JP4232627B2 - Network robot and control method thereof - Google Patents

Description

  The present invention relates to a network robot connected to a network and controlled by a plurality of control devices connected to the network, and a control method therefor.

Conventionally, a network robot connected to a network, connected to the network, and controlled by a plurality of control devices connected to the network has been proposed.
In the control, a priority is assigned to each command so that the command can be flexibly controlled even when commands are simultaneously received from a plurality of control devices, and commands are received in order from the highest priority. It is described in Patent Document 1.
JP-A-9-267283

  However, when the first operation based on a command with a certain priority is completed, it may not be possible to execute the second operation according to the command with the priority of the next order from the termination mode. For example, when the command of the first operation is an operation in a form in which the robot is standing and the second operation is an operation in a sitting state, the second operation is performed as it is in the form in which the first operation is completed. It cannot be executed. In this case, an intermediate command to sit down is required for continuous operation.

In addition, when a command having a higher priority than the command is received during execution of the third operation of a command with a certain priority, and the fourth operation is continuously executed with an interrupt, the continuous execution may be performed depending on the operation. It can be difficult. Specifically, in the case where the third action is a walking action and the fourth action is bent and picks up an object on the ground, the fourth action is continuously performed when the center of gravity is applied to one leg during walking. If you do this, the robot will fall out of balance and fall.
In this case, after the stable state of standing on two legs so that it does not fall easily, adjust the operation switching timing to perform the next operation, or execute the operation to shift to the stable mode before the interrupt operation An intermediate command is required.
As described above, when commands are simultaneously received from a plurality of control devices (a plurality of users), there is a problem that the operation may not always be executed smoothly.

  On the other hand, since the priority setting is set in an external control device connected to the network, for example, it is inappropriate that a certain user always sets the priority to a higher level and exclusively controls the robot. There was a possibility of a control situation.

  Therefore, the problem to be solved by the present invention is a network robot capable of smoothly performing an operation even when connected to a network and controlled by a plurality of users via a control device connected to the network, and a control method therefor Is to provide.

In order to solve the above problems, the present invention has the following configuration as means.
1) A communication means (35) is provided, connected to the network by the communication means (35), and controlled by a command sent from a plurality of users via the control devices (82A, 82B, 812) connected to the network. A network robot,
User information for identifying a licensed user who permits the control among the plurality of users, priority information indicating a priority when the licensed user controls the network robot, and set for each licensed user, after the interrupt control by commands from a licensed user by the network robot another the permission user has higher priority than the one granted the user performed during control of one of said grant user, the interruption the network robot Storage means (32) that stores in advance information indicating whether or not to return to the state before control, and whether or not the user who sent the command when receiving the command is the licensed user. User determination means (31) for determining whether or not based on the user information, and determining the order of control based on the command based on the priority information The interrupt control is executed based on the advance determination means (31), the control means (310) for controlling itself based on the determination of the priority determination means (31), and the operation return necessity information after with the network robot said interrupt control state before the whether the interrupt control is executed determines the operation return determination means for each said one granted user to restore executable as a continuous operation (31), the It is a network robot characterized by comprising.

Moreover, this invention has the following procedure as a means.
2) In a method for controlling a network robot connected to a network and controlled by commands sent from a plurality of users via a control device connected to the network,
The network robot includes a storage unit (32) and a determination unit (31), and the storage unit (32) has user information for specifying a licensed user who permits the control among the plurality of users ; Priority information indicating priority when the licensed user controls the network robot, and the priority information set for each licensed user and executed during control of the network robot by one licensed user among the licensed users advance, the operation returns necessity information the network robot after the interrupt control indicates whether or not to return to the state before the interrupt control due to the command from the other of they said licensed users higher the priority than one licensed user And whether or not the user who sent the command when receiving the command to the judging means (31) from the licensed user. And determining the order of control based on the command based on the priority information, and controlling the network robot after the interrupt control is executed based on the operation return necessity information. a control method for a network robot, characterized in that to determine whether or not to return to the previous state as capable of executing continuous operation in the interrupt control said each one licensed user executed.

  According to the present invention, it is possible to continuously and smoothly execute an operation based on a command sent from a plurality of users via a control device connected to a network.

The best mode for carrying out the present invention will be described with reference to FIGS.
FIG. 1 is a front view showing an embodiment of the network robot of the present invention,
FIG. 2 is a side view showing an embodiment of the network robot of the present invention,
FIG. 3 is a block diagram illustrating an embodiment of the network robot of the present invention.
FIG. 4 is a table showing an example of user information in the embodiment of the network robot of the present invention.
FIG. 5 is a table showing an example of the operation order data table in the embodiment of the network robot of the present invention,
FIG. 6 is a table showing an example of the operation order data table held in the memory in the embodiment of the network robot of the present invention.
FIG. 7 is a table showing another example of the operation order data table held in the memory in the embodiment of the network robot of the present invention.
FIG. 8 is an example of a flowchart for explaining the operation in the embodiment of the network robot of the present invention.
FIG. 9 is an example of a flowchart of an operation program in the embodiment of the network robot of the present invention.
FIG. 10 is a diagram for explaining connection to the network in the embodiment of the network robot of the present invention.

(A) Form First, the form of the network robot of the embodiment will be described with reference to FIGS.
Here, the network robot is a robot that can connect to the Internet, a LAN system, or the like wirelessly or by wire to transmit and receive information.
This robot is composed of a body part 51 and a head part 52, and the body part 51 has a pair of arm parts 17 connected thereto.

The head 52 can be rotated about 90 degrees to the left and right around the forward position by a neck drive means (neck drive motor 61M) (not shown).
While the arm roller 19 is provided at the tip of each arm portion 17, a pair of left and right waist rollers 110 are provided at a portion corresponding to the waist on the lower side of the body portion 51. The waist roller 110 is driven by left and right waist roller driving means 64M and 65M (not shown) provided in the body portion 51 and can be moved on the floor surface.
At this time, the pair of left and right arms 17 can be rotated in the pitch direction of the shoulders by left and right shoulder drive means 62M and 63M (not shown).
Further, by controlling the rotation direction and rotation speed of the left and right waist rollers 110, the robot body can move in the forward, backward, left, and right directions.

A color LCD panel 16 (hereinafter referred to as “LCD 16”) is attached to the center of the body 51 as a display means.
Above the LCD 16, a speaker 14 is attached as sounding means.
A plurality of operation button groups 18 are arranged below the LCD 16 as one of input means.
The operation button group 18 can be operated in the same manner as a personal digital assistant (PDA).
For example, the leftmost button 18a is used when the cursor displayed on the LCD 16 is moved.

A pair of cameras 12 is attached to the portion corresponding to the eyes of the head 52 as image input means.
An infrared sensor 11 is attached to a portion corresponding to the forehead.
Furthermore, a total of four microphones 13 are attached as sound input means on both side surfaces, front surface, and back surface corresponding to the ears.
A temperature sensor 15 is attached to a portion corresponding to the left chest of the body portion 51 as a heat sensitive means.
Further, an emergency button 22 is attached to a portion corresponding to the back as an operation mode switching means for performing another operation during a normal operation.
Inside the body 51, a circuit unit 53, which will be described in detail later, is provided.

(B) Configuration Next, the configuration of the network robot of the embodiment will be described in detail with reference to the block diagram of FIG.
The circuit unit 53 stores a main CPU 31, a memory 32, a mechanical control CPU 33, a motor control CPU 34, and a wireless communication circuit 35. Among these, the main CPU 31, the memory 32, and the mechanical control CPU 33 constitute a control unit 310.

The main CPU 31 performs determination of priority, etc., which will be described later, and controls the entire robot.
The main CPU 31 generates a predetermined operation pattern and sends information on the generated operation pattern to the mechanical control CPU 33.

  The mechanical control CPU 33 generates a target value of an angle to be taken by each joint of the shoulder and neck corresponding to the information of the operation pattern at a predetermined operation timing, and after serially converting the target value of the angle, The data is sent to the motor control CPU 34 via the bus 334.

The motor control CPU 34 compares the target value of the angle sent from the mechanical control CPU 33 with the output of the angle sensors 61S to 65S attached to the drive system, and rotates the drive motors 61M to 65M so that they are the same. Let
By this control, the shoulder and the neck can be positioned at a predetermined angle.

  The camera 12 sends the captured image to the main CPU 31 as image data. Thereby, recognition based on an image becomes possible.

  The microphone 13 sends the captured sound to the main CPU 31 as sound data. This makes it possible to recognize and recognize the sound volume and the incoming direction.

  The temperature sensor 14 measures the temperature around the robot and sends it to the main CPU 31 as temperature data.

  The infrared sensor 11 measures the amount of infrared light around the robot and sends it to the main CPU 31 as infrared data.

On the other hand, the main CPU is connected to a wireless communication circuit 35 that can communicate with a server installed in an environment where the robot exists.
For example, when the robot is arranged in a house, the robot can communicate with a server that has a predetermined area including the house or a predetermined area including the house as a communicable range. Furthermore, it is possible to connect to the Internet via this server and transmit information to other devices connected to the Internet.
The memory 32 stores predetermined information relating to a plurality of operators who are permitted to control the robot, and the main CPU 31 executes each control of the robot itself based on this information.

(C) Priority In the following description, an operator (controller) is referred to as a user.
FIG. 4 is a table showing an example of information data (user information) related to a plurality of users stored in the memory 32.
Each column is from the first term to the fourth term from left to right.
The first term indicates the priority order for each user.
The second term shows information in which a password is added to the user name.
The third term indicates whether or not it is necessary to return the operation after the user with higher priority is controlled by an interrupt.
The fourth term indicates whether or not the last state before the interruption needs to be saved when the control of the robot is interrupted.

The information data of each item is basically set by the network robot or the administrator of the system including this, and set so that the user cannot reset it. However, in an emergency, each user may be able to perform initial setting or resetting. However, in this case, the information data is reset by sending this data together with command data to the network robot. In the robot, after confirming that the sender is a permitted user including resetting, the table is updated based on this information.
In the present embodiment, this information data is described as being stored in the memory 32 of the network robot. However, the information data is stored in the memory of a device such as a server connected to the network and accessed by the network robot. And may be determined.

From the above items, in this table, the user with the priority 1 (the highest priority) is A, indicating that the operation must be restored and the state must be saved.
In addition, users B, C, D, and E are set to priorities 2, 3, 4, and 5 (the smaller the number, the higher the priority).

FIG. 5 shows a control order data table (schedule) stored in the internal memory 32, and shows an operation state at a certain point in time. This is called the first state.
In this table, the top row is data of the user who is under control (during operation), and shows the order of waiting for control according to the priority order toward the bottom row.
That is, it shows that the user B with the priority 2 is controlling the robot, the user D with the priority 4 is next, and the user E with the priority 5 is waiting next.

FIG. 6 shows a data table of the control order stored in the memory 32 after the state (first state) in FIG. 5 is shifted to the state at the next time point (second state).
In the first state, user C with priority 3 requested to control (manipulate) the robot, but user B with priority 2 higher than that requested that control, so the control was reserved and waited. It shows the state. Since the priorities of the users D and E are lower than those of the user C, the waiting order is lowered.

FIG. 7 shows a control order data table stored in the memory 32 after the transition from the first state of FIG. 5 to another third state.
In the first state, the user A with priority 1 makes a request to control the robot, and the user A interrupts the control of the user B because the priority order is higher than the user B being controlled at that time. In this state, the control state is transferred to the user A and the control right is transferred to the user A.
In this case, the user B must wait for the control of the user A to end.
In this way, the robot is configured to sequentially execute a plurality of control commands in order of priority set for each user.

Next, the operation of the robot of the embodiment will be described using the flowchart of FIG.
First, it is examined whether or not there is a request for controlling this robot via the wireless communication circuit 35 from a certain control device connected to the network (S8-1).

For example, when there is a control request from the user α1, the table data in FIG. 4 is referred to and it is checked from the user name and password whether the request is valid (S8-2).
The control request only needs to include information that can specify the user who made the request (in this case, the user α1). In this example, the request includes a user name and a password unique to the user as information.
This information is compared with the table data, and if the user name and password exist in the table data, it is determined that the information is valid.

If the request is valid, the priority (rank) of the request is checked (S8-3).
Here, if there is a user who is controlling the robot at this time, and the user α1 who has made a request has a higher rank than the priority of the user α2, the user α1 is controlled to perform interrupt control.

An operation interruption process is performed to transfer the control authority to the upper user α1 (S8-4).
Specifically, the operation of returning to a predetermined basic state is executed after the use of the input device such as the camera 12 is temporarily stopped and the driving of the waist roller 110 is also temporarily stopped.

If the robot in this case is not equipped with the above-mentioned waist roller but is a biped walking robot, there is a risk that if the control is suddenly stopped during walking and the control is continuously shifted to another control, the balance is lost and the vehicle falls over. Therefore, it is necessary to return to a form that is difficult to tip over before the transition.
Also in this embodiment in which the waist roller 110 is mounted, it is desirable to stop in a stable posture shown in FIG.

Next, it is checked whether or not state storage is necessary (S8-5). This is to check whether or not it is necessary to return to the state before the interruption when the control of the higher-priority user α1 with high priority is completed. This data indicating whether or not state storage is necessary is stored in the data table (first setting information) shown in FIG.
This state includes the angle of the arm and neck at each joint and the state of operation of the input device such as the camera 12.

It is also possible to recognize the environment from surrounding image data, store the location (position) (for example, a room, etc.) that existed immediately before the transition of the control state, and operate to return to that location, It returns to the state before the interruption.
Thus, it controls itself so as to be in a predetermined state before the next control. This means that an intermediate command is issued voluntarily during control by the control device to control itself, and a continuous operation can be smoothly executed even when the control shifts in the middle.

This position can be recognized by placing a pattern that serves as an identifiable marker in each room. The robot may be moved to a predetermined position by collating with map information stored in advance in the memory 32 based on the image data of the marker captured by the input device (camera 12).
By this method, after the interrupted upper user α1 finishes the control, the interrupted user α2 can resume the control from the state before the interruption (interruption).

When such state storage is necessary, the state to be stored by the robot and the corresponding user information are stored in the memory 32, and the progress storage flag is set to 1 (S8-7).
The progress storage flag is a flag for storing progress data that is used to store the operation and return to a predetermined state every time the operation is executed.
And based on this progress data, it is also possible to return to the reverse route.

On the other hand, when such state storage is not necessary, the progress storage flag is set to 0 (zero) (S8-8).
The main CPU 31 executes a series of determinations such as determination of rank based on priority and determination of whether or not to perform interrupt control. Of course, it is also possible to use a plurality of CPUs and cause each CPU to share the determination.

Next, the operation command and the new user information are read, and the schedule data (second setting information) shown in FIG. 5 is updated (S8-9).
Then, the operation routine is determined and the operation is started (S8-10).

By the way, when the user who issued the valid control request (S8-3) has a lower priority than the user currently controlled at that time, the request is in a standby state, and the priority order is determined. To make a reservation in the schedule (S8-11).
In addition, when this standby state is entered, information indicating that it is waiting may be transmitted to the control device that has transmitted the request (S8-12).

  If state saving (return of state) is set to be necessary, data indicating that it is on standby remains in the schedule. If it is not necessary to save the state, the data indicating that it is waiting is deleted from the schedule at the time of interruption, so that it cannot be controlled again after the interrupt control is completed.

Users with low priority levels are mainly controlled when they are available (no control requests from other control devices), and interrupt control is requested rather than returning after interrupt control. It is often easier to give up control at that point. Therefore, it is preferable to save the state.
Each determination regarding the state storage described above is also executed by the main CPU 31. Of course, it is also possible to use a plurality of CPUs and cause each CPU to share the determination.

  In this embodiment, the setting data for state storage is described as being stored in the memory 32, but it may be set sequentially from another control device or the like via a network.

FIG. 9 shows a flowchart of a control program that operates in parallel with the operation routine of FIG.
If the progress saving flag is 1, this control program saves the progress (for example, the joint angle and the number of rotations of the waist roller 110) (S9-1), calls an operation routine (S9-2), and the motor, etc. Is controlled (S9-3).

As described above, the embodiment described in detail can control the robot for a long time if the priority order of the user is high.
In particular, the user with the priority 1 (the highest rank) can control the time without limitation.
This may or may not be appropriate depending on the purpose and situation.

When it is inappropriate, it is better to set a controllable time even if the priority is high. This time setting can be measured with a built-in clock built in the main CPU.
In this case, it is desirable to set all users to be not required to return (no operation storage is required). This is because even if a control time limit is set, the priority level is high, and the control right is often transferred to the user immediately, resulting in trouble with control from other users.

FIG. 10 shows an example in which this robot R is connected to a network (in this example, the Internet) via a wireless LAN station 85. Other users 'terminals 82 A and 82 B in other places and other users' portable terminals 812 are connected to the Internet via a cellular phone base station 811.
Accordingly, the robot R can access and access these devices connected to the Internet via the servers 81, 83, 86, the router 84, and the wireless LAN station 85.
In this state, the terminals 82A and 82B or the portable terminal 812 can be a control device in the above-described embodiment. Of course, the control device is not limited to these.
Further, as described above, since the priority of control is set for each user regardless of the control device, each user can control the network robot via any control device connected to the network. Needless to say.

As described above, in the memory 32, user information for specifying a licensed user for whom control is permitted, priority information indicating a priority level when the licensed user controls the network robot, and the licensed user can specify the network robot. It is preferable to previously store operation return necessity information indicating whether or not to return to the state before the control again after the control.
Thus, when a request (command) is received, the main CPU 31 determines whether the user who sent the command is a licensed user in advance based on the user information, and based on the priority information, It is possible to determine the order of control and determine whether to return to the state before the control again after the control by this command based on the operation return necessity information.

As described above, according to the embodiment described in detail, the priority information for the control of each user is stored in advance in the network robot so that the user who desires the control cannot set the priority. . Therefore, the priority is not changed without permission for the convenience of the user, and the network robot can always be controlled in an appropriate situation.
Also, when a user resets the priority in an emergency, etc., the network robot goes through a process of determining whether the user is a user permitted to reset, so the control is always in an optimal situation. Executed.

It is a front view which shows the Example of the network robot of this invention. It is a side view which shows the Example of the network robot of this invention. It is a block diagram explaining the Example of the network robot of this invention. It is a table | surface which shows the 1st setting information in the Example of the network robot of this invention. It is a table | surface which shows the 2nd setting information in the Example of the network robot of this invention. It is a table | surface which shows the 3rd setting information in the Example of the network robot of this invention. It is a table | surface which shows the 4th setting information in the Example of the network robot of this invention. It is a figure explaining the network connection in the Example of the network robot of this invention. It is a flowchart explaining the operation | movement in the Example of the network robot of this invention. It is a flowchart explaining the other operation | movement in the Example of the network robot of this invention.

Explanation of symbols

11 Infrared sensor 12 Camera (image input means)
13 Microphone (sound input means)
14 Speaker (pronunciation means)
15 Temperature sensor (heat sensitive means)
16 color LCD panel (display means)
17 Arm 18 Operation button group 19 Arm roller 22 Emergency button 31 Main CPU (control determination means, operation return determination means, priority determination means)
32 Memory 33 Mechanical control CPU
34 Motor control CPU
35 Wireless communication circuit (transmission means)
51 Body 52 Head 53 Circuit 61S-65S Angle sensor 61M Neck drive motor 62M Right shoulder drive motor 63M Left shoulder drive motor 64M Right waist drive motor 65M Left waist drive motor 81, 83, 86 Server 82A, 82B Personal computer 84 Router 85 Wireless LAN station 811 Mobile phone base station 812 Mobile terminal 110 Waist roller 310 Control means 334 Serial bus

Claims (2)

A network robot comprising a communication means, connected to a network by the communication means, and controlled by a command sent from a plurality of users via a control device connected to the network,
User information for identifying a licensed user who permits the control among the plurality of users, priority information indicating a priority when the licensed user controls the network robot, and set for each licensed user, after the interrupt control by commands from a licensed user by the network robot another the permission user has higher priority than the one granted the user performed during control of one of said grant user, the interruption the network robot Storage means for storing in advance operation return necessity information indicating whether or not to return to the state before control;
User determination means for determining, based on the user information, whether the user who sent the command is the licensed user when receiving the command;
Priority determination means for determining the order of control by the command based on the priority information;
Control means for controlling itself based on the determination of the priority determination means;
Based on the operation return necessity information, whether or not to return the network robot to the state before the interrupt control so that continuous operation can be executed after the interrupt control is executed is executed. An operation return determination means for determining for each licensed user. In a control method of a network robot connected to a network and controlled by a command sent from a plurality of users via a control device connected to the network,
The network robot includes a storage unit and a determination unit,
In the storage means,
User information for identifying a licensed user who permits the control among the plurality of users, priority information indicating a priority when the licensed user controls the network robot, and set for each licensed user, after the interrupt control by commands from a licensed user by the network robot another the permission users higher the priority than the one granted the user performed during control of one of said grant user, wherein the network robot The operation return necessity information indicating whether or not to return to the state before the interrupt control is stored in advance,
In the determination means,
When receiving the command, the user who sent the command makes a decision based on the user information whether or not it is from the authorized user, makes a decision on the order of control based on the command based on the priority information, and returns the operation Based on the necessity information, whether or not to return the network robot to the state before the interrupt control so that the continuous operation can be executed after the interrupt control is executed, is the one licensed user that has executed the interrupt control. A control method for a network robot, characterized in that a determination is made every time.

Images