JP2021117695A - Method for controlling moving robot - Google Patents

Abstract

To achieve both measurement of environmental physical quantity and action different from the measurement of the environmental physical quantity in operation of a robot.SOLUTION: A control device of a robot moves the robot toward a measurement planned place of environmental physical quantity. The control device detects interruption that occurs during movement of the robot, and copes with the interruption. The control device starts to measure the environmental physical quantity in the case that a measurement start condition including that the robot is in a movement stop state is satisfied during coping with the interruption.SELECTED DRAWING: Figure 11

Description

The present invention relates to the control of a moving robot.

Robots that automatically measure environmental physical quantities are known. For example, Patent Document 1 describes "a robot 100 that guides a guide target person to a destination within a guideable range by moving according to an instruction from a guide target person or an instruction from the outside, and a robot control that controls the robot 100. It is a robot control system including the device 110. The robot 100 includes a measurement sensor that measures at least the surrounding environment including temperature, and a movement route of the robot 100 for guiding a person to be guided to a destination. Set and execute the measurement of the environment by the measurement sensor on the set movement route. For the measurement of the environment, the measurement history is stored in the history table showing the measurement history for each area in which the guideable range is divided. " Disclose that (summary).

JP-A-2018-160210

Correct measurement of environmental physical quantities such as temperature and humidity requires the passage of a specific response time at the measurement point. However, since the robot of Patent Document 1 measures the environmental physical quantity when passing through one point on the movement route, the environmental physical quantity cannot be measured correctly. On the contrary, if the robot of Patent Document 1 waits for a certain time to elapse at the measurement point in order to correctly measure the environmental physical quantity, the movement to the destination is interrupted. That is, the robot of Patent Document 1 can only perform either the measurement of the environmental physical quantity or the movement to the destination.

Therefore, a technique capable of accurately measuring the surrounding environmental physical quantity and performing a different behavior from the measurement of the environmental physical quantity is desired.

One aspect of the invention disclosed in the present application is a method in which a control device controls a moving robot. The control device moves the robot toward a measurement planning point of an environmental physical quantity, detects an interrupt generated during the movement of the robot, executes an action for the interrupt, and during the action, the above-mentioned When the measurement start condition including the robot being in the movement stopped state is satisfied, the measurement of the environmental physical quantity is started.

According to a typical embodiment of the present invention, in the operation of the robot, the measurement of the environmental physical quantity and the behavior different from the measurement of the environmental physical quantity can be compatible with each other. Issues, configurations and effects other than those described above will be clarified by the following description of embodiments for carrying out the invention.

It is a perspective view which shows an example which a robot performs an environmental physical quantity at a measurement plan point in a patrol monitoring task. FIG. 5 is a plan view showing an example in which a robot performs an environmental physical quantity at a measurement planning point in a patrol monitoring task. A configuration example of an information processing system is schematically shown. It is a block diagram which shows the hardware configuration example of a server. It is a block diagram which shows the hardware configuration example of a robot. It is a block diagram of the logical configuration example of the control device of a robot. The target area and planned route of the patrol monitoring task by the robot are shown. An example of a planned measurement point for environmental physical quantities by a robot is shown in the office. It is a perspective view which shows typically how a robot measures an environmental physical quantity. It is a top view which shows typically how a robot measures an environmental physical quantity. An example of a flowchart of robot patrol monitoring is shown. An example of a flowchart for measuring an environmental physical quantity at a planned measurement point is shown. An example of a flowchart for measuring an environmental physical quantity outside the planned measurement point is shown. An example of an interrupt detection flowchart is shown. An example of a scenario of a task executed by the coping unit in response to an interrupt generated while moving is shown. It is a perspective view which shows typically the operation of the robot with respect to the interrupt called by a person. It is a top view which shows typically the operation of a robot in response to an interrupt called by a person. It is a perspective view which shows typically the operation of the robot with respect to the interrupt which found an abnormality. It is a top view which shows typically the operation of the robot with respect to the interrupt which found an abnormality. It is a perspective view which shows typically the operation of the robot with respect to the interrupt which received the command to call out to a specific person. It is a top view which shows typically the operation of the robot with respect to the interrupt which received the command to call out to a specific person. An example of a flowchart for executing a scenario in which the dialogue is rounded up after the measurement of the environmental physical quantity is completed in dealing with the call or the interruption of the call is shown. It is a perspective view which shows typically how a robot ends a dialogue with a person and moves to the next measurement plan point. It is a top view which shows typically how a robot ends a dialogue with a person and moves to the next measurement plan point. Another example of the robot patrol monitoring flowchart is shown. An example of a flowchart for measuring an environmental physical quantity outside the measurement planning point corresponding to the flow of FIG. 25 is shown.

Hereinafter, embodiments will be described with reference to the accompanying drawings. It should be noted that the present embodiment is merely an example for realizing the present invention and does not limit the technical scope of the present invention.

<Outline of patrol monitoring task>
FIG. 1 is a perspective view showing an example in which a robot performs an environmental physical quantity at a measurement planning point in a patrol monitoring task. FIG. 2 is a plan view showing an example in which a robot performs an environmental physical quantity at a measurement planning point in a patrol monitoring task. The robot makes a turning motion during the measurement of the environmental physical quantity at a specific measurement planned point. The environmental physical quantity is, for example, temperature, humidity, carbon dioxide concentration, fine particulate matter concentration, and the like.

The robot 101 patrols a movable range in, for example, a shopping mall, a department store, an exhibition hall, a commercial building, an office building, an airport, or a station yard. Here, an office will be described as an example. The moving range in the office is, for example, the passage 110 excluding the desk d1 and the desk d2, and the office worker and the robot 101 can move. The passage 110 is composed of a group of divided regions (AX to CZ).

The robot 101 moves from the start position 103 to the passage 110 to monitor the surroundings, and executes the task of measuring the environmental physical quantity at at least one measurement planning point in each of the divided area groups AX to CZ. It has become. The robot 101 is currently measuring the environmental physical quantity at the measurement planned point 102 in the area CZ while performing a turning that is a non-moving action. The turning is an operation in which the robot 101 rotates around its own center of gravity in the plan view.

Correct measurement of environmental physical quantities such as temperature and humidity requires the passage of a specific response time at the measurement point. In this way, the robot 101 can efficiently perform the task by turning the non-moving behavior during the elapse of a certain response time after starting the measurement of the environmental physical quantity.

Further, as will be described later, in the patrol monitoring task of measuring the environmental physical quantity, the robot 101 stops moving and deals with a predetermined interrupt. The robot 101 measures the environmental physical quantity during the coping. In this way, the robot 101 can efficiently perform the measurement of the environmental physical quantity and the non-moving action executed in the movement stopped state.

<System configuration example>
FIG. 3 schematically shows a configuration example of an information processing system. The information processing system 300 includes a server 301 and one or more robots 101. The server 301 and the robot 101 are communicably connected via the network 302. The server 301 includes a database 303 that stores information used by the robot 101. The database 303 stores information for controlling the robot 101 and information collected by the robot 101.

FIG. 4 is a block diagram showing a hardware configuration example of the server 301. The server 301 includes a processor 401, a storage device 402, an input device 403, an output device 404, and a communication interface (communication IF) 405. The processor 401, the storage device 402, the input device 403, the output device 404, and the communication IF 405 can communicate with each other via the bus 406. The number of these components is arbitrary, for example, the server 301 may include a plurality of processors 401 and a plurality of storage devices 402.

The processor 401 controls the server 301. Processor 401 executes the program. The storage device 402 serves as a work area for the processor 401. The storage device 402 also includes a non-transient storage medium that stores various programs and data executed by the processor 401. The storage device 402 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like.

The input device 403 inputs data. The input device 403 includes, for example, a keyboard, a mouse, a touch panel, a numeric keypad, and a scanner. The output device 404 outputs data. The output device 404 includes, for example, a display and a printer. The communication IF405 connects to the network and transmits / receives data.

FIG. 5 is a block diagram showing a hardware configuration example of the robot 101. The robot 101 includes a processor 501, a storage device 502, a drive circuit 503, a camera 504, a laser range finder 505, a touch panel 506, a microphone 507, a speaker 508, a display 509, and an IMU (Inertial measurement unit). Includes 510 and.

The robot 101 further includes a humidity sensor 511, a temperature sensor 512, a CO ₂ sensor 513, a PM2.5 sensor 514, and a communication IF 515. These sensors 511 to 514 are included in a group of environmental measurement sensors for measuring environmental physical quantities. The number of each of the above components of the robot 101 is arbitrary, and for example, the robot 101 may include a plurality of processors 501 and a plurality of storage devices 502.

The processor 501 controls the robot 101. Processor 501 executes the program. The storage device 502 serves as a working area for the processor 501. The storage device 502 also includes a non-transient storage medium that stores various programs and data executed by the processor 501. The processor 501 and the storage device 502 are included in the control device that controls the robot 101.

The drive circuit 503 drives a drive mechanism including a moving mechanism of the robot 101 according to an instruction from the processor 501. The drive mechanism includes the arms, legs, joints of the robot 101, a movement mechanism including wheels, and the like.

The camera 504 captures an image of the subject viewed from the robot 101 and outputs it as image data to the storage device 502. The image data from the camera 504 is used, for example, for recognizing the characteristics of a person, detecting an obstacle (including a person) existing in the traveling direction of the robot 101, and determining whether or not the detected person is a suspicious person. Be done. The camera 504 may be a camera capable of measuring a distance such as a stereo camera or an RGBD camera.

The laser range finder 505 measures the distance and direction of the laser irradiation target (for example, a user or an obstacle). The laser range finder 505 includes, for example, a laser range finder. The touch panel 506 is provided on the display 509, and receives the designation of the information displayed on the display 509 by a contact operation from the outside.

The microphone 507 receives an input of voice from the outside and outputs it as voice data to the storage device 502. The speaker 508 outputs voice based on the voice data stored in the storage device 502. The display 509 displays an image based on the image data stored in the storage device 502. The IMU 510 is a sensor device including a gyro sensor, an acceleration sensor, and a magnetic sensor, and detects the posture and orientation of the robot 101.

Further, the robot 101 can execute self-position estimation and map creation by using, for example, SLAM (Simultaneus Localization and Mapping) technology, using a camera 504, a laser range finder 505, and an IMU 510. Then, the robot 101 can generate a movement path R from the current position of the robot 101 to a destination point designated in advance by the map created by SLAM and the self-position estimation, and can move along the movement path R. It becomes. The created map information is, for example, uploaded from the robot 101 to the server 301 and stored in the storage device 402 from the server 301. The map information can be shared among a plurality of robots 101, for example.

FIG. 6 is a block diagram of a logical configuration example of the control device of the robot 101. As described above, the hardware configuration of the control device of the robot 101 can include one or more processors and one or more storage devices. Further, the control device can include a component mounted in the robot 101 as well as a component that communicates with the robot 101 via a network.

In the configuration example of FIG. 6, the control device 550 includes a detection unit 551, a movement control unit 552, a coping unit 553, a generation unit 554, a planning unit 555, a spatial information 556, a measurement unit 557, a measurement determination unit 558, and a search unit 559. including. Functional components 551 to 555 and 557 to 559 can be implemented, for example, by a program of the same name and processor 501 operating according to the program. Spatial information 556 is stored in the storage medium of the storage device 502. The operation of the functional components will be described later.

<Measurement of environmental physical quantities in the patrol monitoring task>
FIG. 7 shows a target area and a planned route of the patrol monitoring task by the robot 101. As described above, the robot 101 patrols a movable range in a shopping mall, a department store, an exhibition hall, a commercial building, an office building, an airport, or a station yard. Here, it is assumed that the target area is an office. The moving range in the office 601 is, for example, a passage excluding the fixed obstacle 602, and the office worker or the robot 101 can move. In FIG. 7, one of the plurality of obstacles is indicated by reference numeral 602 as an example.

The robot 101 performs self-position estimation and map creation while moving and observing the surroundings. A map generated in advance may be used. The robot 101 sequentially generates a movement path 603 and moves along the movement path 603. The robot 101 sets a plurality of measurement planning points for measuring the environmental physical quantity in the movement path 603. When no interrupt occurs, the robot 101 stops at each of the set measurement planned points and measures the environmental physical quantity. As mentioned above, the measured environmental physical quantities include, for example, humidity, temperature, CO ₂ and PM2.5.

FIG. 8 shows an example of a planned measurement point of an environmental physical quantity by the robot 101 in the office 601. The control device 550 of the robot 101 divides the office 601 into a plurality of areas 605, and sets one or more measurement planning points on the movement path 603 in each area 605. In the example of FIG. 8, the shape and area of the region 605 are common, but they may have different shapes or areas.

In the example of FIG. 8, one measurement planning point is set in one area 605. Specifically, the measurement planned point 652 is set in the area 605 where the turning operation is planned, and the measurement planned point 651 is set in the area 605 where the turning operation is not planned. The robot 101 plans to stop moving at the planned measurement points 651 and 652 and execute the measurement of the environmental physical quantity.

At the planned measurement point 651, it is planned to perform a turning operation while measuring the environmental physical quantity. The turning operation is one of the non-moving operations executed in the movement stopped state. Examples of other non-moving movements include "head control", "sound input", "shooting" and the like. The head control is an operation of changing the direction of the head of the robot 101 from side to side and up and down. As for the sound input, the microphone 507 mounted on the robot 101 receives the sound input from the outside and outputs it as voice data to the storage device 402. In the photographing, the camera 504 captures an image of a specific external object and outputs the image data to the storage device 402.

9 and 10 are perspective views and plan views schematically showing how the robot 101 measures environmental physical quantities. The robot 101 moves while monitoring the surroundings and invades the area 605. When the robot 101 arrives at the planned measurement point 651, the robot 101 stops and executes a task of measuring the environmental physical quantity. In the examples shown in FIGS. 9 and 10, the robot 101 measures the environmental physical quantity in the movement stopped state without performing the turning operation. When the measurement of the environmental physical quantity is completed, the robot 101 starts moving along the planned movement path 603.

As described above, if no interruption occurs in the patrol monitoring task, the robot 101 moves along the planned movement path 603 and stops at the measurement planning point 651 or 652 in each of the divided regions 605. , Measure environmental physical quantities. On the other hand, in the patrol monitoring task, a specific interrupt may occur, and the robot 101 may stop moving in response to the interrupt.

When the measurement start condition including the state of movement stop is satisfied at a point different from the measurement planned point while coping with the generated interrupt, the robot 101 of the present embodiment has an environmental physical quantity at the point. Start measuring. By simultaneously measuring the environmental physical quantity that requires a specific response time and dealing with interrupts, the patrol monitoring task can be executed more efficiently.

<Measurement of environmental physical quantities when dealing with interrupts>
FIG. 11 shows an example of a flowchart of patrol monitoring of the robot 101. This flowchart includes the measurement of the environmental physical quantity at the measurement planned point and the measurement of the environmental physical quantity outside the measurement planned point when dealing with an interrupt generated during movement.

The planning unit 555 refers to the spatial information stored in the storage device 502 and sets the measurement planning point in the next observation target area as the target position (S101). The target position is included in the patrol monitoring management information stored in the storage device 502. Spatial information includes map information including information on the estimated self-position and surrounding space. As described above, for example, by SLAM technology, spatial information is generated and stored in storage device 502 using camera 504, laser rangefinder 505 and IMU510.

Next, the generation unit 554 acquires the target position set by the planning unit 555, further acquires the current position and the map information from the spatial information (S102), and generates a movement route from the current position to the target position. (S103), and include it in the patrol monitoring management information. The movement control unit 552 acquires the movement route generated by the generation unit 554, refers to the spatial information, and starts moving toward the target position along the movement route (S104).

When the detection unit 551 detects an interrupt while the robot 101 is moving, the detection unit 551 notifies the coping unit 553 of the information (S105). The interruption includes, for example, the discovery of a person or object that hinders movement, a call from a nearby person, the discovery of an abnormality in the environment, the reception of a command from the outside to call a nearby person, and the like.

If an interrupt does not occur during movement (S105: NO), the movement control unit 552 continues to move toward the target position (S106: NO), and when it reaches the target position (S106: YES), the robot 101 moves. It stops and notifies the measurement determination unit 558 that it has arrived at the target position. When the measurement determination unit 558 is notified that the stop position is the target position which is the measurement planning point, the measurement determination unit 558 instructs the measurement unit 557 to perform the measurement. The measurement unit 557 measures the environmental physical quantity at the measurement planning point where the robot 101 is stopped (S107).

FIG. 12 shows an example of a flowchart of measurement of an environmental physical quantity (S107) at a measurement planning point. The measurement of the environmental physical quantity at the measurement planning point is a thread different from the handling of the movement and interruption of the robot 101. The measuring unit 557 starts measuring the environmental physical quantity (S131). The measuring unit 557 waits for a predetermined time to elapse (S132: NO). The predetermined time is longer than the response time of each sensor, so that each sensor can appropriately measure the environmental physical quantity.

When the predetermined time elapses (S132: YES), the measurement unit 557 completes the measurement (S133), and notifies the planning unit 555 of the completion of the measurement. The planning department 555 assumes that the environmental physical quantity in the current area has been measured in the patrol monitoring management information (S134). As a result, the measurement of the area where the measurement is completed once is omitted.

Returning to FIG. 11, the planning unit 555 refers to the patrol monitoring management information and the spatial information, and determines whether the measurement of the environmental physical quantity is completed in all the areas (S112). When the measurement of the environmental physical quantity in all the regions is completed (S112: YES), this flow ends. When the area for measuring the environmental physical quantity remains (S112: NO), the flow returns to the step.

In step S105, when an interrupt occurs during movement (S105: YES), the coping unit 553 takes a coping with the generated interrupt (S108). Dealing with interrupts will be described later. The control device 550 measures the environmental physical quantity outside the measurement planned point while dealing with the interrupt (S109). The measurement of the environmental physical quantity outside the planned measurement point will be described later with reference to FIG.

The planning unit 555 waits for the response to the interrupt and the completion of the measurement of the environmental physical quantity (S110: NO, S111: NO). When the handling of interrupts and the measurement of the environmental physical quantity are completed (S110: YES, S111: YES), the planning unit 555 refers to the patrol monitoring management information and the spatial information, and the measurement of the environmental physical quantity is completed in all areas. It is determined whether or not it has been done (S112). When the measurement of the environmental physical quantity in all the regions is completed (S112: YES), this flow ends. When the area for measuring the environmental physical quantity remains (S112: NO), the flow returns to the step.

FIG. 13 shows an example of a flowchart for measuring an environmental physical quantity outside the planned measurement point. The measurement of the environmental physical quantity outside the measurement planning point is a thread different from the handling of the movement and interruption of the robot 101.

The measurement determination unit 558 determines whether or not the response unit 553 has completed the response to the interrupt (S150). When the coping unit 553 is coping with the interrupt (S150: YES), it is determined whether the robot 101 is in the movement stopped state (S151). For example, the measurement determination unit 558 determines that the robot 101 is in the movement stopped state when the change in the estimated self-position within the unit time is within the preset range. Alternatively, when the non-movement operation to be executed in the movement stop state is preset and the non-movement operation is executed, it may be determined that the robot 101 is in the movement stop state.

The measurement determination unit 558 repeats determination of whether or not the response to the interrupt is completed and whether or not the robot 101 is in the movement stop state (S150: YES, S151: NO) until the robot 101 is in the movement stop state. When it is determined that the handling of the interrupt is completed (S150: NO), it is determined that the movement stop state required for measuring the environmental physical quantity has not been reached, and this flow ends. When it is determined that the robot 101 is in the movement stopped state (S151: YES), the measurement determination unit 558 determines whether the environmental physical quantity in the current region has not been measured by referring to the patrol monitoring management information (S152). When the environmental physical quantity in the current area has been measured (S152: NO), this flow ends.

When the environmental physical quantity in the current area has not been measured (S152: YES), the measurement determination unit 558 acquires the information of the measurement planned point in the current area from the patrol monitoring management information, and the current position is the measurement planned point. From (S153), it is determined whether or not the range is out of the preset range. When the current position is within a preset range from the planned measurement point (S153: NO), the measurement unit 557 executes the measurement of the environmental physical quantity at the current position (S159). The measurement of the environmental physical quantity in step S159 is the same as the description with reference to the flowchart of FIG.

When the current position is outside the preset range from the planned measurement point (S153: YES), the measurement determination unit 558 determines whether or not the current position is a position suitable for measurement (S154). Examples of improper positions for measurement include a heat source existing within a preset range from the current position, a recessed position, a position blocking a passage, and the like.

For example, when the position of an object in the patrol monitoring area is fixed and patrol monitoring is performed according to a map prepared in advance, the measurement determination unit 558 refers to a map in which an inappropriate position for measurement is registered in advance. It is possible to determine whether or not the current position is suitable for measurement. In this way, it is possible to easily and effectively identify an inappropriate position.

When there is no map prepared in advance or the position of the object in the patrol monitoring area changes, the measurement determination unit 558 performs three-dimensional measurement and object detection on the spot to measure the three-dimensional information and the object. From the information, determine whether the current position is suitable for measuring environmental physical quantities. As a result, it is possible to identify an inappropriate position for measuring an environmental physical quantity even if there is no information on an inappropriate position specified in advance.

When the current position is suitable for measuring the environmental physical quantity (S155: NO), the measuring unit 557 executes the measurement of the environmental physical quantity at the current position (S159). When the current position is inappropriate for measuring the environmental physical quantity (S155: YES), the search unit 559 is most suitable for measuring the environmental physical quantity from the current position in the current area with reference to the spatial information 556. Search for a close position (S156). The criteria for determining the region appropriate (inappropriate) for measurement are as described above.

When the search unit 559 finds a position suitable for measuring the environmental physical quantity, the search unit 559 sets the position as the target position in the patrol monitoring management information, and instructs the generation unit 554 to generate a route. The generation unit 554 generates a route to the target position, and instructs the movement control unit 552 to move. The movement control unit 552 acquires the target position and moves the robot 101 to that position (S157, S158: NO).

When the movement control unit 552 arrives at the target position, the movement control unit 552 notifies the measurement determination unit 558 of the target position (S158: YES). In response to the notification, the measurement determination unit 558 instructs the measurement unit 557 to measure the environmental physical quantity. The measuring unit 557 executes the measurement of the environmental physical quantity at the current position (S159).

In the above example, the measurement start condition of the environmental physical quantity includes that the robot 101 is in the movement stopped state and that the robot 101 is outside the region inappropriate for the measurement of the environmental physical quantity. By starting the measurement of the environmental physical quantity in the movement stop state that occurs during the response to the interrupt that occurred during the movement, the response to the interrupt and the measurement of the environmental physical quantity are executed at the same time, and the patrol monitoring accompanied by the measurement of the environmental physical quantity is performed. It can be done efficiently. Further, by waiting for the completion of the measurement of the environmental physical quantity and restarting the movement, the measurement of the environmental physical quantity accompanied by the response time can be performed more appropriately.

Before starting the measurement of the environmental physical quantity at a point different from the planned measurement point, it is determined whether the current position is an inappropriate position for the measurement of the environmental physical quantity, and if it is an inappropriate position, the environment is moved to an appropriate position. By measuring the physical quantity, the environmental physical quantity can be measured more appropriately.

Hereinafter, examples of interrupts generated while the robot 101 is moving, coping with these interrupts, and measurement of environmental physical quantities during that interrupt will be described. FIG. 14 shows an example of a flowchart for detecting an interrupt accompanied by a movement stop state. This flow is repeatedly executed.

The detection unit 551 senses the outside world of the robot using a camera 504, a laser range finder 505, a microphone 507, etc. to acquire information (S171), and detects an abnormality from the obtained information (S172). If there is no abnormality (S173: NO), this flow ends. When an abnormality is detected (S173: YES), the detection unit 551 determines that the robot 101 needs to perform a new action, and the position, area size, and area of the abnormality detected by the coping unit 553 are determined. Notify related information such as the image of (S174).

Further, the detection unit 551 senses the outside world of the robot using the microphone 507 to acquire information (S171), and extracts voice from the obtained information (S175). The detection unit 551 analyzes the extracted voice and determines whether or not a person has called out (S176). If no person has called out (S176: NO), this flow ends. When a person calls out (S176: YES), the detection unit 551 determines that the robot 101 needs to perform a new action, and the coping unit 553 tells the coping unit 553 about the start time and end time of the extracted voice. , Direction, power, and other related information (S177).

Further, the detection unit 551 detects that the call command to the specific person has arrived at the communication IF 515 from the outside (for example, the server 301 or another robot 101) (S179), and has the position and characteristics indicated by the command. When the relevant person is found (S180), it is notified to the coping unit 553 (S181). To find the person concerned, for example, the face image included in the command is searched from the information obtained by the camera 504. Alternatively, it is discovered by detecting a person from the information obtained by the camera 504, calling the name included in the command to the direction of the detected person, and determining whether the movement of the detected person faces the robot 101. May be determined.

FIG. 15 shows an example 701 of a task scenario executed by the coping unit 553 in response to an interrupt to move. The coping unit 553 executes a coping (task) for each interrupt to the movement according to the scenario 701. Scenario 701 shows a call from a person, anomaly detection, and a call to a specific person as examples of interruption to movement. According to the scenario 701, the measurement of the environmental physical quantity can be efficiently executed in dealing with these interrupts. Note that interrupts different from these may be included, and these interrupts may not be included.

16 and 17 are perspective views and plan views schematically showing the operation of the robot 101 in response to an interrupt called by a person. When the robot 101 is moving toward the measurement planning point 651 in the area 605, the robot 101 is called to the person 104 in the area 605. As shown in FIG. 15, the coping unit 553 instructs the movement control unit 552 to stop the robot 101, turns the direction of the detected voice, detects the person, and executes a dialogue with the person.

As described above, the measuring unit 557 measures the environmental physical quantity at the stop position 657. If the initial stop position is not suitable for measuring the environmental physical quantity, the robot 101 moves to the latest position suitable for the measurement and continues the dialogue. When the dialogue is completed, the coping department 553 completes the interruption of the call and notifies the planning department 555.

18 and 19 are perspective views and plan views schematically showing the operation of the robot 101 in response to an interrupt in which an abnormality is found. The robot 101 discovers the anomaly 721 while moving toward the planned measurement point 651 in the area 605. As shown in FIG. 15, the coping unit 553 determines the influence on the movement, and when it is determined that there is no influence, instructs the movement control unit 552 to stop the robot 101, measures the distance from the abnormality, and measures the distance from the abnormality. If the distance is farther than the preset distance, it approaches anomalies. The coping unit 553 determines the target position with reference to the spatial information 556, and causes the generation unit 554 to generate a movement route.

As shown in FIG. 19, the robot 101 stops at the stop position 657. The measuring unit 557 measures the environmental physical quantity at the stop position 657. As shown in FIG. 15, the coping unit 553 photographs the abnormality 721 at that position, and at the same time, the measuring unit 557 measures the environmental physical quantity. The coping unit 553 transmits the image to the server 301, and if instructed, performs processing accordingly. When the stop position 657 is not suitable for measuring the environmental physical quantity, the robot 101 moves to the position specified by the search unit 559 and stops after taking a picture of the abnormality 721, and the measurement unit 557 measures the environmental physical quantity. I do. When the coping is completed, the coping department 553 notifies the planning department 555 of it.

20 and 21 are perspective views and plan views schematically showing the operation of the robot 101 in response to an interrupt received a command to call a specific person. The robot 101 receives a command when moving toward the planned measurement point 651 in the area 605.

As shown in FIG. 15, when the coping unit 553 calls out to the target person and confirms that the target person has stopped, the coping unit 553 calculates a position for dialogue with the target person, generates a route to that position, and is shown in FIG. As described above, the movement control unit 552 is instructed to stop the robot 101 at the stop position 657, and the dialogue with the person is executed. The measuring unit 557 measures the environmental physical quantity at the stop position 657. If the initial stop position is not suitable for measuring the environmental physical quantity, the robot 101 moves to the latest position suitable for the measurement and continues the dialogue. When the dialogue is completed, the coping unit 553 completes the coping with the call interruption and notifies the planning unit 555.

FIG. 22 shows an example of a flowchart for executing a scenario in which the dialogue is rounded up after the measurement of the environmental physical quantity is completed in dealing with the voiced voice or the voiced interrupt. This makes it possible to prevent the patrol monitoring from being unfavorably affected by the prolonged dialogue.

The coping unit 553 starts the dialogue (S191) and starts the time measurement (S192). The coping unit 553 monitors the elapsed time (S193: NO), and when a predetermined time elapses (S193: YES), executes a scenario for ending the dialogue (S194). The scenario, for example, executes a predetermined utterance. When the scenario for ending the dialogue is completed, the dialogue is completed (S195).

23 and 24 are perspective views and plan views schematically showing how the robot 101 ends the dialogue with the person 104 and moves to the next measurement planning point. The robot 101 interacts with a person in area 605A, executes a scenario to end the dialogue, and ends the dialogue. After that, the robot 101 moves so as to avoid the person 104 so as not to interfere with the person 104, and then moves toward the measurement planning point 651 of the next area 605B.

In the following, another example of patrol monitoring will be described. FIG. 25 shows another example of the flowchart of the patrol monitoring of the robot 101. This flowchart includes the measurement of the environmental physical quantity at the measurement planned point and the measurement of the environmental physical quantity outside the measurement planned point when dealing with an interrupt during movement.

In the example described below, the conditions for starting the measurement of the environmental physical quantity are that the robot 101 is in the movement stopped state, that the robot 101 is outside the region inappropriate for measuring the environmental physical quantity, and that the estimated time of the movement stop state is the environment. Includes sufficient measurement of physical quantities. If the estimated time is insufficient to measure the environmental physical quantity, the measurement of the environmental physical quantity is postponed.

In the flowchart of FIG. 25, steps S201 to S209 are the same as steps S101 to S109 in the flowchart of FIG. In the flow of FIG. 25, the planning unit 555 waits for the completion of the handling of the interrupt (S210: NO). When the measurement of the environmental physical quantity outside the planned measurement point is not executed (S211: NO) and the handling of the interrupt is completed (S210: YES), the planning unit 555 refers to the patrol monitoring management information and the spatial information. , It is determined whether the measurement of the environmental physical quantity is completed in all the regions (S213).

When the measurement of the environmental physical quantity outside the planned measurement point is executed (S211: YES), the planning unit 555 waits for the completion of the handling of the interrupt and the completion of the measurement of the environmental physical quantity (S210: NO, S212: NO). ). When the response to the interruption and the measurement of the environmental physical quantity are completed (S210: YES, S212: YES), the planning unit 555 refers to the patrol monitoring management information and the spatial information, and the measurement of the environmental physical quantity is completed in all areas. It is determined whether or not it has been done (S213).

When the measurement of the environmental physical quantity in all the regions is completed (S113: YES), this flow ends. When the area for measuring the environmental physical quantity remains (S113: NO), the flow returns to the step.

FIG. 26 shows an example of a flowchart for measuring an environmental physical quantity outside the measurement planning point corresponding to the flow of FIG. 25. The measurement of the environmental physical quantity outside the measurement planning point is a thread different from the handling of the movement and interruption of the robot 101.

In the flowchart of FIG. 26, steps S250 to S253 are the same as steps S150 to S153 of the flowchart of FIG. In step S254, the measurement determination unit 558 estimates the duration of the movement stop state in dealing with the generated interrupt. The estimated value is set in advance according to, for example, the interrupt type.

Alternatively, the measurement determination unit 558 can estimate the duration by holding the history of the duration of the movement stop state in dealing with various interrupts in the past and comparing it with the information of the coping by the coping unit 553 this time. .. For example, in a voice interruption, when the word is a greeting, the duration of the movement stopped state is shorter than when the question is premised on a dialogue with a person.

When the estimated time of the movement stop state is equal to or less than the preset threshold value (S255: NO), the measurement of the environmental physical quantity is postponed and this flow ends. When the estimated time of the movement stop state is longer than the preset threshold value (S255: YES), the measurement determination unit 558 determines whether the current stop position is a position suitable for measuring the environmental physical quantity (S). S256). Steps S256 to S261 are the same as steps S154 to S159 in the flowchart of FIG. With this flow, it is possible to prevent the movement stop state in dealing with interrupts from being prolonged unnecessarily by measuring the environmental physical quantity.

It should be noted that the present invention is not limited to the above-described examples, but includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of another embodiment may be added to the configuration of one embodiment. In addition, other configurations may be added, deleted, or replaced with respect to a part of the configurations of each embodiment.

Further, each of the above-described configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

Information such as programs, tables, and files that realize each function is recorded in a memory, hard disk, storage device such as SSD (Solid State Drive), or IC (Integrated Circuit) card, SD card, DVD (Digital Versaille Disc). It can be stored on a medium.

In addition, the control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines necessary for implementation. In practice, it can be considered that almost all configurations are interconnected.

101 robot, 103 start position, 104 person, 110 passage, 300 information processing system, 301 server, 302 network, 303 database, 401 processor, 402 storage device, 403 input device, 404 output device, 405 communication IF, 406 bus, 501 Processor, 502 storage device, 503 drive circuit, 504 camera, 505 laser range meter, 506 touch panel, 507 microphone, 508 speaker, 509 display, 511 humidity sensor, 512 temperature sensor, 513 CO ₂ sensor, 514 PM2.5 sensor, 515 Communication IF, 550 control device, 551 detection unit, 551 movement control unit, 535 coping unit, 554 generation unit, 555 planning unit, 556 spatial information, 557 measurement unit, 558 measurement judgment unit, 559 search unit, 601 office, 602 Fixed obstacle, 603 movement path, 605 area, 651, 652 measurement plan point, 657 stop position, 701 coping scenario, 721 abnormality, AX-CZ area, d1 desk, d2 desk, R movement route

Claims (11)

The control device is a method of controlling a moving robot.
The control device
The robot is moved toward the planned measurement point of the environmental physical quantity, and the robot is moved.
Detects an interrupt that occurs while the robot is moving,
Take action to deal with the interrupt
A method of starting measurement of an environmental physical quantity when a measurement start condition including that the robot is in a movement stopped state is satisfied during the countermeasure. The method according to claim 1.
The control device
A method of omitting the measurement of the environmental physical quantity at the planned measurement point when the position in the movement stopped state is within a preset range with respect to the planned measurement point. The method according to claim 1.
The control device
A method of maintaining the movement stopped state until the measurement of the environmental physical quantity is completed. The method according to claim 1.
The method, wherein the measurement start condition includes that the position of the movement stopped state is outside an inappropriate region. The method according to claim 4.
The method, wherein the inappropriate area is a preset area in the map information. The method according to claim 4.
The control device
In the stopped movement state, the surrounding objects are measured and
A method of determining that the position of the movement stopped state is the inappropriate region when the surrounding object satisfies a preset condition. The method according to claim 1.
The interrupt comprises at least one of a person's voice, anomaly detection, or a person's voice. The method according to claim 1.
The control device
A method of executing a scenario in which the dialogue is rounded up after the measurement of the environmental physical quantity is completed when a dialogue with a person is performed in the countermeasure. The method according to claim 1.
The control device
Estimate the duration of the movement stop state in the above measures, and
When the estimated duration exceeds the threshold value, the measurement of the environmental physical quantity is started, and the measurement is started.
A method of forgoing the measurement of the environmental physical quantity when the estimated duration is less than or equal to the threshold value. The method according to claim 1.
A method in which the measurement of the environmental physical quantity at the measurement planning point is performed together with the non-moving operation of the robot. A moving robot
Sensors for measuring environmental physical quantities and
A movement mechanism for moving the robot and
A control device, which controls the moving mechanism and measures an environmental physical quantity using the sensor, is included.
The control device is
The robot is moved toward the planned measurement point of the environmental physical quantity, and the robot is moved.
Detects an interrupt that occurs while the robot is moving,
Take action to deal with the interrupt
A robot that starts measuring an environmental physical quantity when a measurement start condition including that the robot is in a movement stopped state is satisfied during the countermeasure.

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