JP5539000B2 - Control device - Google Patents

Description

  The present invention relates to a robot control apparatus that causes a robot to execute a task involving interaction with an object.

  In recent years, various techniques have been proposed for causing a robot to perform a task that involves interaction with the object, such as causing the robot to grasp the object (see Patent Document 1 below).

JP 2005-125462 A

  However, there are many other objects around the object to be grasped, and in order to grasp the object, it is necessary to grasp the object while avoiding interference with other objects. There is a problem that the processing load required to execute a task involving interaction with the object increases.

  SUMMARY OF THE INVENTION In view of the above, an object of the present invention is to provide a robot control apparatus that can cause a robot to execute a task involving interaction while suppressing an increase in processing load.

A control device according to a first aspect of the present invention includes a CPU that performs arithmetic processing, and causes a robot including a base and a limb connected to the base to perform a task that involves interaction with one or more objects. A control device of
Interference determination means for checking whether or not there is a possibility of interference between the first object as the object and the robot or the second object integrated with the robot;
A first motion section that is a motion section in which the robot or a second object integrated with the robot transitions from a non-contact state to a contact state with respect to the first object from a series of operations for executing the task. And / or a second motion section that is a motion section in which the robot or the second object integrated with the robot transitions from the contact state to the non-contact state with respect to the first object. with partitioning, the first series in succession in front when Actuation respect and a series in Actuation successive later time in addition to or to the second operation segment Alternatively An action dividing means for dividing the three action sections;
In the first action section and the second action section divided by the action section means, the interference judgment between the robot or the second object integrated with the robot and the first object is determined by the interference judgment means. In the third operation section, the interference determination unit executes the interference determination between the robot or the second object integrated with the robot and the first object, and executes the task. It is characterized by comprising action planning means for generating a time-series position and posture of the robot.

  According to the control device of the first aspect of the present invention, the operation division in which the contact state with respect to the first object transitions from a series of operations for executing a task is classified as the first or second operation division, and in the first or second operation division, By omitting the interference determination with the first object, it is not necessary to make the interference calculation model finer, and as a result, the calculation processing load due to the interference determination with the first object is suppressed from increasing. And interference with objects other than the first object can be avoided.

  On the other hand, in the first and second motion sections, the first object is already in contact with or in contact with the robot or the second object integrated with the robot. Even if the interference determination is omitted, the robot can execute the task (if interference with other objects other than the first object can be avoided).

  Further, in the third motion section other than the first and second motion sections, while performing interference determination with the first object, avoiding interference with other objects including the first object. , You can let the robot perform tasks.

  As described above, according to the control device of the first aspect of the present invention, it is possible to cause the robot to execute a task involving interaction while suppressing an increase in processing load.

The control device of the second invention is the control device according to the first invention,
The operation classifying unit includes the first operation class and the series of operations to execute the task so that the calculation amount of the CPU when the interference determination unit performs the interference determination is equal to or less than a first predetermined value. One or both of the second operation classification and the second operation classification are distinguished.

  According to the control device of the second invention, the first or second operation section is divided from a series of operations for executing the task so that the amount of calculation required for the interference determination is equal to or less than the first predetermined value. Therefore, the calculation processing load required for the interference determination at the time of executing the task can be made equal to or less than the first predetermined value, and it is possible to cause the robot to execute the task with interaction while suppressing an increase in the processing load. it can.

The control device of the third invention is the first or second invention,
The action planning unit is configured to rotate and translate the time-series position and posture of the robot in one or both of the first motion section and the second motion section according to the shape of the first object. One of the movements or a combination thereof is generated as a constraint condition.

According to the control device of the third aspect of the invention, in the first or second motion section, the time-series position and orientation of the robot are generated with the rotation and translational movements according to the shape of the first object as constraints. . Therefore, in the first or second motion section, the time-series position and posture of the robot can be easily generated, and an increase in the processing load in these sections is suppressed, and the first object is controlled. Tasks involving interactions can be executed by the robot.

FIG. 3 is a configuration explanatory diagram of the robot according to the present embodiment. FIG. 2 is a configuration explanatory diagram of a robot control device. The flowchart which shows the process in the control apparatus of a robot. Explanatory drawing which shows the processing content in the control apparatus of a robot. Explanatory drawing which shows the processing content in the control apparatus of a robot.

  Next, an embodiment of a robot control apparatus of the present invention will be described with reference to FIGS.

  First, as shown in FIG. 1, the robot control device includes a controller 100 and a support server 200 of an autonomous mobile robot R (hereinafter referred to as robot R).

The robot R includes a base 10, a head 11 provided on the top of the base 10, left and right arms 12 extending from the left and right sides of the top of the base 10, and a hand provided at the tip of the arm 12. Part 14, left and right leg parts 13 extending downward from the lower part of base body 10, and foot part 15 attached to the tip part of leg part 13. As disclosed in Table 03/090978 and Table 03/090979, the robot R is configured so that a human shoulder joint, elbow joint, The arm portion 12 and the leg portion 13 can be bent and extended at a plurality of joint portions corresponding to a plurality of joints such as a wrist joint, a hip joint, a knee joint, and an ankle joint. The robot R can move autonomously by movement of the left and right leg portions 13 (or the foot portions 15) with repeated leaving and landing. By adjusting the inclination angle and height direction of the base body 10 with respect to the vertical direction,
The reachable range of the hand portion 14, that is, the workable range can be adjusted. Note that the moving device may be any device having a moving function, such as a wheeled mobile robot (automobile), in addition to the robot R that moves autonomously by the operation of the plurality of legs 13.

The head 11 is mounted with a pair of head cameras (CCD cameras) C _{1 that} are arranged side by side and directed to the front of the robot R. Mounted on the base 10 is a waist camera C ₂ that outputs an infrared laser beam (electromagnetic wave) to the detection area A (C ₂ ) at the lower front side of the robot R and outputs a signal corresponding to the input of the reflected light. Yes. The waist camera C ₂ measures the position of the object below the front of the robot R, measures the orientation or posture of the robot R based on recognition of the shape and posture of the mark attached to the floor surface, and a transport object such as a carriage. This is used for measuring the position or posture of the object to be transported based on the recognition result of the shape or posture of the mark attached to the object.

  The robot R includes a controller 100 constituted by an ECU or a computer (configured by a CPU, ROM, RAM, I / O, etc.) as hardware, and a communication device 140 (see FIG. 2). . A control program (software) is stored in the memory of the computer. The control program may be installed in the computer through a software recording medium such as a CD or DVD, but when the request signal is transmitted from the robot R to the server, the server downloads to the computer via the network or artificial satellite. May be.

As shown in FIG. 2, in addition to the input device 101, the controller 100 includes a head camera C ₁ , a waist camera C ₂ , a shoulder camera C ₃ , a rotary encoder 102, a gyro sensor 103, and a GPS receiver 104 mounted on the robot R. By controlling the operation of the actuator 1000 based on the output signal such as the above, the operation of the arm portion 12 and the leg portion 13 is controlled. The controller 100 controls the behavior of the robot R according to the generated trajectory transmitted from the support server 200 to the robot R.

  The input device (user terminal) 101 is a terminal composed of a personal computer including an input device such as a keyboard and a touch panel and a monitor such as a liquid crystal display, and is configured to be able to communicate with the controller 100. . The input device 101 can designate a task that can be executed by the robot R when the user operates it. As described above, the input device 101 is used as a user interface for the user to remotely start and stop the robot R by instructing the start, stop, task execution, etc. of the robot R, and to display the image of the head camera C1, etc. It can also be used to monitor its own operating status.

The head camera C ₁ , the waist camera C _{2, and the} like correspond to sensors for measuring the external state or environment of the robot R, such as the behavior state of an object or an external interference object.

  The rotary encoder 102, the gyro sensor 103, and the GPS receiver 104 correspond to sensors for measuring the internal state or behavior state of the robot R, and this includes the terminal voltage of a battery mounted on the robot R (not shown). Various sensors mounted on the robot R, such as a voltage sensor to be detected and a force sensor that outputs a signal corresponding to the floor reaction force acting on the leg 13, correspond to an internal state sensor or the like. Based on the detection values of these sensors, the controller 100 recognizes the internal state or behavior state of the robot R.

  The actuator 1000 includes a drive source such as an electric motor, a speed reducer provided between the output shaft of the drive source and the link constituting the arm portion 12 and the leg portion 13, and a flexible element such as an elastic member. Yes.

  Further, the controller 100 includes a request task generation unit 110, an image processing unit 120, a future external world prediction unit 130, a communication device 140, and a main control unit 150.

  The request task generation unit 110 has a function of interpreting a user's operation by the input device 101, recognizes a request task specified by the user via the input device 101, and requests required to execute the request task Create a trajectory group. Here, the required trajectory group refers to a set of trajectories required at each stage when the task is roughly divided according to the execution stage. Then, the requested task generation unit 110 outputs the generated requested trajectory group to the future external world prediction unit 130 and the support server 200.

  The image processing unit 120 includes a stereo processing unit 121, an obstacle detection unit 122, and an object recognition unit 123. The image processing unit 120 processes images captured by the cameras C1 to C3, and the surroundings of the robot R from the captured images. Recognize surrounding obstacles and objects to understand the situation.

  The stereo processing unit 121 performs pattern matching on the basis of one of the two images taken by the left and right head cameras C1 and C1, 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 obstacle detection unit 122. This parallax represents the distance from the robot R to the photographed object.

  The obstacle detection unit 122 detects an obstacle in the captured image based on the data output from the stereo processing unit 101.

  The object recognition unit 123 extracts the shape or the like of the object accompanied by the interaction when executing the task from the detected obstacle, and recognizes the object from the size, the shape, or the like.

  Note that the area, size, and shape of the obstacle detected by the obstacle detection unit 122 and the area, size, and shape of the object recognized by the object recognition unit 123 are output to the future external prediction unit 130. Is done.

  The future external world prediction unit 130 performs a task execution stage from the requested trajectory group generated by the requested task generation unit 110 and the current obstacles and objects recognized by the obstacle detection unit 122 and the object recognition unit 123. Estimate future obstacles and target positions according to the situation.

  That is, the future external world prediction unit 130 determines the position of the obstacle and the object after operating the robot R according to the trajectory required in the first stage when the task is roughly divided according to the execution stage from the present time. Etc. are estimated. Next, from this state (after execution of the first stage), the position and the like of the obstacle and the object after the robot R is operated according to the trajectory required in the second stage are estimated. Hereinafter, by repeating this estimation, the position of the obstacle and the object at each stage where the robot is operated according to the requested trajectory group generated by the requested task generation unit 110 is estimated.

  The main control unit 150 controls the plurality of actuators 1000 according to the generated trajectory transmitted from the support server 200 to the robot R, and causes the behavior of the robot R to follow the generated trajectory.

  A support server (comprising a CPU, ROM, RAM, I / O, etc.) 200 has a communication function with the robot R via a base station (not shown) and a communication network.

  The support server 200 includes an operation classification processing unit 210, a trajectory search management unit 220, and an interference determination unit 230.

  The motion classification processing unit 210 further classifies a series of operations in each execution stage of the requested trajectory group generated by the required task generation unit 110 as follows.

  A series of operations at each stage is performed as follows: (1) The robot R or the second object T2 integrated with the robot R transitions from the non-contact state to the contact state with respect to the first object T1 (for example, gripping the object) (1) The first motion section D1 which is the motion section, and (2) the robot R or the second object T2 integrated with the robot R transitions from the contact state to the non-contact state with respect to the first object T1 ( A second motion segment D2 that is a motion segment (releasing the object), and (3) a third motion segment D3 that is a motion segment that is continuous with one or both of the first motion segment D1 and the second motion segment D2. Divide into

  The trajectory search management unit 220 performs a trajectory search of a series of operations at each execution stage of the required trajectory group generated by the required task generation unit 110, an initial posture search unit 221, a terminal posture search unit 222, and an intermediate posture search. Part 223.

  The initial posture searching unit 221 performs a trajectory search for the second motion category D2 segmented by the motion segment processing unit 210.

  The terminal posture search unit 222 performs a trajectory search for the first motion category D1 segmented by the motion segment processing unit 210.

  The intermediate posture search unit 223 performs a trajectory search for the third motion category D3 segmented by the motion segment processing unit 210.

  The trajectory search by the trajectory search management unit 220 will be described later.

  The interference determination unit 230 is integrated with (A) the obstacle detected by the obstacle detection unit 122 of the image processing unit 120 and the object recognized by the object recognition unit 123, and (B) the robot R or the robot. Check for possible interference with the target object.

  Next, processing contents in the control device for the robot R of this embodiment will be described with reference to FIG.

  First, the controller 100 determines whether there is a task execution request from the user (FIG. 3 / STEP 10). When the user designates an execution task of the robot R via the input device 101 (YES in FIG. 3 / STEP 10), the required task generation unit 110 of the controller 100 creates a required trajectory group (FIG. 3 / STEP 20). . In parallel with this, processing by the main control unit 150 (FIG. 3 / STEP 30-) is executed, and details of processing by the main control means will be described later.

  Here, as an execution task of the robot R, for example, a task for moving the cup W2 on the table W1 to the tray W3 is designated as shown in FIG. For such a task, the requested task generation unit 110 divides the task execution stage into first to third floor stages, and generates a required trajectory group required in each stage (FIG. 3 / STEP 20). In FIG. 4, an arrow indicated by a broken line indicates a part of the position trajectory of the hand portion 14 of the robot R.

  Here, the first to third stages are determined in consideration of processing units by the trajectory search management unit 220. That is, in the trajectory search management unit 220, a series of operations from the second motion segment D2 (initial posture) to the first motion segment D1 (end posture) through the third motion segment D3 (intermediate posture) is used as a processing unit. The request task generation unit 110 divides this as one stage.

  The required trajectory group defines conditions for performing a posture search (FIG. 3 / STEPs 24 to 26) described later for each stage. That is, for each stage, the trajectory search conditions required as the target trajectory (target posture trajectory and target posture trajectory) of the robot R are defined.

  Next, the future external world prediction unit 130 determines the task from the requested trajectory group generated by the requested task generation unit 110 and the current obstacles and objects recognized by the obstacle detection unit 122 and the object recognition unit 123. A future external situation group is created in which the position of the future obstacle and the object according to the execution stage is estimated (FIG. 3 / STEP 21).

  Specifically, the future outside world prediction unit 130 creates a future outside world situation group in which the situation such as the position of the table W1, the cup W2, and the tray W3 after the first to third stages shown in FIG. 4 is estimated. For example, the future external world prediction unit 130 can estimate the situation after the task is executed from the current situation to the second stage (the situation shown in FIG. 4F in which the cup W2 is moved to the tray).

  Next, the support server 200 determines whether or not there is a trajectory generation request from the controller 100 (FIG. 3 / STEP 22).

  The presence / absence of a trajectory generation request is determined based on whether or not the requested trajectory group created by the requested task generation unit 110 and the future external world situation group created by the future external world prediction unit 130 are transmitted to the support server 200.

  When there is a trajectory generation request (YES in FIG. 3 / STEP 22), the motion classification processing unit 210 divides a series of operations in each execution stage of the requested trajectory group according to the motion classification (FIG. 3 / (STEP 23). On the other hand, when there is no trajectory generation request (NO in STEP 3 in FIG. 3), this process ends.

  Specifically, in the first stage shown in FIGS. 4A and 4B, the motion classification processing unit 210 first sets the cup W2 as the first object T1 and the robot R does not move against the first object. The first operation section D1, which is an operation section that transitions from the contact state to the contact state, is divided (see FIG. 4B). Then, the motion category processing unit 210 sets the motion category that follows the first motion category D1 in the first stage as the third motion category D3 (see FIG. 4A).

  Here, the starting point of the first motion section D1 shown in FIG. 4B is defined by the initial posture and the initial position of the motion of gripping the cup that is the first object. For example, the cup 12 as the first object can be gripped by moving the arm 12 and the hand 14 while the base body 10 is fixed. The initial posture and initial position of the robot R are those of the first motion section D1. The starting point. The same applies to the start point of the second operation section D2.

  Next, in the second stage shown in FIGS. 4C to 4E, the motion classification processing unit 210 first sets the cup W2 integrated with the robot R to the second object T2 and the table W1 to the second. As the first object T1, the robot R and the cup W2 (T2) integrated with the robot R divide the second motion section D2, which is the motion section in which the table W1 (T1) transitions from the contact state to the non-contact state. (See FIG. 4C). Further, the cup W2 integrated with the robot R is defined as the second object T2, and the tray W3 is defined as the first object T1, and the robot R and the cup W2 (T2) integrated with the tray W3 ( For T1), the first motion section D1 that is the motion section that transitions from the non-contact state to the contact state is divided (see FIG. 4E). Then, in the second stage, an operation segment that is continuous with the second operation segment D2 and the first operation segment D1 is defined as a third operation segment D3 (see FIG. 4D).

  Similarly, in the third stage shown in FIG. 4F, the motion classification processing unit 210 first sets the cup W2 as the first object T1 and the robot R is not in contact with the cup W2 (T1). The second motion section D2, which is the motion section that transitions to the contact state, is divided (see FIG. 4D). Then, the motion category processing unit 210 sets the motion category (returning to the basic posture) following the second motion category D2 in the third stage as the third motion category D3 (not shown).

  Next, the trajectory search management unit 220 searches the trajectory of the robot R at each stage of the first to third stages, and generates the time-series position and orientation of the robot R at each stage of the task (FIG. 3). / STEP 24-27).

  Specifically, for each of the first to third stages, the initial posture search unit 221 performs a trajectory search for the second motion section D2 (FIG. 3 / STEP 24), and the terminal posture search unit 222 performs the first step. The trajectory search for the motion section D1 is performed (FIG. 3 / STEP 25), and the intermediate posture search unit 223 performs the trajectory search for the third motion section D3 (FIG. 3 / STEP 26).

  Here, the trajectory search by the trajectory search management unit 220 searches for a trajectory that is generated by the required task generation unit 110 and that satisfies the required trajectory required at each execution stage of the task. Specifically, for each part of the robot R, a target position trajectory as a time series of target positions of representative points representing spatial positions and a target attitude trajectory as a time series of target postures are searched. Further, when the robot R and the second object T2 are integrated, a target position trajectory as a time series of target positions of representative points representing the spatial position of the second object, and a target posture Search with the target posture trajectory as a time series.

  At this time, as shown in FIG. 5, the trajectory search management unit 220, for the first target T1 that interacts in the task, either rotation or translation according to the shape of the first target T1. Alternatively, the target position trajectory and the target posture trajectory are searched with both as constraints.

  Specifically, as shown in FIG. 5A, when the shape of the first object T1 is circular, the target position trajectory and the target posture trajectory are searched with the rotation about the central axis as a constraint.

  On the other hand, as shown in FIG. 5B, when there is no position dependency in the axial direction as in the case where the shape of the first object T1 is cylindrical, the translational movement in the axial direction (more precisely, The target position trajectory and the target posture trajectory are searched for using the translational movement between the bottom surface height position and the top surface height position of the cylinder as a constraint.

  In addition, although FIG. 5 (a) and (b) demonstrated the case where rotation or translation was made into a constraint condition according to the shape of the 1st target object T1, it is not limited to this, rotation and Any combination of translational movements can be used as a constraint. For example, after using rotation as a constraint condition, adopting translational movement as a constraint condition, posture by a combination of multiple rotations and translational movements again as a constraint condition, and operational constraints that combine them in time series Can do.

  In the trajectory search by the trajectory search management unit 220 described above, in the trajectory search for the second motion category D2 performed by the initial posture search unit 221, the robot R and the second object T2 integrated with the robot R, the first The determination of interference with the object T1 is omitted.

  For example, in the second motion section D2 shown in FIG. 4C, the interference determination between the robot R and the cup W2 that is the second object T2 integrated with the robot R and the table W1 that is the first object T1. The interference determination by the unit 230 is omitted. Further, in the second motion section D2 shown in FIG. 4F, the interference determination by the interference determination unit 230 between the robot R and the cup W2 that is the first object T1 is omitted.

  Further, in the trajectory search for the first motion section D1 performed by the terminal posture search unit 222, the interference determination between the second object T2 integrated with the robot R and the robot R and the first object T1 is omitted. .

  For example, in the first motion section D1 illustrated in FIG. 4A, the interference determination by the interference determination unit 230 between the robot R and the cup W2 that is the first object T1 is omitted. Further, in the first motion section D1 shown in FIG. 4E, interference by the interference determination unit 230 between the cup W2 that is the second object integrated with the robot R and the tray W3 that is the first object T1. Judgment is omitted.

  Thereby, in 1st operation | movement division D1 and 2nd operation | movement division D2, it can suppress that the calculation processing load by the interference determination with the 1st target object T1 with the interaction in a task increases.

  In the first motion section D1 and the second motion section D2, the first object T1 is already in contact with the robot R or the second object T2 integrated with the robot R, or will come into contact therewith. Therefore, even if the interference determination with the first object T1 is omitted, the robot R can execute the task if interference with other objects other than the first object T1 can be avoided.

  On the other hand, in the trajectory search for the third motion category D3 performed by the intermediate posture search unit 223, the robot R and the second object T2 integrated with the robot R and all obstacles including the first object T1 Is determined.

  Thereby, in 3rd operation division D3 other than the 1st and 2nd operation division, by performing interference judgment with the 1st target object T1, it is with other obstacles including the 1st target object T1. A series of operations for executing a task can be realized while avoiding interference.

  Next, the trajectory search management unit 220 sets the target trajectory (target position trajectory and target posture trajectory, the same applies hereinafter) of the second motion category D2 by the initial posture search unit 221 and the first motion category D1 of the terminal posture search unit 222. It is determined whether or not all target trajectories have been generated between the target trajectory and the target trajectory of the second motion section D3 that connects these sections by the intermediate posture search unit 223 (FIG. 3 / STEP 27).

  If all target trajectories have been generated (YES in FIG. 3 / STEP 27), the trajectory search management unit 220 records the generated target trajectory in a memory (not shown) or the like (FIG. 3 / STEP 28), and STEP 23 Return to Thereby, the processing after STEP23 is repeatedly executed for the execution stage of the next task.

  On the other hand, when all the target trajectories have not been generated (NO in STEP 27 in FIG. 3), the process returns to STEP 24 and the processes after STEP 24 are executed again.

  The above is a series of processes for generating the target trajectory according to the requested task.

  Next, processing (FIG. 3 / STEP 30 to STEP 33) performed by the main control unit 150, which has been described later, will be described.

  It should be noted that the processing from STEP 30 to the main control unit 150 is executed in parallel with the processing from STEP 20 to the main control unit 150 does not perform the target trajectory generation timing, but performs tasks on the robot R. This is to make it happen. That is, the main control unit 150 does not control the actuator 1000 so as to follow the target trajectory at the timing when the target trajectory is generated in STEPs 24 to 26, but stores the target trajectory recorded in the memory or the like in STEP28. If so, it is processed sequentially. Thus, the task can be executed by the robot R regardless of the generation timing of the target trajectory, and the execution operation of the robot R can be made continuous.

  First, the main control unit 150 acquires the requested trajectory group created by the requested task generation unit 110 (FIG. 3 / STEP 30).

  Next, the main control unit 150 determines whether or not there is a trajectory follow-up request (FIG. 3 / STEP 31).

  When there is no trajectory follow-up request (NO in FIG. 3 / STEP 31), the main control unit 150 ends this process, and when there is a trajectory follow-up request (YES in FIG. 3 / STEP 31), trajectory search. It is determined whether or not a trajectory has been generated by the management unit 220 (FIG. 3 / STEP 32).

  When the target trajectory generated by the trajectory search management unit 220 is recorded in a memory or the like (not shown) (YES in FIG. 3 / STEP 32), the main control unit 150 controls the actuator 1000 of the robot R. Thus, the robot R is caused to follow the generated target trajectory (FIG. 3 / STEP 33).

  Further, the main control unit 150 determines whether or not the robot R follows the target trajectory (FIG. 3 / STEP 34).

  If the robot R follows the target trajectory (YES in STEP 34 in FIG. 3), the process returns to STEP 31 to determine whether there is a next trajectory follow-up request. On the other hand, when the robot R does not follow the target trajectory (NO in STEP 3 in FIG. 3), this process is repeated until the robot R follows the target trajectory.

  In this case, when the target activation includes a pressing operation against the first target T1, the actuator 1000 of the target part of the robot R is controlled to cause the robot R to perform the pressing operation.

  On the other hand, if the target trajectory generated by the trajectory search management unit 220 is not recorded in a memory (not shown) or the like (in STEP 32) (NO in STEP 32 in FIG. 3), the trajectory search management unit 220 waits for a certain period of time. At the timing when the trajectory is generated (NO in STEP 35 in FIG. 3), the processing after STEP 33 is executed. On the other hand, if the standby time has elapsed and time is up (YES in FIG. 3 / STEP 35), it is assumed that the target trajectory does not exist or that the robot R has completed tracking for all target trajectories that have already been generated. A series of processing ends.

  The above is the processing content in the control device of the robot R of the present embodiment. As described above, according to such a control device, it is possible to suppress the task involving the interaction while suppressing an increase in the processing load. It can be avoided and executed reliably.

  In the above embodiment, the starting points of the first motion section D1 and the second motion section D2 are defined in advance by the initial posture and the initial position of the motion, but are not limited to this.

  For example, the motion classification processing unit 210 determines the start point of the first motion category D1 and the start point of the second motion category D2 each time so that the calculation amount of the interference determination performed by the interference determination unit 230 is equal to or less than the first predetermined value. It may be determined.

  At this time, the trajectory search management unit 220 estimates the total amount of computation required for the interference determination based on the predetermined start points of the first motion section D1 and the second motion section D2, and then the estimated value is the first. The starting points of the first operation section D1 and the second operation section D2 are changed so as to be within a predetermined range. The starting point to be changed may be both the first motion section D1 and the second motion section D ", but it is preferable to change only the second motion section D2. This is because the operation accuracy of the second operation section D2 can be reduced to some extent as compared with the first operation section D1 that transitions to the contact state.

  Thereby, the calculation processing load required for the interference determination when executing the task can be reduced to the first predetermined value or less, and the robot is caused to execute the task with the interaction while suppressing an increase in the processing load. Can do.

  In addition, the ratio of one or both of the first operation section D1 and the second operation section D2 to each execution stage of the task (all of the first to third operation sections) is equal to or higher than a predetermined ratio (second predetermined value). As described above, the motion category processing unit 210 may determine the start point of the first motion category D1 and the start point of the second motion category D2 each time.

  This makes it possible to cause the robot R to execute a task with an interaction while suppressing the increase in processing load in these sections by setting the ratio of the first or second motion section to the second predetermined value or more. it can.

  Further, in the above-described embodiment, a configuration is described in which the motion classification processing unit 210, the trajectory search management unit 220, and the interference determination unit 230 are provided in the support server 200 in order to reduce the processing load on the controller 100 of the robot R, and distributed processing is performed. However, the present invention is not limited to this. In other words, the controller 100 may include a part or all of the processing units 110 to 130 and 150 of the controller 100 and the processing units 210 to 230 of the support server, and the support server may include the remaining processing units. Good. For example, all the processing units may be provided in the controller 100 and the support server 200 may not be provided.

  Furthermore, although the above embodiment has described the configuration in which a task is specified by the input device 101 that is an information terminal, the present invention is not limited to this. For example, the robot R may be configured to recognize a user instruction by a microphone or the like.

R ... Robot, 100 ... Controller, 101 ... Input device, 110 ... Request task generation unit, 120 ... Image processing unit, 130 ... Future external world prediction unit, 150 ... Main control unit, 200 ... Support server, 210 ... Action division processing unit (Motion classification means), 220 ... trajectory search management section (behavior planning means), 221 ... initial posture search section, 222 ... end posture search section, 223 ... intermediate posture search section, 230 ... interference determination section (interference determination means), D1 ... 1st operation | movement division, D2 ... 2nd operation | movement division, D3 ... 3rd operation | movement division, T1 ... 1st target object, T2 ... 2nd target object, W1 ... Table, W2 ... Cup, W3 ... Tray.

Claims (3)

A control device for a robot having a CPU for performing arithmetic processing, and causing a robot including a base body and a limb connected to the base body to perform a task involving interaction with one or more objects,
Interference determination means for checking whether or not there is a possibility of interference between the first object as the object and the robot or the second object integrated with the robot;
A first motion section that is a motion section in which the robot or a second object integrated with the robot transitions from a non-contact state to a contact state with respect to the first object from a series of operations for executing the task. And / or a second motion section that is a motion section in which the robot or the second object integrated with the robot transitions from the contact state to the non-contact state with respect to the first object. And a third motion segment that is continuous in time series with respect to the first motion segment and that continues in time sequence with respect to the second motion segment in addition to or instead of the third motion segment. An action classifying means for classifying the action class;
In the first action section and the second action section divided by the action section means, the interference judgment between the robot or the second object integrated with the robot and the first object is determined by the interference judgment means. In the third operation section, the interference determination unit executes the interference determination between the robot or the second object integrated with the robot and the first object, and executes the task. A control device comprising: action planning means for generating a time-series position and posture of the robot. The control device according to claim 1,
The operation classifying unit includes the first operation class and the series of operations to execute the task so that the calculation amount of the CPU when the interference determination unit performs the interference determination is equal to or less than a first predetermined value. A control device that divides one or both of the second operation section and the second operation section. The control device according to claim 1 or 2 ,
The action planning unit is configured to rotate and translate the time-series position and posture of the robot in one or both of the first motion section and the second motion section according to the shape of the first object. One of the movements or a combination thereof is generated as a constraint condition.

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