS _R of the robot 10. As described above, once WP2 is provisionally determined, each position of WP1 and WP3 before and after WP2 is specified one by one. Then, the current position SP of the robot 10, WP1, WP2, WP3, and connecting it routes the destination GP sequentially in a straight line is planned, interim temporary track TR _t is identified from the path. That is, when the robot 10 passes through the closest vicinity of the human H, the trajectory is generated so as to be a straight line along the target traveling direction T. Therefore, among the passing points, WP1 is a near point on the front side where the robot 10 passes before WP2 which is the closest approach point, and WP3 is a near point on the rear side where the robot 10 passes after WP2.

In the present embodiment, is provided with the passage point of the temporary track TR _t the WP1, WP2, 3 places WP3, can be set further one place ahead of WP3 (WP4). As illustrated in FIG. 12, this WP4 is arranged on a straight line TL connecting the current position SP of the robot 10 and the destination GP, and at a fixed distance D from a point hanging down from the WP3 on the straight line TL. It is located at a point _TL away from the destination GP. According to this, after the robot 10 completes the passing with the human H, the robot returns to the trajectory along the original target traveling direction T, and the bulging of the trajectory at the time of the passing can be suppressed to the minimum, and the narrow land can be controlled. This is useful when the robot 10 moves.

  In the trajectory adjustment function 53, trajectory adjustment for avoiding interference due to the time difference between the movement of the human H and the movement of the robot 10 in the previous temporary trajectory is performed. Will be described.

When the robot 10 is moved along the tentative trajectory TR _t at a predetermined steady speed, a situation may occur in which the time at which the tentatively determined position of WP2 is reached is different from the interference time t _i obtained earlier. At this time, interference with the person H may occur. That is, for example, as shown in FIG. 11C, the temporary trajectory TR _t expands laterally with respect to the initial trajectory along the target traveling direction T. There is a possibility that the WP2 is set at a position where the robot needs to move for a longer distance than the position of the robot 10 at the position _i (the position in FIG. 3A). In this case, the time when the robot 10 reaches WP2 is a time later than the interference time _{t i.} Therefore, the person H is, as shown by the solid line in FIG. 11 (C), the further advanced than the position of the interference time t _i (broken line in the figure), that interference with the robot 10 can occur Become.

Therefore, in the trajectory adjustment function 53, if the time t _w2 of the interference time t _i and the robot 10 reaches WP2 are different, to each of these time coincides completely or approximately, is adjusted as follows Done.

Assuming that the robot 10 moves along the temporary trajectory TR _t specified in the previous stage, a new interference time t _i is obtained by the above-described interference time calculation function 47. Then, based on the new interference time t _i , a new temporary trajectory TR _t is obtained based on the new interference time t _i by the above-described procedure in the temporary trajectory generation function 52, and the robot at the steady speed is obtained. the movement of 10, the time _{t w2} to reach WP2 on new tentative trajectory TR _t is determined. Repeats the above processing, the time t _w2 is completely or when substantially matches the new interference time t _i, the tentative track is identified as an official constant velocity trajectory.

  In the description with reference to FIG. 11, an example is shown in which the robot 10 generates a constant-speed trajectory avoiding the right side that crosses the front of the human H from the right side. However, the constant-speed trajectory generation function 48 performs the same procedure. Also, a constant speed trajectory of the left avoidance where the robot 10 crosses behind the human H from the left side is also performed. Therefore, in the constant speed trajectory generation function 48, two types of constant speed trajectories, that is, right avoidance and left avoidance, are generated one by one.

  Next, the acceleration trajectory generation function 49 will be described.

  In the acceleration / deceleration trajectory generation function 49, the acceleration / deceleration trajectory for avoiding interference between the robot 10 and the human H is generated by accelerating or decelerating the robot 10 moving at the predetermined steady speed in a partial section. You. As the acceleration / deceleration trajectory, first, a plurality of right avoidance and left avoidance shift trajectories for moving the human H so as to avoid the right or left while temporarily accelerating or decelerating the robot 10 are respectively generated in a plurality of patterns. .

First, as shown in FIG. 13 (A), a reference position PH _B the position of the person H in the time t _w2 of the WP2 in constant velocity trajectory identified at a constant speed trajectory generation function 48 the robot 10 reaches , from the reference position PH _B, human H position and becomes the shift position PH _s human H shifted back and forth at predetermined intervals along the moving direction of the plurality of positions set. The shift from the reference position PH _B here is performed within a predetermined range. Then, the same procedure as derivation procedure of the temporary track in the temporary trajectory generation function 52 described above, the tentative trajectory of the robot 10 is to interfere with the human H reaching the respective shift position PH _s are generated, respectively. That is, in deriving the temporary trajectory, the position of WP2 of the robot 10 is obtained from the above equation (17), and the positions of WP1 and WP3 are respectively specified from the positions of the respective WP2, and are exemplified in FIG. In this way, a route passing through these passing points is determined. In the present embodiment, although the interval of the shift position PH _s is about 0.1 m, is not particularly limited, for example, be extended up to about 0.5m, which corresponds to the trunk width of a human H By doing so, it is possible to reduce the load of calculation processing for determining a trajectory candidate.

Next, for each path, a lateral avoidance shift trajectory that partially changes the speed of the robot 10 is obtained under the following conditions. When the robot 10 moves near the human H and passes the human H, it is desirable that the robot 10 move at a steady speed. From this, although not particularly limited, in the present embodiment, the robot 10 is moved at the preset steady speed after WP1, and the speed of the robot 10 is changed from the current position SP to WP1. to enable. Specifically, for each path, the velocity vector of the person H, the interference time t _i which human H reaches the shift position PH _s is determined, the interference time t _i is the path through the shift position PH _s The speed of the robot 10 from the current position SP to WP1 is determined so that the time when the robot 10 reaches WP2 is reached. In other words, since the linear distance in the section from WP1 to WP2 in each path and the speed of the robot 10 in the section both become constant values set in advance, the transit time from WP1 to WP2 is constant in each trajectory. Become. Therefore, the passing time is subtracted from the time from the time at the current position SP of the robot 10 to the interference time t _i reaching WP2, and from the subtracted time and the position vector of WP1 in the corresponding path, 10 is the rate from the current position SP to the WP1 is calculated in, so that the lateral avoidance shifting trajectory corresponding to each shift position PH _s are identified.

  Of these lateral avoidance shift trajectories, the trajectory approaching the position of the human H at the present time (broken line in FIG. 13B) differs from the constant velocity trajectory represented by the solid line in FIG. Up to the above-mentioned steady speed. Conversely, with respect to the constant speed trajectory, the trajectory away from the current position of the human H (the dashed line in the figure) is a trajectory that decelerates from the current position SP of the robot 10 to the WP1 with respect to the steady speed. .

  As described above, a plurality of lateral avoidance shift trajectories are generated for each of the right avoidance and the left avoidance.

  Further, the acceleration / deceleration trajectory generation function 49 accelerates or decelerates the robot 10 only in a predetermined section while maintaining a straight path from the initially planned current position SP of the robot 10 to the destination GP as the acceleration / deceleration trajectory of the robot 10. As a result, a straight-line speed change trajectory that avoids interference with the human H is generated as follows. That is, WP2 is set on both front and rear sides in the traveling direction of the robot 10 so that when the human H crosses the linear path, the robot 10 and the personal space of the human H are separated by a predetermined distance so as not to overlap each other. Is done. Then, WP1 is set on the near side of WP2 on the straight path under the same conditions as when the lateral avoidance shift trajectory is generated, and the speed from the current position SP of the robot 10 to WP1 is obtained. Specified. The straight-line speed change trajectory includes a trajectory that accelerates the speed change section from the current position SP of the robot 10 to the WP1 at a speed higher than the steady speed, and a trajectory that moves the speed change section at a speed lower than the steady speed. These trajectories are generated one by one. In an acceleration straight-line speed change trajectory, the acceleration of the speed change section prevents the robot 10 from traveling ahead of the human H so that the robot 10 passes the point before the human H crosses the straight path. Action is taken. On the other hand, in the deceleration straight-line speed change trajectory, after the human H crosses the straight path due to the deceleration of the speed change section, the robot 10 passes the human H first so that the robot 10 passes the point later. Avoidance action is taken.

  As described above, the constant velocity trajectory generation function 48 generates one type of constant velocity trajectory for each of right avoidance and left avoidance. In addition, the acceleration / deceleration trajectory generation function 49 generates, as acceleration trajectories, a plurality of patterns of lateral avoidance shift trajectories for performing acceleration and deceleration at right avoidance and left avoidance, respectively, and one type of straight-forward shift trajectory for acceleration and deceleration. You.

  In the trajectory candidate specifying function 50, a predetermined trajectory is excluded from the trajectories generated by the constant velocity trajectory generation function 48 and the acceleration / deceleration trajectory generation function 49, and the remaining trajectories are set as trajectory candidates.

  The trajectory excluded here includes a trajectory that makes the robot 10 physically unexecutable. For example, a trajectory on which the robot 10 cannot physically move on the route due to the presence of a fixed obstacle such as a wall, or a velocity specified in the acceleration / deceleration trajectory generated by the acceleration / deceleration trajectory generation function 49 is the robot 10 According to the specification, there is a trajectory or the like that becomes a speed out of a preset range and becomes practically infeasible.

  According to the trajectory candidate specifying function 50, the trajectory that cannot be actually executed is excluded from the candidates before the calculation in the optimum trajectory extraction unit 45 described later, so that the calculation processing in the optimal trajectory extraction unit 45 is performed. The load can be reduced as much as possible.

  The processing procedure in the trajectory candidate search unit 44 having the above configuration will be described with reference to the flowchart of FIG.

First, the interference time calculation function 47, mutually moving the robot 10 and the human H and the future interfering interference time _{t i} is calculated (step S201).

Thereafter, the tentative trajectory generation function 52 in the constant speed trajectory generation function 48, from the interference time t _i found, tentative trajectory robot 10 proceeds is generated at a preset constant speed (step S202). Further, if the trajectory adjustment function 53 included in the constant speed trajectory generation function 48, the time t _w2 of the robot 10 in WP2 in the temporary track the previously obtained reaches, the interference time t _i which are specified above are consistent It is determined whether or not it is (step S203). If the times do not match, the processes of steps S201 and S202 are repeated until the times match. As a result, the time t _w2 of the robot 10 reaches WP2, when the interference time t _i specified above are matched, the temporary track is determined as a constant speed trajectory (step S204).

Next, in the acceleration / deceleration trajectory generation function 49, an acceleration / deceleration trajectory for accelerating or decelerating in a part of the progress of the robot 10 at the steady speed is generated (step S205). Here, around the interference time t _i at a constant speed trajectory, the interference time is changed at arbitrary intervals, the position of the person H in each interference time by shifting along the direction of travel, acceleration or deceleration The used lateral avoidance shift trajectory is generated. Further, here, a straight-line speed change trajectory that accelerates and decelerates in a partial section on a linear path from the current position of the robot 10 to the destination is also generated.

  Finally, in the trajectory candidate specifying function 50, the trajectories that do not meet the predetermined requirements are excluded from the trajectories generated by the constant velocity trajectory generation function 48 and the acceleration / deceleration trajectory generation function 49, and the constant velocity trajectory and acceleration / deceleration are removed. A plurality of trajectory candidates including the trajectory are determined (Step S206).

  Next, the optimal trajectory extraction unit 45 will be described below.

The optimum trajectory extraction unit 45 calculates, as the trajectory cost, the interference avoidance energy _Er corresponding to the kinetic energy for avoiding the interference, for each of the plurality of trajectory candidates searched for by the trajectory candidate search unit 44. The least trajectory candidate is extracted as the execution trajectory.

That is, the interference avoidance energy _Er is divided into the first, second,..., N−1, n, n + 1,. in each point, is calculated by summing the first and second energy element E _G and E _D described below, it integrates the sum from the current position to the destination. That is, the interference avoidance energy _Er is a value obtained by comprehensively changing the kinetic energy of the robot at each point in the trajectory.

Specifically, the cost equation of the following equation in which the first and second energy element E _G and E _D as a parameter (18), the interference avoidance energy E _r is determined.

Here, as shown in FIG. 15, the direction of a straight line connecting the current position SP of the robot 10 and the destination GP is defined as a target traveling direction (G direction), and the normal direction perpendicular to the straight line is defined as the traveling normal. A direction (D direction) is used. At each point in the trajectory, the velocity vector of the robot 10 at that time is decomposed into the G direction and the D direction, and the velocity vectors in these directions are used. Therefore, V _GN in the above equation (18) represents a velocity vector in the G direction at the n point in the trajectory, and V _G0 represents a velocity vector in the G direction of the robot 10 at the current position. V _DN represents a velocity vector in the D direction at the n place, and V _Dn-1 represents a velocity vector in the D direction at a point n-1 immediately before the n point. Further, A and B are weighting constants of the respective energy elements which are set to predetermined values in advance, but may be the same as each other, for example, setting each value to 1.

In the above equation (18), the first energy element E _G is given that the robot 10 continues to proceed at a constant speed is the most track less costly behavior, G direction of the robot 10 at the current position SP This is an element corresponding to the speed change due to the acceleration / deceleration operation of the robot 10 in the same direction with respect to the initial speed.

Second energy element E _D is a component of the robot 10 as an avoidance width is increased when performing interference avoidance, given that transfer efficiency is deteriorated, corresponding to the D direction of the velocity changes from a point just before ing.

  According to the optimal trajectory extraction unit 45 described above, the best execution trajectory that moves from the steady state before the avoidance action to the destination GP at a more constant speed state and does not significantly deviate laterally from the destination GP. Can be quantitatively extracted from each trajectory candidate.

  The trajectory candidate specifying function 50 of the trajectory candidate search unit 44 further narrows the trajectory candidates as described below, thereby further reducing the load of the arithmetic processing at the time of the cost calculation in the optimal trajectory extraction unit 45. Can be.

  As the narrowing down, the following trajectories are excluded from the trajectory candidates to be calculated by the optimum trajectory extraction unit 45. For example, as shown by a broken line in FIG. 16A, a trajectory in which the robot 10 avoids the moving human H while decelerating in front of the moving human H has a large avoidance width, and the trajectory cost increases. Is obvious and is excluded from the trajectory candidates. Also, as shown by a dashed line in the figure, a trajectory that the robot 10 avoids while moving behind the moving human H while also avoiding it is also excluded from the trajectory candidates because the avoidance width also becomes large. .

  Also, as exemplified in FIGS. 16B and 16C, a trajectory in which the robot 10 moves so as to stick to the human H is excluded from trajectory candidates because the trajectory cost increases. . In other words, the positions of WP1 to WP3 are different from the avoidance direction D of the robot 10 with respect to the human H at the boundary of the target traveling direction straight line TL connecting the current position SP of the robot 10 and the destination GP (see dashed lines in each drawing). The trajectory existing in the opposite area is excluded from the trajectory candidates. In other words, the trajectory in FIG. 16B is a trajectory in which the position of WP1 to WP3 is located in a region on the right side of the straight line TL while avoiding the human H from the left side, and is excluded from the trajectory candidates. . The trajectory in FIG. 3C is a trajectory in which the position of WP1 to WP3 is located in a region on the left side of the straight line TL while avoiding the human H from the right side, and is excluded from trajectory candidates.

  1-C Repetitive action search system in execution trajectory identification unit 38

  Note that the execution trajectory specifying unit 38 may be provided with an iterative action search system that repeats the above-described procedure to generate a trajectory when the robot 10 may interfere with a plurality of humans H in the future. . In this iterative action search system, the avoidance trajectory for a person (hereinafter, referred to as “shortest interference candidate”) whose earliest interference with the robot 10 is predicted by the above-described trajectory generation procedure in the trajectory candidate search unit 44. Is searched, then an avoidance trajectory for another person whose interference is predicted is searched. Then, the trajectory search is repeatedly performed for all the persons whose future interference is predicted by the robot 10 at the current position in the order of interference time, and a trajectory candidate that can avoid all these persons is obtained.

  Specifically, first, the situation around the robot 10 at the current position is detected by the detection device 12 (see FIG. 1), and interference is predicted in the future by the interference degree determination means 21 (see FIG. 1). Multiple humans are identified. From these, the shortest-interesting candidate whose relative distance to the robot 10 is the shortest and whose shortest possible interference with the robot 10 is predicted is specified.

  Thereafter, the trajectory candidate search unit 44 generates trajectory candidates in the procedure shown in FIG.

That is, first, as shown in Fig. (A), the shortest interference prospective H _1, from the current position SP of the robot 10, by a procedure similar to that described above, the pass point is determined, of the passing point Of these, various trajectories (constant velocity trajectory and acceleration trajectory) Kn to WP3 (H ₁ ), which is the rear neighborhood point, are generated. In addition, in each drawing of FIG. 17, the display of all the trajectory candidates is omitted in order to avoid complicated drawings.

Then, in various trajectory until the WP3 _{(H 1),} assuming that the robot 10 has reached the WP3 _{(H 1),} thereafter, the WP3 the _{(H 1)} as the initial position of the robot 10, similarly, An interference determination up to the destination GP is performed. As a result, the other human H ₂ with a possibility of interference is detected, as shown in FIG. (B), when the WP3 the (H ₁₎ and the initial position, the interference prediction at the next time specific minimum interference prospective H ₂ is made to be. Then, as shown in FIG. 3 (C), various points from WP3 (H ₁ ) to the WP3 (H ₁ ) are set as initial positions, and similarly, trajectories up to WP3 (H ₂ ) are trajectories which can avoid the shortest interfering person H _2. A trajectory Kn is generated.

Here, as shown in FIG. (C), when planning the avoidance path for the back of a human _{H 2} in the previous step, even the back of a human _{H 2} when the robot 10 reaches the WP3 _{(H 1)} WP3 ( H1), and interference avoidance may not be possible as shown in FIG. Therefore, in order to avoid such a situation, the trajectory correction is performed as exemplified by the one-dot chain line in FIG. This orbit correction is the first person of the human H _1, the following 2nd human H ₂ that interference in subsequent time is predicted, the track portion direction avoided as the case of the same (respectively in the figure right away ). In other words, in this case, from the said front near the point of the passing point of the track to avoid the first user of the human H ₁ WP1 (H _1), the front vicinity of the track to avoid 2nd human H ₂ some correction trajectory including the portion KA _n to linear movement is generated a point WP1 _{(H 2).}

Later, when a person H _n with up can interfere with the destination GP is additionally present, it is repeated the same processing, by connecting the destination GP and WP3 (H _n) at the end of human H _n A route from the current position SP of the robot 10 to the destination GP is determined, and a trajectory candidate related to the route is generated. The trajectory candidate with the lowest trajectory cost is selected from the plurality of trajectory candidates generated in this manner by the optimal trajectory extraction unit 45, and is set as the final execution trajectory.

  According to such an iterative action search system, when the current robot 10 avoids a plurality of persons who may interfere in the future, a smooth trajectory plan without chattering or stacking can be performed.

  In the above-described processing in the iterative action search system, a plurality of people who are close to each other are clustered, and a trajectory candidate is generated by the above-described procedure so that the cluster is collectively avoided as one person. Can also. By doing so, it is possible to reduce the load of the arithmetic processing at the time of the trajectory search.

  In other words, here, the relative distance between the shortest-interesting person whose interference is predicted at a predetermined time and another person detected by the detection device 12 is within a predetermined range, that is, the relative distance is less than or equal to a predetermined threshold. A plurality of humans are estimated as clusters, and a trajectory for avoiding the clusters collectively as one human is generated. As the threshold here, a space width (for example, a minimum value thereof) that allows the robot 10 to pass between nearby humans without interference is applied.

2. Configuration and Processing Content of Narrow Space Action Determining Unit Hereinafter, the configuration and processing content of the narrow space action determining unit 35 will be described mainly with reference to FIGS. 1 and 6.

  In the narrow space action determining unit 35, it is predicted that the robot 10 cannot pass the side of the human at present, and as described later, the action of the robot 10 including various working actions according to various conditions is described below. Selected.

  Here, the action action includes a behavior suggesting a course to a human by changing the moving direction of the robot 10 in order to avoid interference with the human, and a voice prompting the human to avoid the voice from the speaker 16. And an action of bringing the arm 15 into contact with a human, and any of these action actions or an arbitrary combination is selected.

  In addition, as the approaching action here, when the interference degree determining means 21 determines that there is an interference degree, the approaching action for avoiding interference is first performed in accordance with the degree of recognition estimated by the degree of recognition estimating means 22. And the second approach action performed as needed based on the achievement degree of the approach action estimated by the achievement degree estimating means 24 described later from the human action after the first approach action. Are roughly divided into The details of the above action will be described later.

  The narrow space action determination unit 35 includes an arm contact determination unit 55 that determines whether the arm 15 can come into contact with a human, and a distant corresponding unit that determines a working action when the contact possibility is “absent”. 56, and a proximity correspondence unit 57 for determining a working action when the possibility of contact is “Yes”.

  The arm contact determination unit 55 determines whether or not there is a possibility of the arm 15 contacting a human depending on whether or not a human exists within the operation range of the arm 15. The possibility of the contact is determined based on the relative position information of the robot 10 and the human based on the detection result of the detection device 12 and the operation range of the arm 15 set in advance.

  In the distant correspondence section 56, a working action according to the recognition level is determined from a distant working group composed of the following three kinds of working actions.

  In the case of the recognition degree “large” in the distant approach group, an approach action that suggests a course to a human by changing the moving direction of the robot 10 is selected as follows. Specifically, as shown in FIG. 18, the width of the pass-through space S for the robot 10 to pass through is not sufficiently secured in this state, so that the robot 10 is moved toward the center point P of the pass-through space S. Thus, a visual suggestion to the person H is made so that the passing space S through which the robot 10 passes can be secured.

  In addition, in the distant approach group, when the degree of recognition is “small”, the approaching action that suggests the same course as in the case of the degree of recognition “large” and the approaching action with a low degree of intervention described above “small” The action is selected.

  Further, among the distant working groups, in the case of the recognition degree “none”, the working action that suggests the same course as in the case of the recognition degree “large” and the calling action “large” with the strong intervention degree described above. The action is selected.

  In the proximity correspondence section 57, various types of action are performed in the following procedure. First, in advance, in order to notify the human H of the approach of the robot 10 from an auditory surface, a calling action of a voice call that emits a predetermined voice from the speaker 16 is selected.

  Then, an action including an approaching action according to the recognition level is determined from a proximity approaching group composed of the following three types of approaching actions.

  When the recognition degree is “high” in the proximity approach group, the moving direction of the robot 10 is changed as follows. In this case, it is considered that the human H has sufficiently recognized the robot 10 because the voice is also given in advance, and the human H secures the width of the passing space S of the robot 10. It is presumed that it is impossible to move for a long time. Accordingly, in this case, for example, as shown by a dashed-dotted arrow in FIG. 18, the robot 10 moves so that the robot 10 moves in a completely different direction while moving backward with respect to the human H. The direction changing action for changing the direction is selected. At this time, the robot 10 searches for a new moving route to the destination.

  Further, in the case where the degree of recognition is "small" in the proximity approach group, the arm 15 of the robot 10 is brought into contact with the human H, so that the human H is moved to secure the passing space S. The "small" work action is selected.

  Further, in the proximity approach group, when the degree of recognition is “none”, the approach action of “large” contact having a higher intervention degree than the case of the degree of recognition “small” is selected.

  For example, the contact action by pushing the shoulder or the back of the human H with the arm 15 may be performed by the contact. When the contact is “small”, the person H is lightly touched. , Or an operation such as contact to receive an unexpected collision when approaching the human H.

(Achievement estimation means)
The achievement degree estimating unit 24 estimates the achievement degree of the intention transmission of the approach to the human by verifying the behavior state of the human due to the approach action of the robot 10 from the detection result of the detection device 12.

  Specifically, the achievement degree estimating means 24 estimates whether or not the movement of the robot 10 due to the already performed approaching action is transmitted to a human as an intention to avoid interference between the robot 10 and the human in the future. That is, here, the movement information of the human after the action of the robot 10 is acquired based on the detection result of the detection device 12, and the achievement degree is specified from the movement information.

  The achievement level estimating means 24 includes a first achievement level determination section 59 for determining the achievement level based on the behavior of the robot 10 planned by the large / large space activity determination section 34, and a plan by the small space action determination section 35. And a second achievement degree determination unit 60 that determines the degree of achievement by the action of the robot 10 performed.

  In the first achievement degree determination unit 59, a relative distance that is a linear distance between the centers of the two trunks at the time when a human is closest to the robot 10 in the future is calculated, and based on the relative distance, As described below, the degree of achievement is specified by three types of “presence”, “absence”, and “extreme”. Here, the first degree of achievement “presence” is a case where the intention is presumed to have been effectively transmitted to humans, and the second degree of achievement “absence” is that the intention is not satisfied. A case where it is presumed that it has not been transmitted to humans much, and the achievement "extremely significant" which is the third evaluation is a case where it is presumed that the intention is transmitted to humans more strongly than the achievement "existence" It is.

  That is, if the relative distance at the time of the closest approach becomes smaller than the sum of the personal spaces obtained by adding the respective radii of the personal space of the robot 10 and the human, the state of the possibility of future interference is eliminated. If not, the degree of achievement is determined to be “absent”, and it is determined that it is necessary to reconstruct the operation plan of the robot 10. On the other hand, when the relative distance is equal to or more than a predetermined value exceeding the sum of the personal spaces, it is estimated that a person is largely avoiding than expected, and the achievement level is determined to be “exclusive”. Here, the predetermined value is set in advance, and may be, for example, 1.5 times the sum of the personal spaces. Further, when the relative distance is equal to or greater than the sum of the personal spaces and is less than the predetermined value, it is estimated that a human is avoiding as expected, and the achievement plan is set to “Yes” and the operation plan of the robot 10 is determined. It is determined that there is no need to reconfigure.

  In the second achievement degree determination unit 60, based on the presence or absence of the passing space S of the robot 10, the achievement degree is determined as two types of “present” and “absent” as follows. The achievement levels “presence” and “absence” here are the same as the concept of the achievement levels “presence” and “absence” in the first achievement level determination unit 59.

  That is, here, the presence or absence of the passing space S is determined by the processing of the passing space determination unit 31 based on the movement information of the person after the acting action acquired by the detection device 12. Then, when the passing space S of the robot 10 is secured, the achievement level is determined to be “Yes”, and it is determined that there is no need for further work or action. On the other hand, if the passing space S of the robot 10 has not been secured yet, the achievement level is determined to be “absent”, and it is determined that another action is necessary.

(Plan adjustment means)
The plan adjustment unit 25 includes a first adjustment unit 62 that determines an action of the robot 10 according to the achievement degree determined by the first achievement degree determination unit 59, and a second achievement degree determination unit 60. A second adjustment unit 63 that determines the behavior of the robot 10 according to the determined degree of achievement.

  In the first adjustment unit 62, the behavior of the robot 10 after the achievement level is specified is determined as follows.

  In other words, in the case of the achievement degree “none”, it is considered that the action plan of the robot 10 needs to be reconstructed. Various action plans are made according to the availability of space.

  In addition, in the case of the achievement level “extraordinary”, it is presumed that humans are largely avoiding than expected, so a new trajectory that is more straight toward the destination is generated considering the trajectory cost. You.

  Furthermore, in the case of the achievement degree “Yes”, since it is presumed that humans are avoiding as expected, the movement on the previously specified execution trajectory remains unchanged without changing the already determined action plan. To be continued.

  In the second adjustment unit 63, the behavior of the robot 10 after the achievement level is specified is determined as follows.

  Here, when the achievement level is “none”, the next approaching action is selected according to the approaching group performed earlier.

  When the approaching action is performed in the distant approaching group in the previous stage, the presence or absence of the possibility of the arm 15 contacting the human is determined by the arm contact determining unit 55, and thereafter, the approaching by the narrow space action determining unit 35 described above. Action is taken.

  Further, when the approaching action is performed in the proximity approaching group in the previous stage, it is determined that the passing space for the robot 10 to pass through cannot be secured in this state, and a trajectory for moving the robot 10 in a completely different direction is generated. Then, the direction change movement along the trajectory is performed. If the direction change movement has already been performed in the proximity approach group in the previous stage, the movement is continued as it is.

  On the other hand, when the degree of achievement is “Yes”, a space for passing through the robot 10 is secured, and the movement on the already determined trajectory is continued as it is.

(Action planning procedure for avoiding interference)
The action planning procedure of the robot 10 by the control device 13 will be described below mainly using the flowcharts of FIGS. 1, 6, and 19.

  First, after the robot 10 starts moving from a predetermined departure point, the degree of interference determination means 21 determines whether there is a possibility of future interference between the robot 10 and a person moving around the robot 10, that is, the degree of interference. Is determined (step S301). Then, an action plan of the robot 10 is made by the action planning means 23 according to the presence or absence of the degree of interference.

  Here, when the interference degree is “none”, the non-interference planning unit 28 moves the robot to a preset destination while avoiding a fixed moving object such as a wall without considering avoiding interference with humans. A path plan is made to move 10 by the shortest distance, and an execution trajectory corresponding to the plan is generated (step S302). Then, the processing after the determination of the degree of interference is performed at regular intervals until the vehicle reaches the destination (step S303).

  On the other hand, when the degree of interference is “presence”, the action plan for avoiding future interference between the robot 10 and the human is made by the interference time planning unit 29 according to various situations.

  When performing an action plan for avoiding interference, first, the recognition level estimating unit 22 determines one of the recognition levels “large”, “small”, and “absence” indicating the degree of recognition of the robot 10 by a human ( Step S304).

  Thereafter, the passing space determination unit 31 determines whether there is a passing space when the robot 10 passes by a human (Step S305). Then, a different action plan is made according to the presence or absence of the passing space.

  A. Cases determined to have "through space"

  In this case, the following various processes are performed by the behavior determining unit 34 for the vast space.

  First, the degree of consolidation is determined by the action content specifying unit 37 (step S306).

  Next, the trajectory candidate search unit 44 generates a plurality of patterns of trajectory candidates for avoiding interference with humans in accordance with the previously obtained degree of consolidation (step S307).

  Then, the optimal trajectory extracting unit 45 determines a trajectory that enables efficient movement with the lowest trajectory cost from the plurality of trajectory candidates generated by the trajectory candidate searching unit 44 (step). S308).

  After that, in consideration of the operation time for generating the execution trajectory, the response time from the start of movement of the robot 10 on the execution trajectory to the action of a human, and the like, a predetermined predetermined standby time is provided. The next processing is not performed until the time elapses (step S309).

  After the elapse of the standby time, the achievement level is estimated by the achievement level estimating unit 24 (step S310). According to the result, the necessity of the adjustment of the action content is determined by the plan adjustment means 25. That is, if the achievement level is “absent”, the process returns to step S304 to determine the recognition level, and the processing after step S305 is performed again.

  If the degree of achievement is “extreme”, the execution trajectory is corrected so as to be straighter toward the destination (step S311).

  Further, when the degree of achievement is "Yes", the already determined execution trajectory is left as it is, and the processing after the determination of the degree of interference is performed at regular intervals until the destination is reached (step S303).

  B. Case judged as "No passing space"

In this case, the following various processes are performed in the narrow space action determination unit 35.
First, the arm contact determination unit 55 determines whether or not there is a possibility of contacting the arm 15 with a human at the present time (step S312).

  B-1. When contact possibility is "No"

  When the possibility of contact with the arm 15 becomes impossible, the contact action is selected from the distant approach group in accordance with the degree of recognition (step S313).

  In other words, in the case of the recognition degree “large” in the distant working group, a trajectory for changing the moving direction of the robot 10 is generated, and the trajectory for the human being is set so that the passing space through which the robot 10 passes can be secured. A work action that visually suggests a course is selected.

  In addition, in the distant approach group, if the degree of recognition is "small", a stimulating action that suggests a course similar to that in the case of the degree of awareness "large" is selected, and a voice call "small" with a low intervention level is selected. Is selected.

  Further, in the remote approach group, when the recognition level is “none”, the approach action that suggests the same course as in the case of the recognition level “high” is selected, and the voice call “strong” Is selected.

  Thereafter, the achievement level is determined by the achievement level estimation means 24 (step S314). Here, the presence / absence of a passing space of the robot 10 is determined from the position information of the person after the action action acquired by the detection device 12 by the same processing as in the above-described step S305. Therefore, when a clearance space is secured for the robot 10, the achievement level is determined to be “Yes”, and it is determined that there is no need for further interference avoidance action. On the other hand, when the passing space of the robot 10 has not been secured yet, the achievement level is determined to be “absent”, and it is determined that there is a need for further interference avoidance action.

  Then, the following measures are taken by the plan adjustment means 25. That is, when the degree of achievement is "Yes", the already determined execution trajectory is left as it is, and the processing after the determination of the degree of interference is performed at regular intervals until the destination is reached (step S303). On the other hand, if the achievement level is “absent”, the process returns to step S312, and the subsequent processes are repeatedly performed.

  B-2. When the possibility of contact is "Yes"

  If it is determined in step S312 that the robot 15 can come into contact with the arm 15, it is determined that the robot 15 is in contact with the arm 15. In order to notify the human from the auditory surface of the approach of the robot 10, a predetermined sound is output from the speaker. The action of the voice call issued from step 16 is performed (step S315). Then, various actions are selected from the proximity approach group according to the degree of recognition (step S316).

  In the case of the recognition degree “large” in the proximity approach group, an action of turning the robot 10 in a completely different direction while the robot 10 retreats from the human is selected, and the movement direction of the robot 10 is changed. A new trajectory aiming at the destination while changing is generated.

  In addition, in the case of the recognition degree “small” in the proximity approach group, the contact “small” that prompts the movement of the human so as to secure the passing space by bringing the arm 15 of the robot 10 into contact with the human. Is selected.

  Further, in the proximity approach group, when the degree of recognition is "none", the approaching action of the contact "large" having a higher degree of intervention than in the case of the degree of recognition "small" is selected.

  Thereafter, the achievement level is determined by the achievement level estimation means 24 (step S317). Here, the presence or absence of a passing space of the robot 10 is determined from the human position information acquired by the detection device 12 by the same processing as in step S305 described above. Therefore, when the passing space of the robot 10 is secured, the achievement level is determined to be “Yes”, and it is determined that there is no need for further action. On the other hand, if the passing space of the robot 10 has not been secured yet, the achievement level is determined to be “absent”, and it is determined that there is a need for further action behavior.

  Then, the following measures are taken by the plan adjustment means 25. That is, when the degree of achievement is "Yes", the already determined execution trajectory is left as it is, and the processing after the determination of the degree of interference is performed at regular intervals until the destination is reached (step S303). On the other hand, if the degree of achievement is “absent”, it is determined that a space for the robot 10 to pass through cannot be inevitably secured as it is, and a direction change trajectory for moving the robot 10 in a completely different direction is generated (step). S318). Thereafter, the process returns to the determination of the degree of interference by the degree of interference determination means 21 (step S301), and the action plan of the robot 10 is made through the same procedure as described above.

  As described above, according to the present embodiment, the operation of the robot 10 that is close to the behavior of a human as if the humans pass each other can be performed, and when the robot 10 moves, the surrounding humans are not excessively discomforted. In addition, the robot 10 can be efficiently moved toward the destination.

  Note that the control device 13 collects sound information such as sound pressure in the environment around the robot 10 with a microphone (not shown) in the above-described call-out action, and considers the surrounding environment according to the sound information. Sound control may be performed so that the sound such as the loudness and type of the sound is emitted from the speaker 16.

  Further, the control device 13 detects a sensor that acquires environmental information around the robot 10, such as making a soft contact when the surroundings of a person are dense or the like, in the action of the arm 15 contacting a person. Depending on the result, operation control for varying the degree of contact with humans may be performed.

  In addition, the type of the above-described approach is an example, and various other approach actions by the operation of the robot 10 can be set.

  In the above embodiment, the “interference level” is set to two levels, the “recognition level” is set to three levels, and the “achievement level” is set to two levels. However, the present invention is not limited to this. It is also possible to set a more detailed action for each stage.

Next, another embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the first embodiment are denoted by the same reference numerals, and the description will be omitted or simplified.
(2nd Embodiment)

  The robot 100 according to the second embodiment also considers the passage of an obstacle inside a person's personal space, which is a moving obstacle, and considers the alleviation of discomfort given to a person, and can prevent an unexpected collision between the robot 100 and a person. The feature is that it can perform avoidable trajectory planning.

  That is, as shown in FIG. 20, the robot 100 according to the present embodiment includes an interference time planning unit 103 having a different configuration from the interference time planning unit 29 of the first embodiment. It is substantially the same as the first embodiment.

  When the interference degree determination unit 21 determines that the future interference degree is “present”, the interference time planning unit 103 plans an action of the robot 100 to avoid a person whose interference is predicted. .

  As shown in FIG. 20, the interference time planning unit 103 includes an approach state determination unit 105 that determines whether the robot 100 at the current position is present in the personal space of the human, and a robot 100 and the human who Contact possibility judging unit 106 for judging the possibility of physical trunk contact, preparation time judging unit 107 for judging whether there is a work preparation time required for the robot 100 to work on humans, and an emergency collision An emergency avoidance action selection unit 108 that selects an emergency avoidance action that is an action of the robot 100 that performs an avoidance response, and a normal avoidance action selection unit that selects the normal avoidance action that is an action of the robot 100 that performs a collision avoidance response when it is not an emergency 109.

(Structure of approach state determination unit)
At the present time, the approach state determination unit 105 specifies the range of the personal space of the human in the same manner as in the first embodiment based on the detection result of the detection device 12, and at least one of the personal spaces of the robot 100 is included in the range. It is determined whether the part has entered. That is, when the personal space of the robot 100 is located within the range of the human personal space at the present time, the robot 100 is set in the approaching state, and otherwise, is set in the non-approaching state.

(Configuration of contact possibility determination unit)
In the contact possibility determining unit 106, a relative distance when the robot 100 comes closest to the human is calculated based on the detection result of the detection device 12, as in the first embodiment, and based on the threshold of the relative distance. Then, it is determined whether there is a possibility that the trunk of the robot 100 comes into contact with the human body. That is, here, when the relative distance is shorter than the total of the trunk widths of the robot 100 and the human being specified in advance, the possibility of the trunk contact is determined to be “present”. The possibility of the trunk contact is regarded as “none”.

(Configuration of preparation time determination unit)
The preparation time determination unit 107 determines whether there is a working preparation time as follows. Here, as in the first embodiment, the relative distance between the robot 100 and the human and their velocity vectors are specified at the present time from the detection result of the detection device 12 until they interfere with each other. Is calculated. Then, the time is compared with a work preparation time set in advance for various operations (such as the operation of the arm 15 and the voice) required for the work behavior, and when the work preparation time is shorter than the work preparation time, the preparation time is reduced. It is set to “absent”, and if it is longer than the working preparation time, the preparation time is set to “present”.

(Structure of emergency avoidance action selector)
The emergency avoidance action selection unit 108 determines whether the personal space of the robot 100 is in the approaching state where the robot 100 is present in the human personal space at the present time, in the non-approaching state where it is not, and the preparation time for the action action is “ ", A predetermined action is selected from various emergency avoidance actions described below.

  The emergency avoidance action selecting unit 108 includes an approach trajectory generating function 111 that generates an approach trajectory that is a trajectory on an approach path that allows the robot 100 to enter a personal space and advance the robot 100 to a destination without contacting a human. A reverse trajectory generating function 112 for generating a reverse trajectory which is a trajectory in a reverse movement path for moving the robot 100 in the reverse direction, and a temporary stop function 113 for temporarily stopping the robot 100.

  In the approach trajectory generation function 111, the approach trajectory is generated in each of the following cases based on the determination results of the approach state determination unit 105, the contact possibility determination unit 106, and the preparation time determination unit 107. That is, as a first case, when the robot 100 is in an approaching state that exists in the human personal space at the present time, the possibility of their trunk contact is “none”, and the robot 100 has There is a case where they are acting. Further, as a second case, there is a case where, in the non-approaching state, the preparation time for the approaching action is “nothing” and the robot 100 has performed any approaching action so far.

In the approach trajectory generation function 111, an approach trajectory in which the robot 100 moves at a steady speed is generated by the same calculation processing as the constant velocity trajectory generation function 48 (see FIG. 6) in the first embodiment. Specifically, here, it is set to 100% Yuzurugodo P _R in the above formula (17) in the constant speed trajectory generation function 48 described above. Moreover, the reference distance _{L b} which is substituted in the above equation (17), where you were with _R LR _{+ R LH} is the radius of the sum of the personal space of the robot 10 and the _human, shorter than R LR _{+ R LH,} and human The predetermined distance is longer than the trunk width. Accordingly, an approach trajectory is generated in which the robot 100 can pass between the robot 100 and the human without touching the human while the robot 100 enters the personal space of the human. As illustrated in Figure 21, this approach trajectory, to allow passing of the left and right sides of the human H, from among the two approaching path PT _1, the trajectory with the smaller travel distance is selected You. Moreover, the presence of such fixed obstacle, when the passing of the robot 100 becomes impossible in either of the approaching path PT _1, approach trajectory is selected in the other approach path PT _1. If the robot 100 cannot pass through any approach trajectory, either the movement by the reverse trajectory by the reverse trajectory generation function 112 or the temporary stop by the temporary stop function 113 is selected. .

  In the reverse direction trajectory generation function 112, in each of the following cases based on the determination results of the approach state determination unit 105, the contact possibility determination unit 106, and the preparation time determination unit 107, the robot moves in the reverse direction so as to move away from a human. One type of reverse trajectory to be transformed is generated. That is, as a first case here, when the robot 100 is in an approaching state existing in the human personal space at the present time, the possibility of their trunk contact is “none”, and the robot 100 There is a case where no action is taken from 100. As a second case, there is a case where the possibility of the trunk contact is “present” in the approach state. Further, as a third case, there is a case where, in the non-approaching state, the preparation time for the approaching action is “nothing” and the robot 100 has not performed any approaching action so far.

  In the temporary stop function 113, the reverse trajectory generated by the reverse trajectory generation function 112 may cause the robot 100 to be unable to move due to the presence of a fixed obstacle on the route or the like. If it is impossible to avoid the trunk contact of the robot 100, an action of temporarily stopping the robot 100 is selected. After that, while the robot 100 is moving, various processes in the non-interference time lapse unit 28 (see FIG. 1) or the interference time lapse unit 103 are performed again.

(Composition of the normal avoidance action selection section)
In the normal avoidance action selection unit 109, in a non-approaching state where the personal space of the robot 100 is present outside the personal space of the human at the present time, when the preparation time for the action action is “Yes”, various normal A predetermined action is selected from the avoidance actions. The normal avoidance action includes an action of moving the robot 100 along any one of an approach trajectory, a detour trajectory, and a contact trajectory while accommodating the robot 100.

Here, as shown in FIG. 21, as described above, the approaching trajectory based approach path PT ₁ is intended to robot 100 from entering the human personal space PS _H, the robot 100 human H This is a trajectory that allows the robot 100 to travel to the destination GP while passing the human H at a minimum distance that does not make contact with the robot. When the robot 10 moves on this approaching trajectory, the robot 15 performs an operation of holding the arm 15 in preparation for an unexpected collision with the human H, and also performs a call-out action of informing the human H of the approach of the robot 100.

Further, the bypass track is a track based on the detour path PT ₂ in FIG. That is, the bypass path PT _2, due outreach person H, the robot 100 and the personal space _PS R of the human H, so as not to overlap with each other PS _H, personal space PS of the personal space PS _R is human H of the robot 100 intended to not enter the _H, the path of the robot 100 to bypass the outer personal space PS _H human H. The time of movement in the bypass track, encourage action is performed by assertion actions to 50% Yuzurugodo P _R described in the first embodiment.

Further, the contact track is a track based on the contact path PT ₃ of FIG. 21. The contact pathway PT ₃ while contacting the arm 15 to a human H moves the human H by pressing the person H in a direction away from the robot 100, while next to human H after movement past the robot 100, the purpose This is a path for moving the robot 100 to the ground. When the robot 100 moves on this contact trajectory, the approaching action of notifying the human H of the approach of the robot 100 to the human H and the scheduled contact with the human H is performed. An operation of applying pressure to encourage the movement of the human H is performed. Note that the contact trajectory here is intended to move the human H in a direction opposite to the robot 100 by a predetermined amount, but when the reaction force of the arm 15 measured by a sensor (not shown) becomes equal to or more than a predetermined value. May determine that the human H is immovable, and may take an action such as temporarily stopping the movement of the robot 100.

Specifically, the normal avoidance behavior selection unit 109, the relative positional relationship between the robot 100 and the human H, and the detour path detouring determination unit 115 determines setting propriety of PT _2, next to the robot 100 human H A passing space determination unit 116 that determines whether or not there is a passing width, and a trajectory candidate search for searching a trajectory candidate that causes the robot 100 to travel toward a destination from a detour trajectory, an approach trajectory, and / or a contact trajectory. Unit 117, an optimal trajectory extracting unit 118 that selects an optimal trajectory from a plurality of generated trajectory candidates and sets it as an execution trajectory for actually moving the robot 10, and the above-described action corresponding to the type of the execution trajectory And an action content specifying unit 119 for specifying an action.

In the detour determining section 115, from the relative positional relationship between the current robot 100 and human, whether there is a relative distance that can plan the detour path PT ₂ physically is determined. That is, first, the respective passing points (WP1 to WP3) are obtained by the same calculation processing as in the trajectory candidate search unit 44 in the first embodiment. Then, irrespective of the presence or absence of the fixed obstacle, whether the direction change and speed adjustment of the robot required to reach each passing point are physically possible in terms of the performance of the robot 100 specified in advance. It is determined whether or not. As a result, the detour is "permitted" when the same is possible, and the detour is "impossible" when the same is not possible.

  The pass-through space determination unit 116 determines whether there is a pass-through width, which is a width for the robot 100 to actually pass beside a human, similarly to the pass-through space determination unit 31 of the first embodiment. . That is, when the space beside the human has a width equal to or greater than the above-mentioned width when the robot 100 comes closest to the human, the through space is “present”, otherwise, the through space “absent”. It is said. Here, as the pass-through width, a constant value obtained by adding the spare allowance to the trunk width of the robot 100 is set in advance.

  The trajectory candidate search unit 117 includes a detour trajectory generation function 121 for generating the detour trajectory, an approach trajectory generation function 122 for generating the approach trajectory, a contact trajectory generation function 123 for generating the contact trajectory, and these functions. For each of the trajectories generated in 121 to 123, a proximity energy calculation function 124 for calculating proximity energy that is an index regarding an approach risk, which is a risk when the robot 100 approaches a human, and a trajectory candidate is determined based on approach risk determination based on proximity energy. A trajectory candidate specifying function 125 is provided.

In the bypass trajectory generation function 121, a Yuzurugodo P _R described in the first embodiment is 50% was determined in the same manner as the processing in the trajectory candidate search unit 44 and the optimal trajectory extraction unit 45 in the first embodiment One trajectory is a trajectory candidate for the detour trajectory. Here, a detour trajectory for comparison, which is a detour trajectory used as a reference for determination of approach risk in the trajectory candidate specifying function 125 described later, is also obtained. The bypass track for comparison assumes that the fixed obstacles such as a wall for inhibiting the passage of the robot 100 is not on the detour path PT _2, are identified in one of the same steps. Note that, depending on the environment around the robot 100, the detour trajectory for comparison may be the same as the detour trajectory generated in consideration of the presence of the fixed obstacle.

  In the approach trajectory generation function 122, an approach trajectory is generated in the same manner as the approach trajectory generation function 111 of the emergency avoidance action selecting unit 108. Here, a plurality of patterns of approach trajectories having different moving speeds of the robot 100 are used. Generated.

In the contact trajectory generation function 123, a contact trajectory in which the robot 100 moves at a constant speed is generated by the same arithmetic processing as the constant velocity trajectory generation function 48 in the first embodiment. Specifically, here, with the Yuzurugodo _{P R} in the above formula (17) to 100% in the constant speed trajectory generation function 48 described above, as the reference distance _{L b} which is substituted in the above equation (17), the robot At a position where it is assumed that the human has moved by a certain target movement amount when the human is moved by the contact of 100, a minimum necessary distance is set so that the robot does not contact the human. Here, a plurality of patterns of contact trajectories having different moving speeds of the robot 100 are generated.

In the proximity energy calculating function 124, for each orbit determined by the trajectory generation functions 121 to 123, the proximity energy _{E l} is calculated by the following equation. Here, it is estimated that the greater the proximity energy _{El, the} higher the approach risk.

In the above expression, _Ac is a variable using a degree of recognition specified in accordance with the degree of recognition obtained by the degree of recognition estimation means 22 in the same manner as in the first embodiment. And the degree of recognition is “small” and “none”. These values are set in advance, and when the degree of recognition is “small” and “none”, it is estimated that the approach risk is higher than when the degree of recognition is “large”, and a large value is set. .

Further, P _n in the above equation is a variable with the parameter of difficulty in approaching a person whose future interference is predicted. That is, a predetermined value is assigned according to an attribute such as the age of the person or a situation where the person has something. The variable _Pn may be assigned a predetermined value according to a predetermined rule based on detection by a sensor or the like (not shown), or may be specified by inputting an arbitrary value from a remote place.

Furthermore, D _r in the above equation, when the robot 100 is closest to the human, which is a variable in which the human orientation with respect to the robot 100 as a parameter. Here, from the orientation of the human face detected by the detection device 12, the orientation of the human with respect to the robot 100 at the time of the closest approach is specified, and the variable _Dr is calculated. The variable _Dr is set in a stepwise manner according to the relative angle representing the direction of the human face with respect to the robot 100 from the state where the robot 100 is located at the front position in front of the human to the state where the robot 100 is located at the rear position at the rear. Increasing values are identified. That is, the variable _Dr is set to gradually increase as the robot 100 changes from a state in which the robot 100 is directly in front of the human face to a state in which the robot 100 is present from the side of the human face to the rear. For this reason, the approach risk increases as the variable _Dr increases.

In addition, d is the relative distance between the robot 100 and the human when the human comes closest, and is specified based on each trajectory of the robot 100. Furthermore, v _R is the speed of the human direction component in the robot 100 when robot 100 and human-closest, v _H is the velocity of the components of the robot 100 direction in human during the closest approach. Incidentally, k ₁ and k ₂ is a constant factor which is set in advance.

In more contiguous energy calculating function 124, a bypass track for comparing a virtual bypass track for each of the approach track and the contact track of each pattern, proximity energy E _l during the risk determination is required.

In the track candidate specific function 125, approach track, the proximity energy E _l determined respectively for contacting the track, approaching trajectory and the contact track of the same or equivalent to the value of the proximity energy E _l of bypass track for comparison as a reference to extract And the trajectory candidate for the approach trajectory and the contact trajectory. That is, here, the approach trajectory and the contact trajectory having the same or equal approach risk as the detour trajectory for comparison are specified as the trajectory candidates. As for the detour trajectory, the detour trajectory generation function 121 considers the presence of a fixed obstacle as well, and selects one trajectory as the trajectory candidate in the same manner as the procedure in the first embodiment.

  In the trajectory candidate search unit 117 having the above configuration, different types of trajectory candidates are generated according to the conditions as follows. In other words, when the detour possibility determination unit 115 determines that the detour is “permitted” and the pass-through space determination unit 116 determines that the pass-through space is “present”, the detour trajectory, the approach trajectory, and the contact trajectory are respectively trajectory candidates. Is generated. In addition, when the detour possibility determination unit 115 determines that the detour is “impossible” and the pass-through space determination unit 116 determines that the pass-through space is “present,” the trajectory candidates for the approach trajectory and the contact trajectory are generated. Furthermore, irrespective of whether or not the detour is possible by the detour determination unit 115, when the passing space determination unit 116 determines that the passing space is “absent”, only the trajectory candidate of the contact trajectory is generated.

In the optimum trajectory extraction unit 118, for each of the plurality of trajectory candidates, similarly to the optimum trajectory extraction unit 45 of the first embodiment (see FIG. 6), the moving energy corresponding to the interference avoidance energy _Er of the first embodiment is used. E _r is calculated, and a trajectory candidate with the smallest moving energy _Er is extracted as an optimal execution trajectory with the lowest trajectory cost.

That is, here, the moving energy _Er for the detour trajectory and the approach trajectory is obtained by the same cost equation as the above equation (18) used in the first embodiment.

なお、上式において、ｒは、ロボット１００の接触により、人間をロボット１００の反対側に移動させる所望量であり、予め一定値に設定される。Ｃは、当該エネルギー要素における重み付け定数であり、予め一定値に設定され、例えば、上式（１８）における他のエネルギー要素の重み付定数Ａ，Ｂよりも大きい値が設定される。 On the other hand, as shown in the following equation (20), the moving energy _Er for the contact trajectory is calculated by using the cost C · r, which is a parameter corresponding to the amount of movement of the human due to the contact of the robot 100, as a third energy element, first and second energy element _E G 18), obtained by further adding to the _{E D.}

In the above equation, r is a desired amount by which the human is moved to the opposite side of the robot 100 by the contact of the robot 100, and is set to a predetermined value in advance. C is a weighting constant for the energy element, and is set to a constant value in advance. For example, a value larger than the weighting constants A and B of the other energy elements in the above equation (18) is set.

(Action planning procedure in the interference planning unit 103)
Next, the action planning procedure of the robot 100 in the interference planning unit 103 will be described below with reference to the flowchart of FIG.

  First, the approaching state determination unit 105 determines whether the personal space of the robot 100 is in the approaching state located in the human personal space at the present time or not in the non-approaching state (step S401).

  As a result, in the case of the approaching state, the possibility of contact determination unit 106 determines whether there is a possibility that the trunk portion of the robot 100 will make a trunk contact with a human in the future (step S402). Here, when the possibility of the trunk contact is “Yes”, the reverse trajectory for moving the robot 100 in the reverse direction so as to move away from the human by the reverse trajectory generation function 112 of the emergency avoidance action selecting unit 108. The action that is generated and moves the robot along the reverse trajectory is planned (step S403). Here, when the movement is impossible, the action of temporarily stopping the robot 100 is planned by the temporary stop function 113.

  On the other hand, when the possibility of the trunk contact is “absent” in the approaching state, a different plan is made depending on whether or not there is any action to date (step S404). First, when the approaching action has not been performed, it is assumed that the human H is not ready to approach the approach of the robot 100. Therefore, the same action as in the case where the possibility of the trunk contact is “Yes” is given. Is planned (step S403). That is, at this time, a reverse trajectory is generated, and an action of temporarily stopping the robot 100 when the robot 100 cannot move in the reverse direction is planned. Conversely, when the action has already been taken, it is assumed that the human readiness is in place to some extent. Therefore, the approach trajectory generating function 111 of the emergency avoidance action selecting unit 108 sets the approach trajectory for avoiding the robot 100 and the human trunk contact in a state where the robot 100 enters the personal space without expecting the human avoidance action. The action that is generated and moves the robot 100 along the approach trajectory is planned (step S405).

  On the other hand, when the robot 100 is in the non-approaching state located outside the human personal space at the present time, the action plan of the robot 100 is determined in the following procedure.

  First, the preparation time determination unit 107 determines whether there is a work preparation time required for the robot 100 to work on a human (step S406).

  When the preparation time is “absent”, similarly to the case where the possibility of the trunk contact in the approaching state is “absent”, the emergency avoidance action selecting unit 108 Thereby, the action of the robot 100 is planned (steps S403 to S405).

  On the other hand, when the preparation time is “Yes”, the following procedure is performed in the normal avoidance action selecting unit 109.

  First, the detour permission / inhibition determination unit 115 determines whether there is a relative distance at which a detour path can be physically planned based on the relative positional relationship between the robot 100 and a human at the present time (step S407). In addition, the passing space determination unit 116 determines whether there is a passing space (steps S408 and S409).

  Therefore, in the case of the detour “possible”, the trajectory candidate search unit 117 generates trajectory candidates of different types of combinations according to the presence or absence of a passing space. That is, when the passing space is “present”, a trajectory candidate including a detour trajectory, an approach trajectory, and a contact trajectory is generated (step S410). On the other hand, when there is no passing space due to the presence of a fixed obstacle such as a wall or the like, a trajectory candidate including a contact trajectory is generated (step S411).

  Also, in the case of the detour “impossible”, the trajectory candidate search unit 117 generates trajectory candidates of different types of combinations according to the presence / absence of a passing space. That is, when the passing space is “present”, a trajectory candidate including an approach trajectory and a contact trajectory is generated (step S412). On the other hand, when the passing space is “absent”, a trajectory candidate including a contact trajectory is generated (step S411).

  Then, for each of the obtained trajectory candidates, the trajectory candidate having the lowest trajectory cost is determined as the execution trajectory by the cost calculation in the optimum trajectory extraction unit 118, and the action content specifying unit 119 acts on the trajectory according to the type of the execution trajectory. The action is specified (Step S413).

  The above-described action planning process is repeatedly performed at regular intervals until the robot 100 reaches the destination (step S414).

  According to the above-described second embodiment, even if an unexpected situation such as the robot 100 suddenly entering the personal space of the human due to the existence of a blind spot or the like in the course of the robot 100, the mutual unexpected Efficient movement of the robot 100 to the destination is possible in consideration of human psychology while avoiding stem contact. Further, it is possible to select a path for passing the human 100 in a state where the robot 100 enters the personal space of the human without causing discomfort to the human as much as possible. Can formulate action plans.

  The robot according to the present invention is not limited to the autonomous mobile robots 10 and 100 described in each of the above embodiments, but autonomously travels in a predetermined space such as an automobile, a ship, or a flying object. In addition to the movable movable body, a manipulator such as a robot arm that operates in a predetermined range of space may be used, and these operation plans can be performed as described above.

  Further, as the moving obstacle of the present invention, in addition to the human being described in each of the above embodiments, the present invention can also be applied to control for avoiding interference with moving objects such as bicycles, automobiles, other autonomous mobile robots, and animals. In this case, when estimating the degree of recognition of the moving obstacle, if the estimation target is a moving object driven by a human, it can be performed based on the recognition state of the driver, for example, as described above. . When the estimation target is not a human like other robots, a sensor, a camera, and the like for the other robots and the like to recognize the surrounding environment are provided as the detection device 12 including the recognition state detection sensor 19. For example, it is possible to detect a relative direction in a part as a recognition state and estimate the recognition degree in the same procedure as described above based on the detection result.

  In addition, the configuration of each unit of the apparatus according to the present invention is not limited to the illustrated configuration example, and various changes can be made as long as substantially the same operation is achieved.

DESCRIPTION OF SYMBOLS 10 Robot 11 Operation part 12 Detecting device 13 Control device 21 Interference degree determination means 22 Recognition degree estimation means 23 Action planning means 24 Achievement estimation means 25 Plan adjustment means 26 Operation instruction means 32 Interference avoidance action determination part 37 Action content specification part 38 Execution trajectory identification unit 40 Existing area identification function 41 Interference angle calculation function 42 Degree of consolidation determination function 44 Orbit candidate search unit 45 Optimal trajectory extraction unit 47 Interference time calculation function 48 Constant velocity trajectory generation function (trajectory generation function)
49 Acceleration / deceleration trajectory generation function (trajectory generation function)
Reference Signs List 100 Robot 103 Interference planning unit 108 Emergency avoidance action selection unit 109 Normal avoidance action selection unit 111 Approach trajectory generation function 112 Reverse trajectory generation function 113 Temporary stop function 117 Trajectory candidate search unit 118 Optimal trajectory extraction unit 121 Detour trajectory generation function 122 Approach trajectory generation function 123 Contact trajectory generation function 124 Proximity energy calculation function 125 Trajectory candidate specification function A1 Synchronization action area (first area)
A2 Claiming action area (second area)
A3 Area outside interference avoidance behavior (third area)
H human (moving obstacle)

Claims (11)

A predetermined operation unit, a detection device that detects position information of a moving obstacle present in the vicinity, and the operation that avoids future interference with the moving obstacle based on a detection result of the detection device. A control device for controlling the operation of the unit,
The control device plans an action of the robot so as to move the robot to a target position according to a surrounding situation, and an interference degree determination unit that determines a possibility that the robot will interfere with the moving obstacle in the future. Action planning means, comprising an operation command means for giving an operation command to the operation unit to execute the action planned by the action planning means,
The action planning means, when the interference degree determination means determines that the robot may interfere with the moving obstacle in the future, the movement of the robot to avoid the interference, Including an interference avoidance action determining unit that determines different interference avoidance actions according to the current relative relationship with the obstacle,
In the interference avoiding action determining unit, a synchronizing action in which the robot avoids interference in accordance with the movement of the moving obstacle, and a moving direction of the robot insisting on the moving obstacle and avoiding interference with the moving obstacle. A robot characterized in that one of actions is selected from an asserting action including a working action expecting an action. A predetermined operation unit, a detection device that detects position information of a moving obstacle present in the vicinity, and the operation that avoids future interference with the moving obstacle based on a detection result of the detection device. A control device for controlling the operation of the unit,
The control device plans an action of the robot so as to move the robot to a target position according to a surrounding situation, and an interference degree determination unit that determines a possibility that the robot will interfere with the moving obstacle in the future. Action planning means, comprising an operation command means for giving an operation command to the operation unit to execute the action planned by the action planning means,
The action planning means, when the robot has a possibility of interfering with the moving obstacle in the future by the interference degree judging means, as a behavior of the robot to avoid the interference, the current action with the moving obstacle Including an interference avoidance action determination unit that determines different interference avoidance actions according to the relative relationship of
In the interference avoiding action determination unit, an action content that determines a degree of assignment that is a degree at which the robot yields the path to the moving obstacle in accordance with the relative relationship, and specifies an action content of the interference avoidance with respect to the moving obstacle. A robot comprising a specific part. The action content specifying unit has an existing area specifying function to specify where the robot is present in a plurality of areas set according to the relative position and relative speed of the robot and the moving obstacle,
In the existing area specifying function, from the detection result of the detection device, to determine a relative distance for determination by converting the estimated interference time from the current time required until the interference to the distance between the robot and the moving obstacle in the relative direction, 3. The robot according to claim 2, wherein the existing area is specified according to the relative distance for determination. The area is divided into first, second, and third areas in ascending time required for the interference,
In the action content specifying unit, when the robot is present in the first area, a tuning action in which the robot avoids the interference of the moving obstacle and avoids the interference only by the robot is selected, and the robot performs the second action. When the robot is present in the second area, an assertion action including a challenge action that lowers the degree of consolidation than in the case of the synchronization action and expects an interference avoidance action of the moving obstacle is selected, and the robot performs the third action. 3. The robot according to claim 2, wherein an action not yet conscious of avoiding interference is selected when the robot exists in the area. The action content identification unit, an interference angle calculation function to calculate the interference angle of the robot and the moving obstacle at the time of the interference, respectively, based on the interference angle, by determining the degree of consolidation for each of the areas, Further having a consolidation degree determination function for specifying the behavior of the robot for avoiding interference,
The said interference angle is an angle formed between the direction of movement of the robot or the moving obstacle itself and the direction from the robot or the moving obstacle to their interference point. Robot.   In the assignment degree determination function, the assignment degree is determined according to the difference between the respective interference angles of the robot or the moving obstacle, and when the difference is less than a predetermined value, the assignment degree is greater than when the difference is equal to or more than the predetermined value. The robot according to claim 5, wherein is set higher. The control device further includes a recognition degree estimating unit that estimates a recognition degree indicating a degree of recognition of the moving obstacle with respect to the robot using a detection result of the detection device,
7. The robot according to claim 5, wherein in the assignment degree determination function, the assignment degree is determined according to the recognition degree, and the assignment degree is set lower as the recognition degree is larger. 8.   The control device verifies the operation state of the moving obstacle by the action of the robot performed in the previous stage using the detection result of the detection device, so that the movement to the moving obstacle by the action in the previous stage is performed. 3. The robot according to claim 1, further comprising: an achievement level estimating unit for estimating the achievement level of the intention transmission; and a plan adjusting unit for changing an action plan of the robot based on the estimation result of the achievement level. . The achievement degree estimating means estimates that the achievement degree is based on a relative distance between the robot and the moving obstacle at the time of the closest approach in the future, and that the moving obstacle avoids the robot as expected. The first evaluation to be performed, the second evaluation to be estimated that the state of the possibility of future interference has not been resolved, or the third to be estimated that the moving obstacle is avoiding the robot more than expected. Judged by any of the evaluations,
The plan adjustment means does not change the action plan already determined when the achievement degree is the first evaluation, and when the achievement degree is the second evaluation, the action planning means The action plan is changed so as to reconstruct the action plan, and the action plan is adjusted such that when the achievement degree is the third evaluation, a new trajectory that is more straight toward the target position is generated. 9. The robot according to claim 8, wherein the robot is operated. In the action planning device that operates the robot so as to avoid future interference with the moving obstacle in accordance with the detection result of the position information of the moving obstacle existing around,
Interference degree determination means for determining the possibility that the robot will interfere with the moving obstacle in the future, and action planning means for planning the behavior of the robot so as to move the robot to a target position according to the surrounding situation. Prepared,
The action planning means, when the interference degree determination means determines that the robot may interfere with the moving obstacle in the future, the movement of the robot to avoid the interference, Including an interference avoidance action determining unit that determines different interference avoidance actions according to the current relative relationship with the obstacle,
In the interference avoiding action determining unit, a synchronizing action in which the robot avoids interference in accordance with the movement of the moving obstacle, and a moving direction of the robot insisting on the moving obstacle and avoiding interference with the moving obstacle. An action planning device for a robot, wherein one of actions is selected from a claiming action including a working action expecting an action. According to a detection result of the position information of a moving obstacle existing in the vicinity, in a program for performing an action plan for operating the robot so as to avoid future interference with the moving obstacle,
Interference degree determination means for determining the possibility of the robot interfering with the moving obstacle in the future, and action planning means for planning the behavior of the robot so as to move the robot to a target position according to the surrounding situation, Let the computer work,
The action planning means, when the interference degree determination means determines that the robot may interfere with the moving obstacle in the future, the movement of the robot to avoid the interference, Including an interference avoidance action determining unit that determines different interference avoidance actions according to the current relative relationship with the obstacle,
In the interference avoiding action determining unit, a synchronizing action in which the robot avoids interference in accordance with the movement of the moving obstacle, and a moving direction of the robot insisting on the moving obstacle and avoiding interference with the moving obstacle. An action planning program for a robot, characterized in that one of the actions is selected from a claiming action including a demanding action.

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