JP4616664B2 - Robot control device, robot control method, robot control program, and mobile robot - Google Patents

Description

  The present invention relates to a robot control apparatus that causes an autonomous mobile robot to execute one or more tasks. More specifically, the present invention relates to a robot control device that allows a plurality of autonomous mobile robots to execute a plurality of tasks while detecting obstacles.

  In recent years, attempts have been made to perform various tasks (hereinafter referred to as tasks) such as luggage transport operations, reception operations, and guidance operations on behalf of people using autonomously movable robots (hereinafter referred to as robots). It has been put into practical use in various fields. Such a task is assumed to be executed in a task execution area such as an office or home. When a plurality of robots are arranged in the task execution area, a plurality of robots may pass each other because the passage is narrow in places such as offices and homes.

  These robots are provided with an external sensor for detecting the distance to the obstacle in order to avoid the obstacle while moving. For example, an ultrasonic sensor is used as the external sensor. If two robots approach each other and the transmission waves of the respective ultrasonic sensors interfere with each other, each robot will not know which reflected wave it is receiving. For example, if the frequency of the pulse wave is the same, the time difference from when the pulse wave is transmitted to when it is received will be distorted. Make a decision.

Conventionally, ultrasonic sensors have been used for various devices other than robots as distance detection means. For example, when used as a vehicle detection sensor in a parking lot, in order to prevent mutual interference of ultrasonic sensors arranged on the ceiling for each vehicle parking area, the timing of transmitting pulse waves of each ultrasonic sensor is random. There is known a method of making it (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 11-153666 (paragraphs 0020 to 0046, FIG. 1)

In the interference prevention method disclosed in Patent Document 1, since each ultrasonic sensor is arranged on the ceiling, it is not assumed that each ultrasonic sensor moves and approaches each other. Is complicated and expensive. In addition, when the sensor is disposed in a robot that is not so different from that of a human, the sensor is greatly heavier than the robot body.
In particular, robots that perform various tasks are clogged with computers and batteries, so there is no room in the internal space, and there is a demand for using a sensor that is small and light and relatively simple and inexpensive. is there.

  Therefore, in the present invention, a robot control device, a robot control method, a robot control program, and a mobile robot that solve the above-described conventional problems and efficiently execute a plurality of tasks while causing the robot to accurately detect an obstacle are provided. It is intended to provide.

The present invention was devised to achieve the above object, and the invention according to claim 1 of the present invention includes position information detection means for detecting current position information relating to the current position, and ultrasonic waves or electromagnetic waves. The present invention relates to a robot control apparatus that controls a plurality of mobile robots that perform a predetermined task, and an external sensor that detects a surrounding obstacle by a reflected wave . The robot control apparatus inputs current position information detected by the position information detection means from a plurality of mobile robots, and outputs input / output means for outputting a predetermined command to the plurality of mobile robots. Information storing means for storing current position information together with identification information of the mobile robot, and sensor control means for generating a command for controlling an external sensor of the mobile robot based on the current position information stored in the robot information storing means The sensor control means includes an inter-robot distance calculation means for calculating a distance between any two mobile robots based on the current position information stored in the robot information storage means, and the inter-robot distance calculation means. the calculated distance has been previously determined by setting a level such as transmission and reception waves do not interfere with the external sensor of the two mobile robot Of the robot distance determining means for determining whether a predetermined value or less with respect to the distance in the robot distance determining means said first two mobile robot is determined to be equal to or less than the predetermined value, a predetermined Reduces the intensity of the transmitted wave output from the external sensor of the mobile robot for the priority order determination means for determining the priority order based on the criteria and the mobile robot with the low priority order determined by the priority order determination means. Strength reduction command generation means for generating a strength reduction command that is a command to be executed.

  According to such a configuration, when the distance between the two mobile robots is equal to or less than the first predetermined value based on the current positions of the two mobile robots, the robot control device The output intensity of the sensor can be reduced. As the first predetermined value, a level that does not cause interference between both external sensors may be obtained and set in advance. In this case, even if two mobile robots approach, both external sensors do not interfere. As a result, both mobile robots can execute a predetermined task while accurately detecting the position and direction of the obstacle. Here, the external sensor detects an obstacle with a reflected wave, and the transmission wave may be, for example, an ultrasonic wave, light, radio wave, or the like.

Invention of Claim 2 is the robot control apparatus of Claim 1, Comprising:
A distance between detection limit calculation means for calculating the shortest distance between the detection limit distances of the respective external sensors of the two mobile robots determined by the distance determination means between the robots to be equal to or less than a first predetermined value; Detection for determining whether or not the distance calculated by the distance calculation means between the detection limits is equal to or less than a second predetermined value set in advance by obtaining a level at which the transmitted / received waves of the external sensors of the two mobile robots do not interfere with each other anda limit distance determining means, priority determining means, for the two mobile robot distance detection limit distance determination means determines that the second is less than the predetermined value, a predetermined reference Based on this, the priority order is determined.

  According to the second aspect of the present invention, when the distance between the detection limits of the external sensors of the two mobile robots is equal to or less than the second predetermined value, the robot control device can detect the external environment of one of the mobile robots. The output intensity of the sensor can be reduced. As this second predetermined value, a level that does not interfere with the transmission and reception waves of both external sensors may be obtained and set in advance. In this case, even if two mobile robots approach each other, the transmission / reception waves of both external sensors do not interfere with each other.

  The invention according to claim 3 is the robot control apparatus according to claim 1 or 2, wherein the priority indicating the degree to which the task should be preferentially executed and the progress of the task are classified for each mobile robot. Task information storage means for storing is further provided, and the predetermined reference is determined including the priority stored in the task information storage means for the task being executed by the mobile robot.

  According to the invention described in claim 3, the robot control device determines a mobile robot that lowers the output intensity of the external sensor based on the priority of the task being executed by the two mobile robots to be controlled. Therefore, a mobile robot that is executing a task with a high priority can efficiently execute the task without reducing the detection capability of the external sensor.

  A fourth aspect of the present invention is the robot control apparatus according to the third aspect, wherein the input / output unit further inputs battery remaining amount information of the mobile robot, and the robot information storage unit is input to the input / output unit. The remaining battery level information to be input is further stored, and the predetermined criterion is determined including the priority stored in the task information storage unit and the remaining battery level information stored in the robot information storage unit. And

  According to the fourth aspect of the present invention, the robot controller reduces the output intensity of the external sensor based on the priority of the task being executed by the two mobile robots to be controlled and the remaining battery information. Determine the mobile robot. Therefore, even if the priorities are equal, the priority order can be determined based on the remaining battery level. As a result, a mobile robot that needs battery replenishment as soon as possible can efficiently execute a task without degrading the detection capability of the external sensor.

  The invention according to claim 5 is the robot control apparatus according to claim 4, wherein the predetermined criteria are the priority stored in the task information storage means and the remaining battery level stored in the robot information storage means It is determined from the information and the identification information of the mobile robot.

  According to the fifth aspect of the present invention, the robot controller is configured to detect the external sensor based on the priority of the task being executed by the two mobile robots to be controlled, the battery remaining amount information, and the mobile robot identification information. Determine the mobile robot that reduces the output intensity. Here, the identification information includes numbers and symbols, for example, and can forcibly determine the priority order of the mobile robot. According to this, even if both the priority of tasks being executed by the two mobile robots to be controlled and the remaining battery level are equal, it is possible to determine a mobile robot that reduces the output intensity of the external sensor. It becomes possible.

  A sixth aspect of the present invention is the robot control apparatus according to any one of the first to fifth aspects, wherein the strength reduction command generation means reduces the moving speed of the mobile robot together with the strength reduction command. A speed reduction command that is a command to be generated is generated.

  According to the sixth aspect of the present invention, the robot control apparatus can transmit a speed reduction command together with a strength reduction command to a non-prioritized mobile robot. This non-prioritized mobile robot can also avoid a situation where it collides with an obstacle because the moving speed decreases when the strength of the external sensor decreases.

A seventh aspect of the present invention is the robot control device according to any one of the first to sixth aspects, wherein the sensor control means is current position information for each time stored in the robot information storage means. And a speed reduction means for calculating the speed of the mobile robot based on the ratio, and the strength reduction command generation means reduces the intensity of the transmission wave output from the external sensor based on the speed calculated by the speed calculation means. It is characterized in that a strength lowering instruction is generated so as to change.

  According to the seventh aspect of the present invention, the robot control device generates a strength reduction command based on the speed of the mobile robot. For example, if the rate of lowering the output intensity of the external sensor is reduced as the speed of the non-prioritized mobile robot is increased, a situation of collision with an obstacle can be avoided. Further, a strength reduction command may be generated based on the relative speed of the two mobile robots.

The invention according to an eighth aspect is the robot control device according to any one of the first to seventh aspects, wherein the strength reduction command generation means is the strength of the transmitted wave output from the external sensor or the external sensor. An intensity reduction command that specifies the detection distance is generated.

  According to the eighth aspect of the invention, the robot control device generates, for example, a strength reduction command for designating the output strength of the external sensor by the strength reduction command generation means. In this case, the mobile robot that has received this strength reduction command reduces the output strength of the external sensor to a designated value. Further, when the strength reduction command generating means generates, for example, a strength reduction command for designating the detection distance of the external sensor, the mobile robot that has received the strength reduction command has a value for which the detection distance of the external sensor is designated. As a result, the output intensity of the external sensor is reduced. By designating the detection distance in this way, even if the performance and arrangement of the external sensors of the two mobile robots approaching each other are different from each other, interference by both external sensors can be prevented.

The invention described in claim 9 is a mobile robot that receives a command to reduce the intensity from the robot controller according to any one of claims 1 to 8, and the intensity of the transmitted wave output from the external sensor is decreased. And a display means for indicating that.

  According to the ninth aspect of the present invention, the mobile robot can notify the display means that the output intensity of the external sensor is reduced. Therefore, a person who sees the display means can recognize that the mobile robot is harder to detect an obstacle such as a person than usual. Furthermore, it can be recognized that it is not abnormal even if the moving speed is slow.

The invention according to claim 10 includes position information detection means for detecting current position information relating to the current position, and an external sensor that outputs an ultrasonic wave or electromagnetic wave as a transmission wave and detects surrounding obstacles by a reflected wave. A robot control method of a robot control apparatus for controlling a plurality of mobile robots that perform a predetermined task, a reception step of receiving current position information detected by a position information detection means from the plurality of mobile robots; Based on the current position information, an inter-robot distance calculating step for calculating the distance between any two mobile robots, and the distance calculated at the inter-robot distance calculating step are the transmission / reception waves of the external sensors of the two mobile robots. the first robot distance determination step of determining whether or not more than a predetermined value but is previously determined set the level so as not to interfere , With respect to the distance in the robot distance determining step of the first two mobile robot is determined to be equal to or less than a predetermined value, based on a predetermined criterion, and determining priority judging step the priority, the A strength reduction command generation step for generating a strength reduction command that is a command to reduce the strength of the transmitted wave output from the external sensor of the mobile robot for a mobile robot having a low priority determined in the priority order determination step; And a transmission step of transmitting the strength reduction command generated in the strength reduction command generation step to the mobile robot having a low priority determined in the priority determination step.

  According to the invention described in claim 10, when the distance between the two mobile robots is less than or equal to the first predetermined value based on the current position of the two mobile robots, A command to reduce the output intensity of the external sensor is transmitted to two mobile robots. As a result, the mobile robot that has received the strength reduction command reduces the output strength of the external sensor. As the first predetermined value, a level that does not cause interference between both external sensors may be obtained and set in advance. In this case, even if two mobile robots approach, both external sensors do not interfere. As a result, both mobile robots can execute a predetermined task while accurately detecting the position and direction of the obstacle.

According to the robot control device, the robot control method, and the robot control program according to the present invention, when any two mobile robots approach a predetermined distance based on the current positions of the plurality of mobile robots, one of them is moved. Since the command for reducing the output intensity of the external sensor is transmitted to the robot, as a whole, a plurality of tasks can be efficiently executed while causing the mobile robot to accurately detect an obstacle.
In addition, according to the mobile robot according to the present invention, it is possible to notify that the output intensity of the external sensor is reduced. It can be recognized that it is harder to detect than usual.

Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate.
FIG. 1 is a system configuration diagram of a robot control system provided with a robot control apparatus according to the present invention.

(Robot control system configuration)
First, a robot control system incorporating a robot control apparatus according to an embodiment of the present invention will be described.

  As shown in FIG. 1, the robot control system A has a plurality of robots RA, RB, and RC having a moving function (however, when a robot is not specified, it is simply referred to as a robot R). R executes a task in accordance with a task execution plan (task schedule) set in advance for each robot R in the robot controller 3. The robot control system A is configured to control an external sensor that detects obstacles around the robot R to eliminate interference of the external sensor and to efficiently execute a plurality of tasks by the plurality of robots R. Has been.

  As shown in FIG. 1, a robot control system A includes a plurality of robots R, a base station 1 connected to the robots R by wireless communication, and a robot control device connected to the base station 1 via a router 2. 3 and a terminal 5 connected to the robot control device 3 via a network 4.

The robot R executes a task in accordance with a task execution command input from the robot controller 3, and at least two robots R are arranged in a task execution area E set in advance as an area where the robot R executes a task. Yes.
Here, FIG. 1 shows a robot RA performing a task (guidance task) that guides a visitor to a predetermined place such as a conference room, and a task (transportation task) that delivers a package to a person. And a robot RC that is executing a task (waiting task) that waits for a new task to be assigned.

The base station 1 mediates data exchange between the robot R and the robot control device 3.
Specifically, the base station 1 transmits a task execution command output from the robot controller 3 to the robot R, and also transmits data (status information) on the state of the robot R transmitted from the robot R and the robot R performs the task. A signal (reception report signal) indicating that the execution command has been received is received and output to the robot control device 3.
At least one base station 1 is provided in the task execution area E in order to ensure data exchange between the robot R and the robot controller 3.
In addition, when the task execution area E is set over several floors of a building, it is preferable to be provided for every floor, and when one base station 1 cannot cover all the task execution areas E It is preferable that a plurality of base stations 1 are provided in the task execution area E.

The robot control device 3 sets an execution plan (task schedule) of tasks to be executed by the robot R for each robot R and controls external sensors that detect obstacles around the robot R.
The terminal 5 is for registering tasks to be executed by the robot R, changing a task schedule set in the robot control device 3, inputting an operation command for the robot R, and the like.

  Hereinafter, the configurations of the robot R and the robot control device 3 will be described in detail.

[robot]
The robot (mobile robot) R of this embodiment is an autonomous mobile biped robot.
The robot R executes a task mainly based on a task execution command transmitted from the robot control device 3.

  As shown in FIG. 1, the robot R has a head R1, an arm R2, and a leg R3 around the torso, and the head R1, the arm R2, and the leg R3 are respectively actuators. The biped walking is controlled by the autonomous movement control unit 50 (see FIG. 2). Details of the biped walking are disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-62760.

  FIG. 2 is a block diagram of the robot R. As shown in FIG. 2, in addition to the above-mentioned head R1, arm R2, and leg R3, the robot R includes cameras C and C, speakers S, microphones MC and MC, an image processing unit 10, and an audio processing unit 20. , Main control unit 40, autonomous movement control unit 50, wireless communication unit 60, battery 70, and obstacle detection unit 80. Further, as position information detecting means for detecting current position information related to the current position of the robot R, a gyro sensor SR1 and a GPS receiver SR2 are provided.

[camera]
The cameras C and C are capable of capturing video as digital data. For example, a color CCD (Charge-Coupled Device) camera is used. The cameras C and C are arranged side by side in parallel on the left and right, and the captured image is output to the image processing unit 10. The cameras C and C, the speaker S, and the microphones MC and MC are all disposed inside the head R1.

[Image processing unit]
The image processing unit 10 is a part for recognizing surrounding obstacles and persons in order to process images taken by the cameras C and C and grasp the situation around the robot R from the taken images. The image processing unit 10 includes a stereo processing unit 11a, a moving body extraction unit 11b, and a face recognition unit 11c.
The stereo processing unit 11a performs pattern matching on the basis of one of the two images taken by the left and right cameras C and C, calculates the parallax of each corresponding pixel in the left and right images, and generates a parallax image. The generated parallax image and the original image are output to the moving object extraction unit 11b. This parallax represents the distance from the robot R to the photographed object.

The moving body extraction unit 11b extracts a moving body in the photographed image based on the data output from the stereo processing unit 11a. The reason why the moving object (moving body) is extracted is to recognize the person by estimating that the moving object is a person.
In order to extract the moving object, the moving object extraction unit 11b stores images of several past frames (frames), compares the newest frame (image) with the past frames (images), and Pattern matching is performed, the movement amount of each pixel is calculated, and a movement amount image is generated. Then, the moving body extraction unit 11b estimates from the parallax image and the movement amount image that there is a person at that position when there is a pixel with a large movement amount within a predetermined distance range from the cameras C and C. Then, a moving body is extracted as a parallax image only in the predetermined distance range, and an image of the moving body is output to the face recognition unit 11c.

  The face recognition unit 11c extracts a skin color portion from the extracted moving body, and recognizes the face position from the size, shape, and the like. Similarly, the position of the hand is also recognized from the skin color area, size, shape, and the like. The recognized face position is output to the main control unit 40 and the radio communication unit 60 as information when the robot R moves and to communicate with the person. 1 is transmitted to the robot control device 3 via 1.

[Audio processor]
The voice processing unit 20 includes a voice synthesis unit 21a and a voice recognition unit 21b.
The voice synthesizer 21a is a part that generates voice data from the character information and outputs the voice to the speaker S based on the utterance action command determined and output by the main controller 40. For the generation of the voice data, the correspondence between the character information stored in advance and the voice data is used.
The voice recognition unit 21 b receives voice data from the microphones MC and MC, generates character information from the voice data based on the correspondence between the voice data stored in advance and the character information, and outputs the character information to the main control unit 40. Is.

[Main control section]
The main control unit 40 generates a signal to be output to the robot control device 3 to be described later, and on the basis of the task execution command output from the robot control device 3, each unit of the robot R (the image processing unit 10, the voice processing unit 20). The autonomous movement control unit 50, the wireless communication unit 60, and the obstacle detection unit 80) are controlled.

Specifically, when receiving the task execution command output from the robot controller 3, the main control unit 40 generates a signal (reception report signal) indicating that the task execution command has been received, and receives the reception report signal. The data is output to the robot control device 3 via the wireless communication unit 60.
Further, the main control unit 40 executes each task (image processing unit 10, audio processing unit 20, autonomous movement control unit 50, wireless communication unit 60, and fault) of the robot R in order to execute the task specified in the task execution command. A control signal for controlling the object detection unit 80) is generated, and the generated control signal is output to each unit of the robot R as necessary.

Further, the main control unit 40 generates data (status information) related to the state of the robot R at predetermined time intervals, and outputs the generated status information to the robot control device 3 via the wireless communication unit 60.
Here, the status information is used when the robot controller 3 described later determines whether any two robots R are approaching.
In the present embodiment, the status information includes coordinate data (current position information) indicating the current position of the robot R, battery remaining information indicating the remaining amount of the battery 70 mounted on the robot R, and the robot R. Data (task information) indicating the task ID indicating the contents of the task currently being executed and its progress, and data (robot ID) indicating the unique identification number (identification information) assigned to the robot R are included. ing.

  In the present embodiment, the main control unit 40 is configured to (1) periodically generate and transmit status information, but (2) when the remaining battery level becomes equal to or less than a predetermined value, or (3 The main control unit 40 may generate and transmit status information when a signal (data request signal) requesting transmission of status information transmitted from the robot controller 3 is received. Of course, these (1) to (3) may be arbitrarily combined.

[Autonomous Movement Control Unit]
The autonomous movement control unit 50 includes a head control unit 51a, an arm control unit 51b, and a leg control unit 51c.
The head control unit 51a drives the head R1 according to the instruction of the control signal input from the main control unit 40, and the arm control unit 51b is the arm unit R2 according to the instruction of the control signal input from the main control unit 40. The leg control unit 51c drives the leg R3 in accordance with the instruction of the control signal input from the main control unit 40.

[Wireless communication part]
The wireless communication unit 60 is a communication device that transmits and receives data to and from the robot control device 3. The wireless communication unit 60 includes a public line communication device 61a and a wireless communication device 61b.
The public line communication device 61a is a wireless communication means using a public line such as a mobile phone line or a PHS (Personal Handyphone System) line. On the other hand, the wireless communication device 61b is a wireless communication unit using short-range wireless communication such as a wireless LAN compliant with the IEEE802.11b standard.
The wireless communication unit 60 selects the public line communication device 61a or the wireless communication device 61b in accordance with a connection request from the robot control device 3, and performs data communication with the robot control device 3.

The battery 70 is a power supply source necessary for the operation and processing of each unit of the robot R.
The gyro sensor SR1 and the GPS receiver SR2 periodically generate coordinate data indicating the current position of the robot R, and output the generated coordinate data to the main control unit 40. The coordinate data is used to determine the behavior of the robot R and is used to generate the status information described above.

  The obstacle detection unit 80 is for detecting obstacles around the robot R. The obstacle detection unit 80 will be described with reference to FIGS. 3 and 4. FIG. 3 is a block diagram of the obstacle detection unit. 4A and 4B are diagrams showing detection areas by the obstacle detection unit, where FIG. 4A is a plan view and FIG. 4B is a side view. As shown in FIG. 3, the obstacle detection unit 80 includes four ultrasonic sensors 81a, 81b, 81c, 81d as external sensors, a display lamp 82, and a control unit 83. The number of ultrasonic sensors is not limited to this.

The ultrasonic sensors 81a to 81d are transmission / reception sensors that generate ultrasonic waves (pulse waves) and receive reflected waves generated when there are obstacles (including moving bodies such as people) within a predetermined distance. It is a sensor for doing. The ultrasonic sensors 81 a to 81 d are disposed on the body portion of the robot R.
The ultrasonic sensor 81a is for detecting an obstacle in front of the robot R, and its detection region γ1 is shown in FIGS. 4 (a) and 4 (b).
The ultrasonic sensor 81b is for detecting an obstacle on the right side of the robot R, and its detection region γ2 is shown in FIG.
The ultrasonic sensor 81c is for detecting an obstacle behind the robot R, and its detection region γ3 is shown in FIGS. 4 (a) and 4 (b).
The ultrasonic sensor 81d is for detecting an obstacle on the left side of the robot R, and its detection region γ4 is shown in FIG.

The position coordinate information (obstacle detection area information) of the detection area γ, which is the sum of the detection areas γ1 to γ4 by the ultrasonic sensors 81a to 81d, is measured in advance and stored in the robot controller 3 as robot status information. .
When the ultrasonic sensors 81 a to 81 d detect an obstacle, the obstacle detection communication signal including the identification number of the detected ultrasonic sensor is output to the control unit 83. Since the ultrasonic waves generated by the ultrasonic sensors 81 a to 81 d are reflected even by a transparent substance, the obstacle detection unit 80 can detect a transparent obstacle such as glass that cannot be detected by the image processing unit 10.

Based on the obstacle detection communication signal output from the ultrasonic sensors 81a to 81d and the table storing the arrangement directions of the ultrasonic sensors 81a to 81d, the control unit 83 determines which direction within the predetermined distance of the robot R. It is determined whether there is an obstacle, and obstacle direction data is generated. The obstacle direction data is output to the main control unit 40.
Further, the control unit 83 controls to reduce the intensity of the ultrasonic waves output from the ultrasonic sensors 81a to 81d based on an intensity reduction command from the robot controller 3 described later. In this case, the control unit 83 controls the display lamp 82 to light up or blink. Thereby, it can be notified that the robot R is reducing the intensity of the ultrasonic waves output from the ultrasonic sensors 81a to 81d.

[Robot controller]
1 mainly sets an execution plan (task schedule) of tasks to be executed by the robot R for each robot R, and based on the distance between the approaching robots R, the robot R 3 The sound wave sensors 81a to 81d are controlled.
As shown in FIG. 5, the robot control device 3 includes an input / output unit 100, a storage unit 200, and a control unit 300 as main parts.

[Input / output means]
The input / output unit 100 is an interface for exchanging data with the robot R and the terminal 5 via the base station 1 and the network 4.
In the case of the present embodiment, status information and reception report signal transmitted from the robot R, a signal for requesting registration or update of a task transmitted from the terminal 5 (task request signal), and generated by a task execution command generation means 340 described later. A task execution command to be executed, and a strength reduction command and a speed reduction command generated by the sensor control unit 400 described later are exchanged via the input / output unit 100.
The input / output unit 100 outputs status information, a task request signal, and a reception report signal input from the outside to the database management unit 310.

[Storage means]
The storage means 200 stores information necessary for controlling the robot R. The storage means 200 includes a map information database 210, a task information database 220, a task schedule database 230, a robot information database 240, and the like. , Is stored at least.

<Map information database>
The map information database 210 is a database that stores map information (global map) of an area (task execution area E) in which the robot R executes tasks.
In the map information database 210, information such as passages, stairs, elevators, and rooms existing in the task execution area E is registered in association with coordinate data indicating positions in the task execution area E.

  Therefore, in the case of the present embodiment, referring to the map information database 210 based on the current position of the robot R itself, the robot R arranged in the task execution area E and a specific object in the task execution area E ( You can know the positional relationship with the target. For example, the distance from the robot R to the target, the direction in which the target is located with respect to the front of the robot R, and the like are known.

Therefore, based on this positional relationship, the robot control device 3 generates a signal (task execution command) for instructing the autonomous movement of the robot R or the execution of the task in the robot control device 3, so that the robot R can be selected in the task execution area E. Since the robot can be moved to a position (for example, the start position of the task) through the shortest and optimum route, the robot R can autonomously move and execute the task by the robot R.
In the present embodiment, updating of the map information stored in the map information database 210 is set to be performed by the database management means 310 by inputting data from the terminal 5 operated by the operator.

<Task information database>
The task information database (task information storage means) 220 is a database that stores information (task data) related to tasks to be executed by the robot R.
In this task information database, as information items, a task ID that is a unique identifier assigned to each task, a priority indicating the degree to which the task should be executed preferentially, the importance of the task, and the robot that executes the task The robot ID that is the identifier, the task content such as guidance and transportation, the position where the task starts in the task execution area E (start position), the position where the task ends within the task execution area E (end position), and the execution of the task The time required to complete (required time), and the progress status of the task, such as scheduled task start time (start time), scheduled task end time (end time), task status (completed, running, unprocessed), etc. ,include.

<Task schedule database>
The task schedule database 230 uses the task execution order to be executed by the robot R, the task ID for identifying the task registered in the task information database 220, the priority of the task, the contents of the task, and the state of the task as information items. A database to memorize.
In this task schedule database 230, these information items are arranged for each robot R arranged in the task execution area E, and what kind of tasks are assigned to each robot R in what order. Can be grasped.

  This task schedule database 230 defines the assignment of unprocessed tasks among the tasks registered in the task information database 220 to each robot R and the execution order of tasks in each robot R.

<Robot information database>
The robot information database (robot information storage means) 240 is a database that stores data (status information) relating to the state of the robot R.
The robot information database 240 includes information items such as the current position information, obstacle detection area information, task information, battery remaining amount information, and presence / absence of abnormality in the driving system of the robot R as information items. These information items are arranged in association with the robot ID (identification information). Note that a predetermined number of current position information is stored for each time over the past predetermined time.
The content of each information item stored in the robot information database 240 is updated by the database management means 310 of the control means 300 described later based on the status information transmitted from the robot R.

[Control means]
As shown in FIG. 5, the control unit 300 includes a database management unit 310, a priority data generation unit 320, a task management unit 330, a task execution command generation unit 340, and a sensor control unit 400. The

<Database management means>
The database management unit 310 registers data in the databases 210 to 240 stored in the storage unit 200, updates data registered in the databases 210 to 240, and the like.
For example, when status information indicating the state of the robot R is input via the input / output unit 100, the database management unit 310 refers to the robot information database 240 based on the robot ID included in the status information, and The content (data) of the information item related to the robot R specified by the ID is updated to the content (data) of the information item acquired from the status information.
If the task information included in the status information indicates that the robot R has completed the execution of the task, the database management unit 310 sends the next task assigned to the robot R to the robot R. In order to execute, a signal (execution instruction request signal) for requesting the task execution instruction generation means 340 to generate a task execution instruction for instructing the robot R to execute the task is generated, and the generated execution instruction request signal is used as the task execution instruction. Output to the generating means 340.

  Further, when a signal (task request signal) for requesting registration of a new task or a change of a task input in the terminal 5 is input via the input / output unit 100, the database management unit 310 stores the task information database 220. Update (update the contents of the information item), generate a signal (task update signal) indicating that the task information database 220 has been updated, and output the generated task update signal to the priority data generation means 320 .

<Priority data generation means>
The priority data generation means 320 determines the priority of tasks to be executed by the robot R.
Specifically, the priority data generation unit 320, when a task update signal is input from the database management unit 310, is a task registered in the task information database 220 and is not processed (unexecuted). Determine task priority.
Then, a signal (schedule request signal) for requesting scheduling for an unexecuted task among the tasks registered in the task information database 220 is generated and output to the task management unit 330.

  In the case of this embodiment, the priority of a task is determined by the importance of the task set when the task is registered in the task information database 220, the robot R closest to the start position of the task, and the start of the task. This is performed in consideration of the distance from the position and the time margin from the current time to the start time and end time of the task.

  Specifically, the priority data generation unit 320 calculates the priority P of each task based on the following formula (1), thereby determining the priority of the task.

P = (T _pri + n (T _sp )) ・ f (T _err ) ・ ・ ・ ・ (1)

Here, “T _pri ” is the importance of the task arbitrarily determined when the task is registered in the task information database 220.
In this embodiment, the value indicating the importance level of this task is set in steps of 0.5 between 1.0 and 5.0, and the task with the lowest importance level is 1.0. The task with the largest is 5.0, each shown.

“T _sp ” is the time required for the robot R closest to the task start position to move to the task start position, and “n (T _sp )” is the task start position. Is a distance-dependent importance for causing the robot R to execute the task with priority when the robot R is present near.
The value of “n (T _sp )” is set so as to increase as the robot R is positioned closer to the task start position. In this embodiment, “T _sp ” is equal to or less than a predetermined threshold. Only when “n (T _sp )” is set to take a predetermined positive value, and “T _sp ” is larger than a predetermined threshold value, the value of “n (T _sp )” is set. Is set to be “0”.

Furthermore, “f (T _err )” is a time-dependent importance for preferentially executing a task based on a time margin from the current time to the task start time and end time.
In the present embodiment, “f (T _err )” is set to be a value from 0 to 1, and the value increases rapidly from “0” to “0” as the task start time approaches. It approaches “1” and becomes “1” which is the maximum value from the reference time (time before the task start time by the time required for task execution) to the task end time, and gradually when the task end time elapses It is set to decrease to “0”.

More specifically, in the present embodiment, when the current time is before the reference time, the following equation (2) indicates that the current time is after the reference time and before the task end time elapses. In this case, the time-dependent importance f (T _err ) is calculated by the following equation (3), and when the current time is after the task end time, the following equation (4).

f (T _err ) = exp (-K ((T _err -T _time ) / T _time )) ・ ・ ・ ・ (2)
f (T _err ) = 1 (3)
f (T _err ) = (1 + cos ((π / T _time ) (T _err / C _obli ))) / 2 (4)

Here, _Terr is a time interval between the current time and the task start time, and is a positive value before the task start time and a negative value after the task start time. T _time is the _time required to execute the task (task required time), C _obli is the forgetting factor, and when T _err = -C _obli · T _time , f (T _err ) = The coefficient is set to be zero.

  As described above, the importance of the task set when registering the task, the separation distance between the robot R closest to the start position of the task and the start position of the task, the start time of the task from the current time, Since the priority P of each task is calculated in consideration of the time margin until the end time, a suitable value can be obtained as the priority of the task.

<Task management means>
The task management unit 330 sets a task execution plan (task schedule) to be executed by the robot R for each robot R.
The task management means 330 determines the robot R that executes each task based on the priority determined for each task, and sets the execution order of tasks assigned to the robot R for each robot R. is there.
That is, the task management unit 330 sets an execution plan (task schedule) of tasks to be executed by each robot R.

  Specifically, when the schedule request signal is input from the priority data generation unit 320, the task management unit 330 relates to an unexecuted (unprocessed) task among the tasks registered in the task information database 220. Get data (task data). Then, the task management unit 330 groups the tasks based on the priority included in the task data.

  Here, when the priority value of the task is less than 2, it is grouped into a group “C”, when it is between 2 and less than 4, it is grouped into a group “B”. , And the task with task ID = 10 to task ID = 15 has not been executed and is determined by the priority data generation unit 320 as shown in FIG. The case where the task priority values are the values shown in FIG. 6 will be described as an example. In this case, the task management means 330 sorts the task with the task ID “11” and the task with the task ID “13” into the group “C”, the task with the task ID “10”, and the task ID “ The task with the task ID “12” and the task with the task ID “14” are allocated to the group “A”.

Subsequently, the task management unit 330 performs tasks of a group (in this case, the group “A”) composed of tasks having a high priority among the three groups (group “A” to group “C”). Schedule for.
Specifically, the task management unit 330 lists all combinations that specify which tasks are assigned to each of the robots R arranged in the task execution area E and in which order the assigned tasks are performed. Then, the task management means 330 obtains the total cost required for every combination in accordance with the assignment of the tasks specified in each combination to the robot R and the execution of all tasks according to the execution order of the tasks. Find the combination with the lowest cost.

Here, there are two robots R (RA, RB) arranged in the task execution area E, the tasks included in the group “A” are tasks having a task ID of “12” and a task ID of “12”. The case where the task is “14” will be described as an example.
In this case, the combination of task assignment and execution order performed for the robots RA and RB includes the case where both tasks are performed by one robot RA (RB) (4 types) and 2 There are six types in total (two types) when performed by two robots RA and RB.

  Therefore, in this case, the task management unit 330 executes all tasks by the robot R (RA, RB) arranged in the task execution area E according to the task schedule defined for each of the six combinations. Calculate the total cost required.

In the case of the present embodiment, the total cost (C _total ) is calculated using the following formula (5).

C _total = w ・ C _all + (1-w) ・ C _{all complete}・ ・ ・ ・ (5)

In the formula (5), "C _all" is to finish all the tasks, a total of a battery all the robots R included in the robot control system A is consumed (operating costs), "C _{all `` complete} '' means that all tasks assigned to each robot are completed from the scheduled start time of the first task to the scheduled end time of the last task, before all tasks are completed. It is time (time cost).
Further, “w” is a “weight value” that determines whether to focus on the operation cost or the time cost, and is a value that is arbitrarily set within the range of 0 ≦ w ≦ 1. Here, when the “w” value is large, the tendency to place importance on the battery consumption increases in the _total cost (C _total ), and when it is small, the tendency to place importance on the time (required time) required to complete all tasks. Becomes larger.

More specifically, when the robot RA executes a task with a task ID “12” and the robot RB executes a task with a task ID “14”, “C _all ” indicates that the robot RA is “12”. This is a value obtained by adding the battery amount consumed when the task is executed and the battery amount consumed when the robot RB executes the task “14”.
“C _{all complete} ” indicates that the robot RA is “12” from the earlier of the time when the robot RA starts the task “12” and the time when the robot RB starts the task “14”. This is the time until the later time of the time when the task is finished and the time when the robot RB finishes the task “14”.
When the robot RB executes the task “12” next to the task “14”, “C _all ” ends the task “12” after the robot RB starts the task “14”. The value of the amount of battery consumed until “C _{all complete} ” is the time from the time when the robot RB starts “14” to the time when the robot RB ends the task “12”. .

Therefore, in this embodiment, the task management unit 330 obtains the cost (C _total) total for each combination, the value of the total calculated cost (C _total) are assigned the task defined in the smallest combination, And the execution order of tasks is determined as a task schedule.

  The task management unit 330 performs the same operation for the remaining groups (group “B” and group “C”) in order from the group with the highest priority, and among the tasks registered in the task information database 220, For an unprocessed task, the robot R to be executed is determined, and the execution order of tasks assigned to the robot R is set for each robot R.

<Task execution instruction generation means>
The task execution command generation means 340 shown in FIG. 5 generates a task execution command (data) for causing the robot R to execute a task.

The task execution instruction generation unit 340 is included in the received execution instruction request signal when a signal (execution instruction request signal) requesting generation of a task execution instruction is input from the database management unit 310 or the task management unit 330. Based on the robot ID, the task schedule database 230 is referred to, and the task registered in the task schedule database 230 is confirmed.
Then, when there is an unexecuted task assigned to the robot R specified by the robot ID, the task execution instruction generating unit 340 outputs a task execution instruction (data) for causing the robot R to execute the task. The task execution command generated by referring to the data of each information item in the information database 220 is output to the robot R specified by the robot ID via the input / output unit 100.

<Sensor control means>
The sensor control unit 400 generates a command for reducing the output intensity of the ultrasonic sensors 81 a to 81 d of the robot R (strength reduction command) based on the distance between the plurality of robots R.
As shown in FIG. 7, the sensor control unit 400 includes a robot distance calculation unit 402, a robot distance determination unit 404, a detection limit distance calculation unit 406, a detection limit distance determination unit 408, and a priority order. The determination unit 410, the speed calculation unit 420, and the strength reduction command generation unit 430 are configured.

  The inter-robot distance calculation means 402 calculates a distance (inter-robot distance) D1 between any two robots R based on the current position information of the robot R stored in the robot information database 240, and determines the inter-robot distance. This is output to the means 404. For example, the robot distance D1 between the two robots RA and RB is represented by a horizontal distance between the current positions of the robots RA and RB as shown in FIG.

  The inter-robot distance determination unit 404 determines whether the inter-robot distance D1 calculated by the inter-robot distance calculation unit 402 is equal to or less than a set value α (first predetermined value). As the set value α, a level is set in advance so as to prevent the transmission / reception waves of the ultrasonic sensors 81a to 81d of the two robots R from interfering with each other. This inter-robot distance determination means 404 outputs a signal including the robot IDs of both robots RA and RB to the detection limit distance determination means 408 when the inter-robot distance D1 is less than or equal to the set value α. Further, the inter-robot distance determining means 404, when the inter-robot distance D1 changes from a state below the set value α to a state greater than the set value α, a signal (approach cancellation signal) indicating that fact is an intensity reduction command generating means. Output to 430.

When a signal including the robot IDs of both the robots RA and RB is input, the detection limit distance calculation unit 406 detects the ultrasonic sensors 81a of the two robots R (RA and RB) specified by the robot IDs. The shortest distance between the obstacle detection limit of the robot RA and the obstacle detection limit of the robot RB (detection) based on the detection areas γ _A and γ _B (obstacle detection area information) of -81d and the current position information (Distance between limits) D2 is calculated. This distance D2 between detection limits is illustrated in FIG. When the robot ID is input from the inter-robot distance determination unit 404, the detection limit distance calculation unit 406 stores the current position information, movement direction, and sensor detection area (γ _A ) of the robot R stored in the robot information database 240. , Γ _B ), the distance between detection limits D2 is calculated and output to the distance between detection limits determination means 408 together with the robot ID.

  The detection limit distance determination unit 408 determines whether or not the detection limit distance D2 output from the detection limit distance calculation unit 406 is equal to or less than a set value β (second predetermined value). As this set value β, a level is set in advance so as to prevent interference between transmission and reception waves of the ultrasonic sensors 81a to 81d of the two robots R. The distance between detection limits determination means 408 outputs a signal including the robot IDs of both robots to the priority order determination means 410 and the speed calculation means 420 when the distance between detection limits D2 is equal to or less than the set value β.

  The priority order determination means 410 determines the priority order of the two robots R (RA, RB) specified by the robot ID output from the detection limit distance determination means 408, and sends the determination result to the strength reduction instruction generation means 430. Output. As illustrated in FIG. 7, the priority order determination unit 410 includes a task priority determination unit 411, a battery level determination unit 412, and an identification number determination unit 413.

  The task priority determination unit 411 determines the priority level of tasks being executed by the two robots R (RA, RB) determined by the detection limit distance determination unit 408 with reference to the task information database 220. Is. This task priority determination unit 411 is a signal including a robot ID of a robot R having a low priority (non-priority robot specifying signal) when the priorities of tasks being executed by two robots R (RA, RB) are different. Is output to the strength reduction command generation means 430. In addition, the task priority determination unit 411 sends a signal including the robot IDs of both the robots RA and RB to the battery level determination unit 412 when the priorities of the tasks being executed by the two robots R (RA and RB) are the same. Output.

  When a signal including a robot ID is input from the task priority determination unit 411, the battery level determination unit 412 determines whether the battery level of the two robots R (RA, RB) specified by the robot ID is high or low. The determination is made with reference to the database 240. The battery level determination unit 412 generates a strength reduction command generating means for generating a signal (non-priority robot specifying signal) including the robot ID of the robot R having a high battery level when the battery levels of the two robots R (RA, RB) are different. Output to 430. In addition, when the battery levels of the two robots R (RA, RB) are the same, the battery level determination unit 412 outputs a signal including the robot IDs of both robots to the identification number determination unit 413.

  When a signal including a robot ID is input from the battery level determination unit 412, the identification number determination unit 413 determines the priority order of the robot R (RA, RB) based on the number of the robot ID. Specifically, the identification number determination unit 413 determines that the robot R having a large robot ID number is a robot R having a low priority, and generates a signal including the robot ID (non-priority robot identification signal) as a strength reduction command. Output to means 430. Note that the robot R with the lower robot ID number may be determined to be the robot R with the lower priority, or if it can be specified by the robot ID, it may be determined based on the magnitude relationship of some number in the robot information database 240. Good.

  The speed calculation means 420 calculates the speed of the robot R based on the current position information for each time stored in the robot information database 240. When the signal including the robot ID output from the detection limit distance determination unit 408 is input, the speed calculation unit 420 obtains the moving speed of the robot R specified by the robot ID, and the strength reduction command generation unit. Output to 430.

  Based on the non-priority robot identification signal output from the priority determination unit 410, the strength reduction command generation unit 430 sets the output intensity of the ultrasonic sensors 81a to 81d of the non-priority robot to (100−ζ (v))%. A command for reducing (strength reduction command) is generated. Here, ζ (v) is a function whose value varies in the range of 0 to 100 depending on the moving speed v of the non-priority robot output from the speed calculating means 420. It is a big value. Note that it may depend on the relative speed of the two robots, or may be a constant value that does not depend on the speed.

  In addition, when the strength reduction command generation unit 430 generates the strength reduction command, the strength reduction command generation unit 430 generates a command (speed reduction command) for reducing the moving speed of the non-priority robot to (1-ζ (v))%. The strength reduction command and the speed reduction command generated here are transmitted to the non-priority robot via the input / output unit 100. Further, the strength reduction command generation unit 430 generates a return command for canceling the strength reduction command and the speed reduction command based on the approach release signal output from the inter-robot distance calculation unit 402, and passes through the input / output unit 100. Send to non-priority robots.

(Robot control system operation)
First, task information is input at the terminal 5 (see FIG. 1), and is output to the robot control device 3 connected to the terminal 5 via the network 4. The robot controller 3 registers the task information input from the terminal 5 via the input / output unit 100 (see FIG. 5) in the task information database 220 by the database management unit 310. Then, after the input at the terminal 5 is completed, each robot R (for example, RA, RB) stands by at a predetermined position (home position).

  The main control unit 40 (see FIG. 2) of the robot R executes a task based on a task execution command acquired from the robot control device 3 via the wireless communication unit 60. That is, each robot R performs the route search and movement from the current position (home position) of the robot R to the task execution position, the execution of the task, and the path search and movement from the task end position to the home position according to the schedule. Run sequentially. When the robot R moves, the map data stored in the map information database 210 (see FIG. 5) is acquired and referenced, and the obstacle detection unit 80 (see FIG. 2) avoids the obstacle while avoiding the obstacle. To reach your destination. When the robot R identifies a person, the conversation data corresponding to the person is acquired from a conversation data storage unit (not shown) of the robot control device 3 and output to the speech synthesizer 21a (see FIG. 2). For example, the voice “is Mr. XXX?” Is output. In this case, when the voice recognition unit 21b (see FIG. 2) recognizes the answer “Yes, yes”, the robot R recognizes that the identified person is “Mr. XXX” and guides it. Execute tasks such as transportation and transportation.

  Each of the robots RA and RB generates data (status information) related to the states of the robots RA and RB at predetermined time intervals by the main control unit 40 and controls the generated status information via the wireless communication unit 60. Output to device 3. Here, the status information includes current position information, battery remaining amount information, and robot ID. The robot control device 3 receives the received status information via the input / output means 100 (receiving step), and registers the input status information in the robot information database 240 by the database management means 310.

[Processing in the robot controller 3]
Next, referring to FIG. 9 (refer to FIG. 5 and FIG. 7 as appropriate), processing performed in the robot controller 3 when the two robots R (RA, RB) approach each other will be described. FIG. 9 is a flowchart showing processing of the sensor control means of the robot control apparatus.

  As shown in FIG. 9, the robot control device 3 performs the following processing by the sensor control unit 400. That is, the sensor control unit 400 calculates the inter-robot distance D1 (see FIG. 8) by the inter-robot distance calculation unit 402 based on the current position information of the robots RA and RB stored in the robot information database 240 (see FIG. 8). Step S1: Distance calculation between robots). Then, the sensor control unit 400 determines whether the inter-robot distance D1 is equal to or less than the set value α by the inter-robot distance determination unit 404 (step S2: inter-robot distance determination step).

  When the robot distance D1 is larger than the set value α (step S2: No), the sensor control unit 400 ends the process. On the other hand, when the inter-robot distance D1 is equal to or less than the set value α (step S2: Yes), the sensor control unit 400 causes the detection limit distance calculation unit 406 to check the obstacle detection area information and the current information of the robots RA and RB. Based on the position information, a distance D2 between detection limits (see FIG. 8) is calculated (step S3: distance calculation between detection limits).

Then, the sensor control unit 400 determines whether the detection limit distance D2 is equal to or less than the set value β by the detection limit distance determination unit 408 (step S4: detection limit distance determination step). When the distance D2 between detection limits is larger than the set value β (step S4: No), the sensor control unit 400 ends the process. On the other hand, when the distance between detection limits D2 is equal to or less than the set value β (step S4: Yes), the distance between detection limits determination unit 408 sends a signal including the robot IDs of the robots RA and RB to the priority order determination unit 410 and the speed. It outputs to the calculation means 420. Then, the sensor control means 400 uses the task priority determination unit 411 to determine the level of the priority P _A of the task being executed by the robot RA and the priority P _B of the task being executed by the robot RB is the task information database 220. (Step S5). Further, the speed calculation means 420 calculates the moving speeds of the robots RA and RB based on the current position information for each time stored in the robot information database 240, and outputs them to the strength reduction command generation means 430 (speed calculation). Step).

In step S5, when the priority of the task of the robot RA is higher (P _A > P _B ), the task priority determination unit 411 generates a signal for specifying the robot RB (non-priority robot specifying signal) to reduce the strength. Output to means 430. Specifically, the robot R that is guiding a customer (guidance task) or moving to replenish the battery (replenishment task) is in the middle of returning to the home position to wait, or arrival time. Is given a higher priority than the robot R which is carrying a generous transport (transportation task).

Then, the sensor control means 400 reduces the output intensity of the ultrasonic sensors 81a to 81d of the robot RB to (1-ζ (v))% based on the speed v _{B of the} robot RB by the intensity reduction command generation means 430. A command (strength reduction command generation step) is generated (step S8: strength reduction command generation step). The strength reduction command generation unit 430 further generates a command (speed reduction command) for reducing the moving speed of the robot RB to (1-ζ (v))% (step S9: speed reduction command step). ). Then, the sensor control unit 400 outputs the strength reduction command and the speed reduction command to the input / output unit 100 by the strength reduction command generation unit 430 (step S10), and transmits it to the robot RB via the input / output unit 100 (step S10). Send step). As a result, the robot RB decreases the strength and the moving speed of the ultrasonic sensors 81a to 81d. At this time, the robot RB lights or blinks the display lamp 82 by the control unit 83, so that it is possible to notify that the intensity of the ultrasonic waves output from the ultrasonic sensors 81a to 81d is reduced.

In step S5, when the priority of the task of the robot RB is higher (P _A <P _B ), the task priority determination unit 411 reduces the strength of the signal for specifying the robot RA (non-priority robot specification signal). It outputs to the instruction generation means 430. Then, the sensor control unit 400 reduces the output intensity of the ultrasonic sensors 81a to 81d of the robot RA to (1-ζ (v))% based on the speed v _{A of the} robot RA by the intensity reduction command generation unit 430. A command (strength lowering command) is generated (step S11). The strength reduction command generation means 430 further generates a command (speed reduction command) for reducing the moving speed of the robot RA to (1-ζ (v))% (step S12). Then, the sensor control unit 400 proceeds to step S10. Thereby, the robot RA as the non-priority robot reduces the strength of the ultrasonic sensors 81a to 81d to (1-ζ (v))% by the control unit 83 and reduces the moving speed to (1-ζ (v)). )%.

In step S5, when the priority of the tasks of the robots RA and RB is equal (P _A = P _B ), the sensor control unit 400 causes the battery level determination unit 412 to set the battery level L _A of the robot RA and the robot RB. of the level of the battery level L _B, it determines by referring to the robot information database 240 (step S6).

In step S6, when the battery level of the robot RA is higher (L _A > L _B ), the battery level determination unit 412 sends a signal for specifying the robot RB (non-priority robot specification signal) to the strength reduction command generation means 430. Output. Then, the sensor control unit 400 proceeds to step S8.

In step S6, when the battery level of the robot RB is higher (L _A <L _B ), the battery level determination unit 412 generates a signal for specifying the robot RA (non-priority robot specifying signal) as a strength reduction command generating unit. Output to 430. Then, the sensor control unit 400 proceeds to step S8.

In step S6, when the battery levels L _A and L _B are equal (L _A = L _B ), the sensor control means 400 uses the identification number determination unit 413 to identify the ID number N _A of the robot RA and the ID of the robot RB. the magnitude of the number N _B, determines by referring to the robot information database 240 (step S7). Steps S5 to S7 described above correspond to priority order determination steps shown in the claims.

In step S7, when the ID number of the robot RA is larger (N _A > N _B ), the identification number determination unit 413 sends a signal for specifying the robot RB (non-priority robot specification signal) to the strength reduction command generation means 430. Output. Then, the sensor control unit 400 proceeds to step S8.

In step S7, if the ID number of the robot RB is larger (N _A <N _B ), the identification number determination unit 413 generates a signal for specifying the robot RA (non-priority robot specifying signal) as a strength reduction command generating unit. Output to 430. Then, the sensor control unit 400 proceeds to step S8.

  In addition, the sensor control unit 400 executes the process of step S10 (when the output intensity and the moving speed of the ultrasonic sensors 81a to 81d of the non-priority robot R are reduced), and again, the inter-robot distance determination unit 404. Thus, it is determined whether the inter-robot distance D1 is equal to or smaller than the set value α (step S2). When the inter-robot distance D1 becomes larger than the set value α (step S2: No), the sensor control unit 400 outputs an approach cancellation signal to the strength decrease command generation unit 430 by the inter-robot distance calculation unit 402. The strength reduction command generation means 430 generates a command (return command) for returning the output intensity and the moving speed of the ultrasonic sensors 81 a to 81 d of the non-priority robot R to the normal state. Output to the priority robot R (step S10). Thereby, the non-priority robot R returns the strength and the moving speed of the ultrasonic sensors 81a to 81d to the normal state.

  Note that each step described above by the robot control device 3 of the present invention can be realized as a robot control program by causing a general computer to execute the steps. This robot control program can be distributed via a communication line, or can be written on a recording medium such as a CD-ROM for distribution.

  According to the present embodiment, the robot control device 3 transmits the strength reduction command and the speed reduction command to either of the approaching robots RA and RB (non-priority robot R) by the sensor control unit 400. Since the non-priority robot R decreases the output intensity of the ultrasonic sensors 81a to 81d, the pulse waves output from the robots RA and RB do not interfere with each other. Therefore, the robots RA and RB can accurately detect the obstacle.

  In addition, the non-priority robot R is less likely to detect an obstacle than usual, but the movement speed is reduced by a speed reduction command, so that it is difficult to collide with the obstacle. The reduced moving speed may be 0 (stopped). In addition, the non-priority robot R causes the control unit 83 of the obstacle detection unit 80 to turn on or blink the display lamp 82 based on the strength reduction command. Thereby, a person near the non-priority robot R can recognize that the non-priority robot R is more difficult to detect an obstacle than usual.

  As mentioned above, although preferable embodiment of this invention was described, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, as a viewpoint for determining the priority, the task priority is increased when the task start time approaches, but the present invention is not limited to this, and various viewpoints can be introduced. For example, (1) Tasks that communicate with humans have the highest priority, (2) End tasks as soon as possible as a whole, (3) Save battery power as a whole, (4) Operator It may be arbitrarily set by the (user), or may be appropriately combined.

  In the present embodiment, the strength reduction command generation means 430 of the robot control device 3 generates a strength reduction command that designates the output strength of the ultrasonic sensors 81a to 81d of the robot R as (100−ζ (v))%. However, it is also possible to generate an intensity reduction command that specifies the detection distances of the ultrasonic sensors 81a to 81d. Thereby, the robot R that has received the strength reduction command reduces the output intensity so that the designated detection distance is reached. In this case, the ultrasonic sensors 81a to 81d of the two robots R that are approaching change the output intensity depending on the situation, the arrangement positions of the ultrasonic sensors 81a to 81d are different, or Even if the performances of the ultrasonic sensors 81a to 81d are different from each other, interference by both of the ultrasonic sensors 81a to 81d can be prevented.

  In the present embodiment, the detection areas of the ultrasonic sensors 81a to 81d have been described as being circular on a horizontal plane. However, depending on the type, number, and arrangement of sensors, the detection area may be different for each actual machine. A detection region γ obtained by combining the detection regions of the ultrasonic sensors 81a to 81d of the robot R is measured in advance. In this case, the boundary line of the combined detection region γ can be obtained by tracing a line indicating how much the sensor intensity is dB. Although the external sensor has been described as the ultrasonic sensors 81a to 81d, in the present invention, the external sensor may be any sensor that detects an obstacle using a reflected wave, and the transmitted wave is, for example, light or radio wave. Also good.

1 is a system configuration diagram of a robot control system A according to an embodiment of the present invention. It is a block diagram of a robot. It is a block diagram which shows the obstruction detection part shown in FIG. It is a figure which shows the detection area | region by the obstruction detection part shown in FIG. 2, (a) is a top view, (b) is a side view. It is a block block diagram of a robot control apparatus. It is explanatory drawing for demonstrating the process performed by the task management means of a robot control apparatus. It is a block block diagram of the sensor control means of a robot control apparatus. It is explanatory drawing for demonstrating the process performed by the sensor control means of a robot control apparatus. It is a flowchart which shows the process of the sensor control means of a robot control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base station 2 Router 3 Robot control apparatus 4 Network 5 Terminal 80 Obstacle detection part 81a-81d Ultrasonic sensor (external sensor)
82 Indicator lamp (display means)
83 Control Unit 100 Input / Output Unit 200 Storage Unit 210 Map Information Database 220 Task Information Database (Task Information Storage Unit)
230 Task schedule database 240 Robot information database (robot information storage means)
300 control means 310 database management means 320 priority data generation means 330 task management means 340 task execution command generation means 400 sensor control means 402 distance between robots calculation means 404 distance between robots determination means 406 distance calculation between detection limits 408 between detection limits Distance determination means 410 Priority order determination means 411 Task priority determination section 412 Battery level determination section 413 Identification number determination section 420 Speed calculation means 430 Strength reduction command generation means R Robot

Claims (18)

A plurality of position information detecting means for detecting current position information relating to the current position, and an external sensor that outputs an ultrasonic wave or an electromagnetic wave as a transmission wave and detects surrounding obstacles by a reflected wave, and performs a predetermined task. A robot control device for controlling a mobile robot,
Input / output means for inputting the current position information detected by the position information detecting means from the plurality of mobile robots and outputting a predetermined command to the plurality of mobile robots;
Robot information storage means for storing current position information input to the input / output means together with identification information of the mobile robot;
Sensor control means for generating a command for controlling an external sensor of the mobile robot based on current position information stored in the robot information storage means,
The sensor control means includes
An inter-robot distance calculation means for calculating a distance between any two mobile robots based on the current position information stored in the robot information storage means;
It is determined whether or not the distance calculated by the inter-robot distance calculating means is equal to or less than a first predetermined value set in advance so as to obtain a level at which transmission / reception waves of the external sensors of the two mobile robots do not interfere with each other. Means for determining the distance between the robots,
Relative distance the robot distance determining means said first two mobile robot is determined to be equal to or less than a predetermined value, based on a predetermined criterion, and determining priority determining means priorities,
Strength reduction command generation means for generating a strength reduction command that is a command to reduce the strength of a transmission wave output from an external sensor of the mobile robot for a mobile robot having a low priority determined by the priority determination means; ,
A robot control apparatus comprising: A distance between detection limit calculation means for calculating the shortest distance between the detection limit distances of the external sensors of each of the two mobile robots determined by the distance determination means between the robots to be equal to or less than the first predetermined value; ,
Whether or not the distance calculated by the distance between detection limit calculation means is equal to or less than a second predetermined value set in advance by obtaining a level at which transmission / reception waves of the external sensors of the two mobile robots do not interfere with each other. It further comprises a detection distance determination means for determining,
The priority determining means, with respect to the distance by the detection limit distance determining means and the second of the two mobile robot is determined to be equal to or less than a predetermined value, based on said predetermined criterion, determining the priority The robot control apparatus according to claim 1, wherein: Task information storage means for storing a priority indicating the degree to which the task should be preferentially executed and a progress status of the task for each mobile robot;
The robot control according to claim 1 or 2, wherein the predetermined criterion is determined including a priority stored in the task information storage unit for a task being executed by the mobile robot. apparatus. The input / output means further inputs battery remaining amount information of the mobile robot,
The robot information storage means further stores battery remaining amount information input to the input / output means,
The said predetermined reference | standard is determined including the priority memorize | stored in the said task information storage means, and the battery residual amount information memorize | stored in the said robot information storage means. Robot control device.   The predetermined criterion is determined from priority stored in the task information storage unit, remaining battery information stored in the robot information storage unit, and identification information of the mobile robot. Item 5. The robot control device according to Item 4.   The said strength reduction command generation means produces | generates the speed reduction command which is a command to reduce the moving speed of the said mobile robot with the said strength reduction command, It is any one of Claim 1 thru | or 5 characterized by the above-mentioned. The robot control device described. The sensor control means includes
Further comprising speed calculation means for calculating the speed of the mobile robot based on the current position information for each time stored in the robot information storage means;
The strength reduction instruction generation means includes
7. An intensity reduction command for changing a rate of reducing the intensity of a transmission wave output from the external sensor based on the speed calculated by the speed calculation means. The robot control device according to any one of the above. 8. The intensity reduction command generation unit generates an intensity reduction command that specifies the intensity of a transmission wave output from the external sensor or a detection distance of the external sensor. The robot control device according to the item. A mobile robot that receives the strength reduction command from the robot control device according to claim 1,
A mobile robot comprising display means for indicating when the intensity of a transmission wave output from the external sensor is low. A plurality of position information detecting means for detecting current position information relating to the current position, and an external sensor that outputs an ultrasonic wave or an electromagnetic wave as a transmission wave and detects surrounding obstacles by a reflected wave, and performs a predetermined task. A robot control method of a robot control device for controlling a mobile robot,
A receiving step of receiving current position information detected by the position information detecting means from the plurality of mobile robots;
An inter-robot distance calculating step for calculating a distance between any two mobile robots based on the received current position information;
It is determined whether or not the distance calculated in the inter-robot distance calculation step is equal to or less than a first predetermined value set in advance so as to obtain a level at which transmission / reception waves of the external sensors of the two mobile robots do not interfere with each other. A step for determining the distance between robots,
Relative distance the robot distance determining step of the first two mobile robot is determined to be equal to or less than a predetermined value, based on a predetermined criterion, and determining priority judging step priorities,
A strength reduction command generation step for generating a strength reduction command that is a command to reduce the strength of the transmission wave output from the external sensor of the mobile robot for a mobile robot having a low priority determined in the priority order determination step; ,
A transmission step of transmitting the strength reduction command generated in the strength reduction command generation step to a mobile robot having a low priority determined in the priority determination step;
A robot control method comprising: Following the robot distance determination step,
A distance between detection limits calculation step for calculating the shortest distance between the detection limit distances of the respective external sensors of the two mobile robots for which the distance is determined to be equal to or less than the first predetermined value in the distance determination step between the robots; ,
It is determined whether the distance calculated in the detection limit distance calculating step is equal to or less than a second predetermined value set in advance by obtaining a level at which transmission / reception waves of the external sensors of the two mobile robots do not interfere with each other. Further including a determination step for determining a distance between detection limits,
The priority determining step, with respect to the distance by the detection limit distance determining step said second two mobile robot is determined to be equal to or less than a predetermined value, based on said predetermined criterion, determining the priority The robot control method according to claim 10, wherein:   The robot control method according to claim 10 or 11, wherein the predetermined criterion is determined including a priority indicating a degree to which the predetermined task should be preferentially executed.   The robot control method according to claim 12, wherein the predetermined reference is determined including the priority and battery remaining amount information indicating a remaining battery amount of the mobile robot.   The robot control method according to claim 13, wherein the predetermined reference is determined from the priority, the remaining battery information, and the identification information of the mobile robot. Subsequent to the strength reduction command generation step, the method further includes a speed reduction command step of generating a speed reduction command that is a command to reduce the moving speed of the mobile robot,
15. The transmission step transmits the speed reduction command together with the strength reduction command to a mobile robot having a low priority determined in the priority determination step. The robot control method according to the item. A speed calculating step of calculating a speed of the mobile robot based on the current position information received in the receiving step;
The strength reduction command generation step generates a strength reduction command that changes a rate of decreasing the strength of the transmission wave output from the external sensor based on the speed calculated in the speed calculation step. The robot control method according to any one of claims 10 to 15. 17. The intensity reduction command generation step generates an intensity reduction command that specifies the intensity of a transmission wave output from the external sensor or a detection distance of the external sensor. The robot control method according to the item.   A robot control program causing a computer to execute the robot control method according to any one of claims 10 to 17.

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