JP5324286B2 - Network robot system, robot control apparatus, robot control method, and robot control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reliably move a robot without interfering with other robots. <P>SOLUTION: A network robot system 10 includes robots 12, and the robot 12 transmits a request message for the generation request of a moving path related with the provision of services to a robot control device 102. The robot control device 102 receives the request message, and generates a moving path about the request message so that the robots 12 can be prevented from colliding with each other in response to the request message. Then, the robot control device 102 transmits movement path data about a moving path for a fixed time (T seconds) among moving paths to the robot 12. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a network robot system, a robot control device, a robot control method, and a robot control program, and more particularly to a network robot system, a robot control device, a robot control method, and a robot control program using a self-running robot.

  An example of this type of network robot system is disclosed in Patent Document 1. In the robot control system of Patent Document 1, each of a plurality of robots executes a task (autonomous movement) by receiving an execution command signal from the robot control device. In the robot controller, a subgoal that is a finite number of nodes is set between a task start position (start) and a task end position (goal). In addition, the robot controller monitors the tasks of the two selected robots RA and RB, and if there is a possibility of collision, save or avoid such a situation according to the priority of each task. Then, the movement paths of the robots RA and RB are changed.

JP 2006-133863 [G05D 1/02, B25J 5/00, B25J 19/06]

  However, in the technique of Patent Document 1, when there is a possibility of collision, it is necessary to change the movement path of the robot so as to evacuate or avoid the collision. It is necessary to calculate a movement route for returning to the operation of executing the original task after avoidance, and the process becomes complicated.

  Therefore, a main object of the present invention is to provide a novel network robot system, robot control apparatus, robot control method, and robot control program.

  Another object of the present invention is to provide a network robot system, a robot controller, and a robot that do not require complicated processing and can continue to move safely even if communication is delayed or momentarily interrupted. A control method and a robot control program are provided.

  The present invention employs the following configuration in order to solve the above problems. The reference numerals in parentheses, supplementary explanations, and the like indicate correspondence relationships with embodiments described later to help understanding of the present invention, and do not limit the present invention in any way.

The first invention is a Rene Tsu network robot system comprising: a self-propelled plurality of robots to provide various services, and a robot control device that is communicably connected to each of said plurality of robots. Each of the plurality of robots, periodically includes a generation request sending means for sending to the robot controller to generate requests for travel route data relating to the service to which it provides, the robot control device, the generation of each of the plurality of robots generation request receiving means for receiving a generation request is periodically transmitted from the request transmission means, each time it receives a request to generate the generation request receiving means, as between a plurality of robots do not collide, each multiple generation request The route generation means for generating the movement route data of the entire movement route from the current position to the target position of each robot according to the condition, and the movement of the entire movement route every time the movement route data of the whole movement route is generated by the route generation means. Chi sac route data, the moving path data of a certain time duration longer than the interval of generation request from the generation request transmitting means is transmitted to the requester of the robot Includes moving path data transmission means for respectively transmitting, further each of the plurality of robots, the moving path data receiving means for receiving the moving path data of a predetermined time period which is transmitted from the moving path data transmission means of the robot control device, and Ru includes moving means for moving in accordance with movement path data for a predetermined time amount received by the movement path data receiving means.

  In the first invention, the network robot system (10) includes a plurality of robots (12) capable of self-running and a robot controller (102) connected to each of the plurality of robots so as to be communicable. Each of the plurality of robots includes a generation request transmission unit (60, S63), a movement route data reception unit (60, S33), and a movement unit (24, 60, 66, S35). On the other hand, the robot control device includes a generation request receiving unit (S3), a route generation unit (S13, S15), and a movement route data transmission unit (S17).

  The generation request transmission means of each of the plurality of robots transmits a generation request for movement path data related to the provision of the service to the robot controller. In the robot control device, the generation request receiving means receives generation requests from a plurality of robots. When the generation request is received, the route generation unit of the robot control device generates movement route data corresponding to each of the plurality of generation requests received by the generation request reception unit so that the plurality of robots do not collide with each other. Then, the movement route data transmission means transmits a predetermined time of the movement route data generated by the route generation means to the requesting robot. Therefore, the movement path data receiving unit of the robot receives the movement path data transmitted from the robot control device. Then, the moving means moves according to the movement route data received by the movement route data receiving means.

  According to the first invention, since only a certain amount of time is notified among the movement routes generated so that the robots do not collide with each other, even if the wireless communication is delayed or momentarily interrupted, the robots move relative to each other. The route can continue safely without interference.

The second invention is dependent on the first invention, and the generation request transmitted from the generation request transmission unit includes a priority corresponding to the importance of the service provided by the requesting robot , and the path generation unit includes: When a generation request is received from each of the plurality of robots by the generation request receiving means , movement route data of the entire movement route corresponding to the plurality of generation requests is generated in order of the priority included in each generation request .

  In the second invention, the generation request includes a priority for generation of movement route data. When the generation request receiving unit receives generation requests from a plurality of robots, the route generation unit generates movement route data corresponding to the plurality of generation requests in descending order of priority. Therefore, for example, a movement route for a generation request with a low priority may be generated so as not to cross a movement route already generated for a generation request with a high priority.

  According to the second aspect, since the movement route is generated in the order according to the priority, the generation of the movement route is simple, and the processing load can be reduced.

A third invention is dependent on the first or second invention, and the robot includes a communication robot that executes a communication action including at least one of a body motion and a voice in order to provide a service .

  In the third invention, the robot performs a communication action including at least one of body movement and voice. Therefore, for example, communication is performed with a human or another robot.

  According to the third invention, since the communication robot is used, it is possible not only to move but also to provide various services.

A fourth invention is a robot control apparatus communicably connected to each of a plurality of self-propelled robots that provide various services, and is periodically transmitted from each of the plurality of robots. There generation request receiving means for receiving a request to generate travel route data according to the services provided, each for receiving a request to generate the generation request receiving means, as between a plurality of robots do not collide, each multiple generation request The route generation means for generating the movement route data of the entire movement route from the current position to the target position of each robot according to the condition, and the movement of the entire movement route every time the movement route data of the whole movement route is generated by the route generation means. Chi sac route data, a plurality of robots each generation request from the requestor to a certain time of the travel route data longer than the interval sent robot Comprising a moving path data transmission means for transmitting respectively the robot controller.

A fifth invention is a robot control method of a robot control apparatus that is communicably connected to each of a plurality of self-propelled robots that provide various services , and (a) periodically from each of the plurality of robots is the and receives a request to generate travel route data relating to the service to which the robot is provided sent, whenever receiving the generation request in step (b) (a), as between a plurality of robots do not collide, double generating a movement path data for the entire travel route at the current position of each robot in accordance with the respective number of generated request to generate a movement path data of the entire travel path to the target position, and the (c) step (b) each time, Chi sac movement path data for the entire travel route, generating from each of a plurality of robots request is a request source a certain time of the travel route data longer than the interval sent Robo Respectively transmit the bets, a robot control method.

A sixth invention is a robot control program that is executed by a robot control device that is communicably connected to each of a plurality of self-propelled robots that provide various services. Each time a generation request is received in the generation request receiving step, the generation request receiving step for receiving the generation request of the movement route data related to the service provided by the robot, which is periodically transmitted from each of the robots , a plurality of robots as each other do not collide, the entire movement at the entire path generating step generates the moving path data of the moving route, and the route generation step from the current position of each robot in accordance with the respective multiple generation request to the target position each generating a movement path data path, Chi sac moving path data of the entire travel path, each of the plurality of robots Generation request to execute the moving path data transmission step of transmitting each request source robot moving path data of a busy constant time duration than the interval sent from a robot control program.

  In the fourth to sixth inventions, similarly to the first invention, even if communication is delayed or momentarily interrupted, the robot can be safely moved continuously.

  According to the present invention, a movement route that does not interfere with each other is calculated, and a certain amount of time along the movement route is notified to the robot. Therefore, no complicated processing is required, and even if communication is delayed or interrupted, it is safe. The robot can continue to move.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

FIG. 1 is an illustrative view showing a configuration of a network robot system according to an embodiment of the present invention. FIG. 2 is a front view of the appearance of the robot shown in FIG. 1 as viewed from the front. FIG. 3 is a block diagram showing an electrical configuration of the robot shown in FIG. FIG. 4 is an illustrative view showing a measurement range of a laser range finder included in the environmental sensor shown in FIG. FIG. 5 is an illustrative view showing a detection region when a plurality of laser range finders shown in FIG. 4 are arranged in an environment where a robot is arranged. FIG. 6 is an illustrative view showing a request list generated and managed in the robot control apparatus shown in FIG. FIG. 7 is an explanatory diagram for explaining a path generation method in the robot control apparatus shown in FIG. FIG. 8 is a graph showing the relationship of the delay time to the data arrival rate in the wireless communication between the robot controller shown in FIG. 1 and the robot. FIG. 9 is an illustrative view showing one example of a memory map of an internal memory of the robot control apparatus shown in FIG. FIG. 10 is a flowchart showing the overall processing of the computer (CPU) of the robot control apparatus shown in FIG. FIG. 11 is a flowchart showing service providing processing of the CPU of the robot shown in FIG. FIG. 12 is a flowchart showing transmission processing of the CPU of the robot shown in FIG.

  Referring to FIG. 1, a network robot system (hereinafter simply referred to as “system”) 10 of this embodiment includes a plurality of robots 12. Each robot 12 is communicably connected to the robot controller 102 via the network 100. An environment sensor 104 is connected to the robot controller 102.

  The robot 12 is an interaction-oriented robot (communication robot), and performs communication behavior including at least one of body movements such as gestures and voices with a communication target (communication target) such as a human being. Has the function to execute. The robot 12 provides various services such as reception and route guidance, and is arranged in various places or situations (environments) such as a certain company or event venue.

  The hardware configuration of the robot 12 will be described with reference to FIG. FIG. 2 is a front view showing the appearance of the robot 12 of this embodiment. The robot 12 includes a carriage 18, and two wheels 20 and one slave wheel 22 for autonomously moving the robot 12 are provided on the lower surface of the carriage 18. The two wheels 20 are independently driven by a wheel motor 24 (see FIG. 3), and the carriage 18, that is, the robot 12 can be moved in any direction of front, rear, left and right. The slave wheel 22 is an auxiliary wheel that assists the wheel 20. Therefore, the robot 12 can move in the arranged space by autonomous control.

  A cylindrical sensor mounting panel 26 is provided on the carriage 18, and a number of infrared distance sensors 28 are mounted on the sensor mounting panel 26. These infrared distance sensors 28 measure the distance from the sensor mounting panel 26, that is, an object (such as a human being or an obstacle) around the robot 12.

  The body 30 is provided on the sensor mounting panel 26 so as to stand upright. In addition, the above-described infrared distance sensor 28 is further provided in the upper front upper portion of the body 30 (a position corresponding to a human chest), and measures the distance mainly to a human in front of the robot 12. Further, the body 30 is provided with a support column 32 extending from substantially the center of the upper end of the side surface, and an omnidirectional camera 34 is provided on the support column 32. The omnidirectional camera 34 captures the surroundings of the robot 12 and is distinguished from an eye camera 58 described later. As this omnidirectional camera 34, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be adopted. In addition, the installation positions of the infrared distance sensor 28 and the omnidirectional camera 34 are not limited to the portions, and can be changed as appropriate.

  An upper arm 38R and an upper arm 38L are provided at upper end portions on both sides of the body 30 (a position corresponding to a human shoulder) by a shoulder joint 36R and a shoulder joint 36L, respectively. Although illustration is omitted, each of the shoulder joint 36R and the shoulder joint 36L has three orthogonal degrees of freedom. That is, the shoulder joint 36R can control the angle of the upper arm 38R around each of the three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 36R is an axis parallel to the longitudinal direction (or axis) of the upper arm 38R, and the other two axes (pitch axis and roll axis) are orthogonal to the axis from different directions. It is an axis to do. Similarly, the shoulder joint 36L can control the angle of the upper arm 38L around each of three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 36L is an axis parallel to the longitudinal direction (or axis) of the upper arm 38L, and the other two axes (pitch axis and roll axis) are orthogonal to the axis from different directions. It is an axis to do.

  In addition, an elbow joint 40R and an elbow joint 40L are provided at the tips of the upper arm 38R and the upper arm 38L, respectively. Although illustration is omitted, each of the elbow joint 40R and the elbow joint 40L has one degree of freedom, and the angles of the forearm 42R and the forearm 42L can be controlled around this axis (pitch axis).

  A sphere 44R and a sphere 44L corresponding to a human hand are fixedly provided at the tips of the forearm 42R and the forearm 42L, respectively. However, when a finger or palm function is required, a “hand” in the shape of a human hand can be used. Although not shown, the front surface of the carriage 18, the portion corresponding to the shoulder including the shoulder joint 36R and the shoulder joint 36L, the upper arm 38R, the upper arm 38L, the forearm 42R, the forearm 42L, the sphere 44R and the sphere 44L are respectively A contact sensor (shown generically in FIG. 3) 46 is provided. The contact sensor 46 on the front surface of the carriage 18 detects contact of a person or an obstacle with the carriage 18. Therefore, the robot 12 can detect that there is a contact with a human being or an obstacle during its movement, and can immediately stop the driving of the wheel 20 and suddenly stop the movement of the robot 12. Further, the other contact sensors 46 detect whether or not the respective parts are touched. In addition, the installation position of the contact sensor 46 is not limited to the said site | part, and may be provided in an appropriate position (position corresponding to a person's chest, abdomen, side, back, and waist).

  A neck joint 48 is provided at the upper center of the body 30 (a position corresponding to a person's neck), and a head 50 is further provided thereon. Although illustration is omitted, the neck joint 48 has a degree of freedom of three axes, and the angle can be controlled around each of the three axes. A certain axis (yaw axis) is an axis directed directly above (vertically upward) of the robot 12, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other in different directions.

  The head 50 is provided with a speaker 52 at a position corresponding to a human mouth. The speaker 52 is used for the robot 12 to communicate with humans around it by voice or sound. A microphone 54R and a microphone 54L are provided at a position corresponding to a human ear. Hereinafter, the right microphone 54R and the left microphone 54L may be collectively referred to as a microphone 54. The microphone 54 captures ambient sounds, particularly a human voice that is an object for performing communication. Furthermore, an eyeball portion 56R and an eyeball portion 56L are provided at positions corresponding to human eyes. The eyeball portion 56R and the eyeball portion 56L include an eye camera 58R and an eye camera 58L, respectively. Hereinafter, the right eyeball portion 56R and the left eyeball portion 56L may be collectively referred to as the eyeball portion 56. Further, the right eye camera 58R and the left eye camera 58L may be collectively referred to as an eye camera 58.

  The eye camera 58 captures a human face approaching the robot 12, other parts or objects, and captures a corresponding video signal. The eye camera 58 can be the same camera as the omnidirectional camera 34 described above. For example, the eye camera 58 is fixed in the eyeball unit 56, and the eyeball unit 56 is attached to a predetermined position in the head 50 via an eyeball support unit (not shown). Although illustration is omitted, the eyeball support portion has two degrees of freedom, and the angle can be controlled around each of these axes. For example, one of the two axes is an axis (yaw axis) in a direction toward the top of the head 50, and the other is orthogonal to the one axis and goes straight in a direction in which the front side (face) of the head 50 faces. It is an axis (pitch axis) in the direction to be performed. By rotating the eyeball support portion around each of the two axes, the tip (front) side of the eyeball portion 56 or the eye camera 58 is displaced, and the camera axis, that is, the line-of-sight direction is moved. It should be noted that the installation positions of the above-described speaker 52, microphone 54, and eye camera 58 are not limited to the portions, and may be provided at appropriate positions.

  As described above, the robot 12 of this embodiment includes independent two-axis driving of the wheels 20, three degrees of freedom of the shoulder joint 36 (6 degrees of freedom on the left and right), and one degree of freedom of the elbow joint 40 (two degrees of freedom on the left and right). It has a total of 17 degrees of freedom: 3 degrees of freedom for the neck joint 48 and 2 degrees of freedom for the eyeball support (4 degrees of freedom on the left and right).

  FIG. 3 is a block diagram showing the electrical configuration of the robot 12. With reference to FIG. 3, the robot 12 includes a CPU 60. The CPU 60 is also called a microcomputer or a processor, and is connected to the memory 64, the motor control board 66, the sensor input / output board 68, and the audio input / output board 70 via the bus 62.

  The memory 64 includes a ROM, an HDD, and a RAM (not shown). In the ROM and the HDD, a control program for controlling the operation of the robot 12 is stored in advance. For example, a detection program for detecting the output (sensor information) of each sensor and a communication program for transmitting / receiving necessary data and commands (messages) to / from an external computer (such as the robot controller 102) are recorded. Is done. The RAM is used as a work memory or a buffer memory.

  The motor control board 66 is composed of, for example, a DSP, and controls driving of motors of axes such as arms, neck joints, and eyeballs. That is, the motor control board 66 receives control data from the CPU 60, and controls two motors (collectively indicated as “right eyeball motor 72” in FIG. 3) that control the angles of the two axes of the right eyeball portion 56R. Control the rotation angle. Similarly, the motor control board 66 receives control data from the CPU 60, and shows two motors for controlling the respective angles of the two axes of the left eyeball portion 56L (in FIG. 3, collectively referred to as “left eyeball motor 74”). ) To control the rotation angle.

  The motor control board 66 receives control data from the CPU 60, and includes three motors for controlling the angles of the three orthogonal axes of the right shoulder joint 36R and one motor for controlling the angle of the right elbow joint 40R. The rotation angles of a total of four motors (collectively indicated as “right arm motor 76” in FIG. 3) are controlled. Similarly, the motor control board 66 receives control data from the CPU 60, three motors for controlling the angles of the three orthogonal axes of the left shoulder joint 36L, and one motor for controlling the angle of the left elbow joint 40L. The rotation angles of a total of four motors (collectively indicated as “left arm motor 78” in FIG. 3) are controlled.

  Further, the motor control board 66 receives control data from the CPU 60, and controls three motors that control the angles of the three orthogonal axes of the neck joint 48 (in FIG. 3, collectively indicated as "head motor 80"). Control the rotation angle. The motor control board 66 receives control data from the CPU 60 and controls the rotation angles of the two motors that drive the wheels 20 (collectively indicated as “wheel motors 24” in FIG. 3). In this embodiment, a motor other than the wheel motor 24 uses a stepping motor (that is, a pulse motor) in order to simplify the control. However, a DC motor may be used similarly to the wheel motor 24. The actuator that drives the body part of the robot 12 is not limited to a motor that uses a current as a power source, and may be changed as appropriate. For example, in another embodiment, an air actuator may be applied.

  Similarly, the sensor input / output board 68 is also constituted by a DSP, and takes in signals from each sensor and gives them to the CPU 60. That is, data relating to the reflection time from each of the infrared distance sensors 28 is input to the CPU 60 through the sensor input / output board 68. The video signal from the omnidirectional camera 34 is input to the CPU 60 after being subjected to predetermined processing by the sensor input / output board 68 as necessary. Similarly, the video signal from the eye camera 58 is also input to the CPU 60. Further, signals from the plurality of contact sensors described above (collectively indicated as “contact sensors 46” in FIG. 3) are provided to the CPU 60 via the sensor input / output board 68.

  Similarly, the voice input / output board 70 is also configured by a DSP, and voice or voice according to voice synthesis data provided from the CPU 60 is output from the speaker 52. Also, voice input from the microphone 54 is given to the CPU 60 via the voice input / output board 70.

  The CPU 60 is connected to the communication LAN board 82 via the bus 62. The communication LAN board 82 is configured by a DSP and provides transmission data given from the CPU 60 to the wireless communication device 84, and sends the transmission data from the wireless communication device 84 to an external computer (such as the robot control device 102) via the network 100. Send. The communication LAN board 82 receives data via the wireless communication device 84 and gives the received data to the CPU 60. That is, the robot 12 can perform wireless communication with the robot control device 102 by the communication LAN board 82 and the wireless communication device 84.

  Further, the wireless tag reader 86 is connected to the CPU 60 via the bus 62. The wireless tag reader 86 receives a radio wave superimposed with identification information transmitted from the wireless tag (RFID tag) via an antenna (not shown). The wireless tag reader 86 amplifies the received radio wave signal, separates the identification signal from the radio wave signal, demodulates (decodes) the identification information, and supplies the identification information to the CPU 60. The wireless tag is attached to a person in a company or event venue, and the wireless tag reader 86 detects a wireless tag within a communicable range. Note that the wireless tag may be an active type or a passive type that is driven in accordance with radio waves transmitted from the wireless tag reader 86.

  Returning to FIG. 1, the robot control device 102 is a general-purpose PC or server, and controls the movement of the plurality of robots 12. In this embodiment, the robot controller 102 generates movement path data so as to avoid a collision between the robots 12 in response to a movement path data generation request from the robot 12. Then, the generated travel route data is transmitted to the requesting robot 12.

  Although not shown, the environment sensor 104 includes a plurality of distance measurement sensors (laser range finder) and a plurality of wireless tag readers. The plurality of laser range finders and the plurality of RFID tag readers are installed in an environment where the robot 12 is disposed. Based on the output from the environment sensor 104, a person is tracked (a person's position, moving speed, and direction are estimated), or a person is individually identified.

  The laser range finder measures the distance to the object from the time it takes to irradiate the laser and reflect it back to the object. For example, in a laser range finder, a laser irradiated from a transmitter is reflected by a rotating mirror, and the front is scanned in a fan shape at a certain angle (for example, 0.5 degrees).

  Here, a laser range finder manufactured by SICK (model LMS 200) can be used as the laser range finder. When this laser range finder is used, a distance of 8 m can be measured with an error of about ± 15 mm. Specifically, as shown in FIG. 4, the measurement area of the laser range finder is shown in a semicircular shape (fan shape) with a radius R (R≈8 m). That is, the laser range finder can measure the direction of 90 degrees left and right within a predetermined distance (R) when the front direction is the center.

  The laser used is a class 1 laser in the Japanese Industrial Standard JIS C 6892 “Safety Standards for Laser Products”, which is a safe level that does not affect human eyes. In this embodiment, the sampling rate of the laser range finder is 3.85 Hz. This is to track a person who moves by walking or the like.

  Further, as shown in FIG. 5, a plurality (for example, six) of laser range finders are arranged at positions where a certain area in a certain building can be detected. However, a certain area in a certain building is an area where the robot 12 provides a service (a movable range). In FIG. 5, the laser range finder and the column are indicated by circles. Therefore, in order to distinguish them, the circles indicating the laser range finder are indicated by alphabets (A, B, C, D, E, F) is described. Furthermore, the arrow extending from the circle of the laser range finder shown in FIG. 5 indicates the front direction (see FIG. 4) of the measurement region of the laser range finder. In this embodiment, the detection area is an area where two or more laser range finder measurement areas (areas where humans or robots 12 can be tracked) overlap. In the example shown in FIG. It becomes an area.

  In the detection area, the width of the area surrounded by the stairs immediately after entering the entrance, the back window, and the left and right pillars is 19 m, and the depth is 8 m.

  Although not shown, each laser range finder is fixed at a height of about 90 cm from the floor surface. This height is for detecting the human torso and arms (both arms), and is calculated from the average height of a Japanese adult, for example. Therefore, the height at which the laser range finder is fixed may be appropriately changed according to the place (region or country) to which the system 10 is applied and the age or age of a person (for example, a child or an adult).

  As a human tracking method using a laser range finder, Japanese Patent Application No. 2008-006105 filed earlier by the present applicant (25th Annual Conference of the Robotics Society of Japan 2007.9.13-15 “Adaptation by Laser Distance Meter”) The measurement method described in “People tracking method using a human figure model”) can be employed.

  Although not shown, the plurality of RFID tag readers can detect a tag existing in a detection area by a plurality of laser rangefinders, that is, a person who wears or possesses the tag, at a certain distance from each other. Be placed. As the wireless tag reader included in the environment sensor 104, the same wireless tag reader 86 provided in the robot 12 can be used.

  In such a system 10, the robot 12 moves to a target position, moves to face the target person, or follows the target person in order to provide the service.

  In such a case, the robot 12 can avoid collision in advance by communicating with other robots 12, but if communication between the robots 12 is interrupted, the robots 12 It may crash. In addition, when the robot 12 is moved according to the movement path from the current position to the target position calculated in advance, in an environment where there are many humans, it is necessary to frequently perform actions to avoid humans during the movement. It is necessary to avoid a collision with an obstacle such as another robot 12, and the processing becomes complicated.

  Therefore, in this embodiment, the robot control device 102 generates a movement path of each robot 12 so as not to collide with other robots 12 and notifies the robot 12 only for a certain period of the movement paths. I have to do it.

  When the robot 12 provides (executes) a service, a request for generating data (movement route data) regarding a movement route related to the provision of the service is transmitted to the robot control apparatus 102. Although a detailed description is omitted, the request message is transmitted from the robot 12 to the robot control apparatus 102 every predetermined time (for example, 500 ms), and when the provision of the corresponding service is terminated, the transmission of the request message is also terminated. . Although it depends on the communication environment, the fixed time can be set between 100 ms and 500 ms.

  However, since the request message is transmitted from the robot 12 that performs an action (communication action) for providing a service, the request message is not always transmitted from all the robots 12.

  The provision (execution) of the service is started by the robot 12 by autonomous behavior, but may be started in accordance with an instruction from an operator who operates the robot 12 remotely. Note that a terminal (operator terminal) for remotely operating the robot 12 is omitted in FIG. For example, the operator terminal is communicably connected to the robot 12 that is remotely operated, either directly or via the network 100.

  For example, the request message from the robot 12 includes the robot name, priority, service name, generation policy, and position. The “robot name” is the name of the robot 12 that is the transmission source (request source) of the request message or the identification information (ID) of the robot 12. The “priority” corresponds to the importance of the service, and is a numerical value for determining the priority when a route is generated. In this embodiment, the priority is represented by an integer from 0 to 10, and the higher the numerical value, the higher the priority.

  “Service name” is the name of a service provided (executed) by the robot 12. For example, the service includes “express delivery”, “follow”, “greeting”, “luggage delivery”, “standby”, and the like. “Express delivery” is a service for delivering urgent documents such as express mail to a predetermined place (room) or a person at the destination. “Following” is a service that follows the movement of a human or another robot 12. “Welcome” is a service that welcomes a human (customer) or another robot 12 for reception or guidance. “Luggage transport” is a service for transporting a package such as a parcel to a predetermined place (room) or a destination person. “Standby” is a service that waits for the provision of another service.

  The “generation policy” is information indicating a generation policy of the movement route of the robot 12 when providing a service. For example, there are generation policies such as “the shortest path to the target position”, “follow (walk behind the person)”, “interperson (approach from the front of the person)”, “circular path that does not get in the way”. The “shortest path to the target position” is a policy of generating a movement path so that the movement distance from the current position to the target position is the shortest. “Follow (walk behind a person)” is a policy of generating a movement path so as to follow a target person. “Interpersonal (approaching in front of a person)” is a policy of generating a movement route so as to approach the target person. The “circular route that does not get in the way” is a policy of generating a moving route so that the distance from the current position to the target position is maximized.

  “Position” is a two-dimensional coordinate indicating the current position of the robot 12. In this embodiment, data (map data) corresponding to a map of the environment in which the robot 12 is arranged is stored in an internal memory (not shown) of the robot control apparatus 102, and the XY coordinates in the map and the robot 12 is set so as to correspond to the XY coordinates in the environment where 12 is arranged. However, the robot 12 knows its current position based on the moving distance and moving direction from the origin (0, 0) set in the environment where the robot 12 is arranged corresponding to the map.

  On the other hand, when receiving the request message, the robot control apparatus 102 generates a movement route according to the generation policy described in the request message. However, in this embodiment, since the movement paths for the plurality of robots 12 are generated, it is necessary to generate the movement paths so that the robots 12 do not collide with each other. Therefore, when a plurality of request messages are received, a movement route corresponding to each request message is generated so that the movement route of each robot 12 does not interfere in the order according to the priority. That is, the movement route for the request message with the low priority is generated so as not to intersect the movement route already generated for the request message with the high priority. However, as a matter of course, the movement path is generated so as not to collide with obstacles such as walls, pillars, steps, or humans.

  For example, when a plurality of request messages are received, the robot control apparatus 102 generates a list of request messages (request list) sorted according to the priority, as shown in FIG. The movement route is generated in ascending order of the index number. However, when the priorities are the same, a movement route for the request messages is generated in the order in which the request messages are received (in order of requests).

  As another example, when the priorities are the same, a movement route for a request message having a shorter (or longer) distance between the current position and the target position is generated first.

  FIG. 7 is an illustrative view showing a state in which a movement route is generated on the map. However, FIG. 7 shows a part of the map. In FIG. 7, the robot 12 is indicated by an inverted triangle mark R, and the human is indicated by a circular mark H. However, in order to distinguish the robots 12 from each other, numerals are added to the reference symbols. Similarly, numerals are added to reference symbols to distinguish humans. The map is for the environment in which the robot 12 is placed, that is, the environment to which the system 10 is applied, and is represented by an XY plane and divided by grid lines. For example, the grid lines are equally spaced in the vertical and horizontal directions, and the distances are set so that the robot 12 and humans can be accommodated at a glance (for example, 1 meter square) in the real world.

  For example, in FIG. 7, the movement paths Path_1 and Path_2 calculated (generated) for the robot R1 and the robot R2 are indicated by dotted lines and thick lines, respectively. Although not shown in the drawing, the dotted line connects the start position (current position of the robot 12) and the target position in a straight line. In FIG. 7, movement paths Path_1 and Path_2 generated according to the generation policy of “the shortest path to the target position” are shown as an example.

  However, in the movement path Path_1, when the shortest path to the target position is calculated, as shown by the alternate long and short dash line, the robot R3 moves on the grid (area surrounded by the grid line). . Therefore, the movement path Path_1 is generated so as to avoid this. Although illustration is omitted, other movement paths Path_i are generated so that the movement paths Path_i between the robots 12 do not interfere with each other, that is, so as not to pass over the grid where the already generated movement paths Path_i are described. .

  Although a detailed description is omitted, an arbitrary generation method can be adopted as a method for generating the movement path Path_i. For example, any of the generation methods disclosed in JP-A-9-319433, JP-A-2005-32196, JP-A-2006-259963, JP-A-2007-249631, JP-A-2007-249632, and JP-A-2007-280251 is employed. be able to.

  Further, when providing a service for following a person or interacting with a person, the person as a target position may move. In this case, according to the measurement method described above, the human position and moving speed are estimated by the particle filter, and the human body direction and arm direction are determined using a human shape model in which the arm and the torso are combined in three circles. By estimating the movement, the target position after a certain time can be determined.

  In addition, a wireless tag reader is provided as the environmental sensor 104 in order to individually identify humans. However, table data in which tag information (ID) is associated with a person (name, etc.) is stored in an internal memory of the robot control apparatus 102 or a database (not shown) accessible to the robot control apparatus 102. Therefore, the robot control apparatus 102 can know that a person corresponding to the tag information exists around or in the vicinity of the wireless tag reading device by acquiring the tag information of the wireless tag from the wireless tag reading device. .

  As another embodiment, a camera may be provided instead of the wireless tag reader, and humans may be individually identified by face recognition based on the captured image. In such a case, it is necessary to store face image data, facial feature data, and table data associated with a person in an internal memory of the robot control apparatus 102 or the like.

  However, since the robot 12 includes the wireless tag reader and camera, the robot 12 can also function as the environment sensor 104 by using the wireless tag reader 86 and the omnidirectional camera 34 or the eye camera 58.

  In FIG. 7, a thick line indicates a movement path for a predetermined time (T seconds) notified to the robot 12 (R1, R2) among the generated movement paths Path_1 and Path_2. Here, for the T seconds of the calculated movement path Path_i, a distance d is calculated from the movement speed of the robot 12 and T seconds, and a line corresponding to the distance d from the movement path Path_i with the current position of the robot 12 as a starting point. It is obtained by cutting out minutes.

  The robot control apparatus 102 notifies the robot 12 of coordinate data regarding the coordinates of a plurality of points constituting the thick line as data (movement path data) for T seconds of the movement path Path_i. However, other necessary data for controlling the robot 12 are also notified. Here, as the other necessary data, position data regarding the estimated positions of the human or the other robot 12 corresponds. In addition, since time delay due to wireless communication occurs, the data (current time data) of the time (current time) t at the time when the coordinate data of the movement path Path_i for T seconds is notified also corresponds. Therefore, the robot 12 can move along the movement path Path_i for T seconds in consideration of the delay time due to wireless communication.

  Note that the robot control apparatus 102 acquires the current time t from an internal timer (RTC) (not shown) and notifies the robot 12 of current time data corresponding thereto.

  In this embodiment, T seconds are determined based on factors such as the number of robots 12 that move at the same time, the size of the area in which the robot 12 can move, the characteristics of wireless delay, and the characteristics of services provided by the robot 12. .

  Specifically, when T seconds are set relatively long (for example, 5 seconds), the robot 12 can move safely even if wireless communication is interrupted for a long time, but the service with low priority There is a possibility that the other robot 12 that provides can not get a movable path and stops for a long time. On the other hand, when T seconds are set too short (for example, 500 ms), there is a high possibility that the movement path data cannot be acquired and the robot 12 stops due to delay of wireless communication or interruption of wireless communication.

  Further, as shown in FIG. 8, in the environment where the robot 12 is arranged, it has been obtained as a result of an experiment that there is about 1% of data that is delayed by 2 seconds or more when performing wireless communication (FIG. 8). Let's see circled). In an experiment in an environment in which the robot 12 is actually moved, movement path data for T seconds (2 seconds) and other necessary data are transmitted from the robot controller 102 to the robot 12. For example, the total data amount of the movement path data for T seconds (2 seconds) and other necessary data is 1 to 2 Mbps.

  Furthermore, when a package or mail is delivered to a certain place (room), the place or room, that is, the target position does not move. Therefore, it is considered that there is no problem even if T seconds are set relatively long. However, in a service that interacts with or follows a person, there is a possibility that the person who provides the service, that is, the target position may move. Therefore, T seconds are set to be relatively short, and a short time interval is set. Therefore, it is considered necessary to calculate the movement path Path_i to cope with changes in the environment.

  In consideration of these factors comprehensively, T = 2 is set in this embodiment. However, this is merely an example and should not be limited, and T seconds should be set as appropriate in consideration of the above-described factors.

  FIG. 9 shows a memory map 200 of the internal memory (hard disk, RAM) of the robot control apparatus 102 shown in FIG. As shown in FIG. 9, a program storage area 202 and a data storage area 204 are provided in the internal memory. The program storage area 202 stores a program (control program) for controlling the robot 12, and the control program includes a main processing program 202a, a communication program 202b, a list creation program 202c, a route generation program 202d, and the like. .

  The main processing program 202a is a program for processing a main routine for robot control. The communication program 202b is a program for communicating with other devices, and mainly executes communication processing with the robot 12. The list creation program 202c is a program for creating a request list of request messages as shown in FIG. The route generation program 202d is a program for generating movement route data in accordance with the generation policy described in the request message.

  Although not shown, the control program includes a human position and a program for identifying the human.

  The data storage area 204 is provided with a request buffer 204a. The data storage area 204 stores identification data 204b, map data 204c, position data 204d, and request list data 240e. The request buffer 204a is an area for storing (temporarily storing) a request message from the robot 12 received according to the communication program 202b. The identification data 204b is data about information for identifying each robot 12 and each person (in this embodiment, name, tag information (ID), etc.). The map data 204c is map data regarding the environment in which the robot 12 is arranged. The position data 204d is coordinate data regarding the positions of the robot 12 and the human. The request list data 204e is request list data created according to the list creation program 202c.

  Although not shown, the data storage area 204 stores other data and is provided with a counter (timer), a flag, and the like necessary for executing the control program.

  Specifically, the computer (CPU) of the robot control apparatus 102 shown in FIG. 1 executes the overall processing flow shown in FIG. As will be described later, the robot 12 transmits a request message to the robot controller 102 at regular time intervals (for example, 500 ms). Although detailed description is omitted, the entire process shown in FIG. 10 is executed at regular time intervals (for example, 500 ms). However, the execution interval of the entire process can be set between 100 ms and 500 ms, like the transmission interval of the request message from the robot 12, but is ideally 100 ms or less.

  As shown in FIG. 10, when starting the entire process, the CPU determines whether or not the process is finished in step S1. Here, it is determined whether or not there is an end instruction from the user. If “YES” in the step S1, that is, if the process is finished, the whole process is finished as it is. On the other hand, if “NO” in the step S1, that is, if not finished, the request message received from each robot 12 is fetched in a step S3. That is, the CPU temporarily stores the request message in the request buffer 204a.

  In the next step S5, an initial value is set in the variable i (i = 0), and the number of robots 12, that is, the total number of request messages is set in the variable N. Subsequently, in step S7, request messages are arranged from 0 to N in descending order of priority to create a request list. That is, the CPU creates request list data 204e corresponding to the request list as shown in FIG. 6 using all the request messages stored in the request buffer 204a. However, a plurality of request messages having the same priority are arranged in the order received. In step S9, the travel route written on the route generation map is cleared. That is, the CPU deletes the travel route Path_i generated on the map indicated by the map data 204c.

  In the next step S11, it is determined whether or not the variable i is greater than or equal to the variable N. That is, the CPU determines whether or not the movement path Path_i for all request messages has been calculated and notified. If “YES” in the step S11, that is, if the variable i is equal to or greater than the variable N, it is determined that the calculation (generation) and notification of the movement path Path_i for all the request messages have been completed, and the process returns to the step S1. On the other hand, if “NO” in the step S11, that is, if the variable i is less than the variable N, it is determined that there is a request message for which the movement path Path_i has not yet been calculated, and the i-th request message is determined in the step S13. The travel route Path_i corresponding to the is calculated. However, the movement path Path_i is calculated according to the generation policy described in the request message.

  Subsequently, in step S15, the movement route Path_i is written for T seconds (2 seconds in this embodiment) in the route generation map. In the next step S17, the control information (control data) including the current time t and the movement path Path_i for T seconds is notified to the requesting robot 12. In step S19, 1 is added to the variable i (i = i + 1), and the process returns to step S11.

  FIG. 11 is a flowchart showing service providing processing of the CPU 60 of the robot 12 shown in FIG. FIG. 12 is a flowchart showing a transmission process of the CPU 60 of the robot 12 shown in FIG. These processes are executed in parallel by the CPU 60 of the robot 12.

  As shown in FIG. 11, when starting the service providing process, the CPU 60 starts a request message transmission process in step S31. That is, execution of a transmission process (task) described later is started. In the next step S33, it is determined whether control information has been received. That is, the CPU 60 determines whether control data from the robot control apparatus 102 has been received.

  If “NO” in the step S33, that is, if the control information is not received, the process returns to the step S33 as it is. On the other hand, if “YES” in the step S33, that is, if control information is received, the process moves in accordance with the control information in a step S35. That is, the CPU 60 controls the motor control board 66 and drives the wheel motor 24 so as to sequentially pass a plurality of positions corresponding to a plurality of coordinates indicated by the movement path data for T seconds included in the control information. . However, at this time, with reference to the current time t included in the control information, the vehicle is moved according to the movement route data from the position moved by the time Δt required for communication delay.

  In the next step S37, the current position of the robot 12 itself is updated. In step S39, it is determined whether or not the target position has been reached. Since the target position is different for each service, it is appropriately determined according to the service to be executed. For example, it is determined whether the user has arrived at a predetermined place or room, or has approached until the distance from the desired person becomes a certain distance or less.

  If “NO” in the step S39, that is, if the target position has not been reached, the process returns to the step S33. On the other hand, if “YES” in the step S39, that is, if the target position is reached, a communication action is executed in a step S41 according to the service to be provided. For example, the robot 12 delivers mail or a package, faces a desired person, or follows the desired person in accordance with an instruction from the CPU 60. In step S43, it is determined whether or not the service is terminated. If “NO” in the step S43, that is, if the service is not ended, the process returns to the step S41 and the execution of the communication action corresponding to the provided service is continued. On the other hand, if “YES” in the step S43, that is, if the service is ended, the request message transmission process is ended and the service providing process is ended in a step S45. That is, the CPU 60 ends the transmission process shown in FIG. 12 in step S45.

  As described above, when the request message transmission process is started in step S31, as shown in FIG. 12, the CPU 60 starts the transmission process, and generates a request message corresponding to the service to be provided in step S61. To do. However, the robot name is the name or identification information of the robot 12 itself, and the “service name” is the name of the service to be provided. The “priority” and “generation policy” are determined in advance corresponding to the service name (service). “Position” is the current position of the robot 12 and is monitored by itself. However, the current position may be acquired from the robot controller 102. Alternatively, the current position may be acquired from the robot control apparatus 102, and thereby the current position monitored by itself may be corrected.

  In the next step S63, a request message is transmitted to the robot controller 102. Subsequently, in step S65, the timer is reset and started. Although omitted in FIG. 3, the timer is built in the robot 12. Subsequently, in step S67, it is determined whether or not transmission is completed. That is, as described above, in step S45, it is determined whether or not the request message transmission process has been completed.

  If “YES” in the step S67, that is, if the transmission is finished, the transmission process is finished as it is. On the other hand, if “NO” in the step S67, that is, if the transmission is not finished, it is determined whether or not a certain time (for example, 500 ms) has elapsed in a step S69. That is, the CPU 60 determines whether or not the timer count value has reached 500 ms or more. If “NO” in the step S69, that is, if the predetermined time has not elapsed, the process returns to the same step S69 and waits for elapse of the predetermined time. On the other hand, if “YES” in the step S69, that is, if a predetermined time elapses, the process returns to the step S61. Therefore, a request message is transmitted at regular intervals.

  When “YES” is determined in the step S69 and the process returns to the step S61, a request message in which only the “position” is changed is generated. That is, in one transmission process, in the second and subsequent request messages, only “position” may be updated according to the update of the current position of the robot 12.

  According to this embodiment, since only T seconds are notified of the movement paths generated so that the robots do not collide with each other, even if the wireless communication is delayed or momentarily interrupted, the movement paths are mutually connected. Can continue to move safely without interference. In addition, since the movement route is updated in a relatively short time, the robot can be moved in response to a dynamic change in the environment.

  In this embodiment, the robot is notified of the movement route for T seconds. However, the robot may be notified of an area where movement is allowed. In such a case, it is necessary to prevent an area that can be moved and a route to the area from interfering with other robots.

  In this embodiment, the movement path of each robot is calculated so that the movement path from the current position to the target position does not interfere with each other. However, each robot does not interfere with the movement path for at least T seconds. The travel route may be calculated.

DESCRIPTION OF SYMBOLS 10 ... Network robot system 12 ... Robot 24, 72, 74, 76, 78, 80 ... Motor 28 ... Infrared distance sensor 34 ... Omnidirectional camera 52 ... Speaker 54 ... Microphone 58 ... Eye camera 60 ... CPU
64 ... Memory 66 ... Motor control board 68 ... Sensor input / output board 70 ... Voice input / output board 82 ... Communication LAN board 16c ... Acceleration sensor 84 ... Wireless communication device 86 ... Wireless tag reader 100 ... Network 102 ... Robot control device 104… Environmental sensor

Claims (6)

A Rene Tsu network robot system comprising: a self-propelled plurality of robots to provide various services, and a robot control device that is communicably connected to each of said plurality of robots,
Wherein each of the plurality of robots includes a generation request sending means for sending a request to generate the travel route data relating to the service to which it provides regularly the robot controller,
The robot controller is
Generation request receiving means for receiving the generation request periodically transmitted from the generation request transmitting means of each of the plurality of robots;
Each time it receives a request to generate by said generation request receiving means such that said plurality of robots do not collide, the entire travel path from the current position of each robot in accordance with the respective multiple of the generation request to the target position path generating means for generating a movement path data, and each time generating the movement path data for the entire movement path by the path generating means, travel route data caries Chi of the whole movement path, the generation request from said generation request transmitting means It includes moving path data transmission means for transmitting each of a certain time of the travel route data longer than the interval that is sent to the requesting robot, further
Each of the plurality of robots is
Movement path data receiving means for receiving movement path data for a certain period of time transmitted from movement path data transmission means of the robot controller; and
Ru includes moving means for moving in accordance with movement path data of the predetermined time period received by the movement path data receiving means, the network robot system. The generation request transmitted from the generation request transmission means includes a priority corresponding to the importance of the service provided by the requesting robot ,
The path generation unit, when receiving a generation request from the generation request transmission means of each of said plurality of robots by said generation request receiving means, the moving path data of the entire travel path corresponding to a plurality of the generation request, the generated The network robot system according to claim 1, wherein the network robot systems are generated in descending order of priority included in the request . The network robot system according to claim 1, wherein the robot includes a communication robot that performs a communication action including at least one of a body motion and a voice to provide a service . A robot control device that is communicably connected to each of a plurality of self-propelled robots that provide various services ,
A generation request receiving means for periodically receiving a generation request for moving route data relating to a service provided by the robot, which is periodically transmitted from each of the plurality of robots;
Each time it receives a request to generate by said generation request receiving means such that said plurality of robots do not collide, the entire travel path from the current position of each robot in accordance with the respective multiple of the generation request to the target position path generating means for generating a movement path data, and each time generating the movement path data for the entire movement path by the path generating means, said Chi sac movement path data for the entire movement path, generating a request from each of said plurality of robots There comprising a moving path data transmission means for transmitting each of a certain time of the travel route data longer than the interval that is sent to the requesting robot, the robot controller. A robot control method of a robot controller connected to be able to communicate with each of a plurality of self-propelled robots that provide various services ,
(A) receiving a generation request of movement route data periodically transmitted from each of the plurality of robots and related to a service provided by the robots ;
(B) each time it receives a request to generate at the step (a), the as multiple robots do not collide, the whole of the current position of each robot in accordance with the respective multiple of the generation request to the target position generating a movement path data for moving path, and each for generating a movement path data of the entire travel path in (c) said step (b), the Chi sac moving path data of the entire travel path of said plurality of robots sending each one constant time of the travel route data longer than the interval of generation from each request is sent to the requesting robot, the robot control method. A robot control program that is executed by a robot control device that is communicably connected to each of a plurality of self-running robots that provide various services ,
In the computer of the robot control device,
A generation request receiving step for periodically receiving a generation request for moving route data relating to a service provided by the robot, which is periodically transmitted from each of the plurality of robots;
Each time it receives a request to generate at said generation request receiving step, the as multiple robots do not collide, the entire travel path from the current position of each robot in accordance with the respective multiple of the generation request to the target position route generating step generates the moving path data, and each time generating the movement path data for the entire travel route in the route generation step, the Chi sac movement path data for the entire movement path, generating a request from each of said plurality of robots There is executed a movement path data transmission step of transmitting each one constant time of the travel route data longer than the interval that is sent to the requesting robot, the robot control program.

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