JP5776544B2 - Robot control method, robot control device, and robot - Google Patents

Description

  The present invention relates to a robot control method, a robot control device, and a robot.

  In recent years, robots that operate by remote control have become widespread. The user inputs commands (commands) to the robot using various input methods (for example, voice, touch panel, push button, gesture, etc.).

  Patent Document 1 discloses a robot that operates by voice recognition. The robot stores a dangerous danger command when it is mistakenly executed due to a misrecognition of voice, and has a rejection word similar to the danger command. This prevents erroneous recognition of dangerous commands and improves the accuracy of voice recognition.

Japanese Patent No. 4539313

  However, if the robot erroneously recognizes a command from the user or the user erroneously inputs a command, an incorrect command is executed. That is, the robot has a problem that it performs an operation unintended by the user. In particular, if the robot erroneously executes a command that involves physical movement, there is a risk of disturbing the surroundings.

  The robot described in Patent Document 1 uses a rejection word to prevent an unintended dangerous command from being executed. However, if the accuracy of the speech recognition process is not sufficient, the rejection word to be rejected is a dangerous command. May be misrecognized. In other words, there is a possibility of executing a dangerous command by mistake. Therefore, even if a rejection word is used, an unintended operation cannot be reliably excluded.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a robot control method, a robot control device, and a robot that can reliably prevent an operation unintended by a user.

  A robot control method according to an aspect of the present invention is a robot control method that operates based on a command input from a user, the step of recognizing the command input from the user, and the recognized command Determining whether or not the command is an exercise command accompanied by a physical motion, and confirming to the user whether or not to execute the recognized command based on the determination result. . Thereby, when an exercise command is executed, a confirmation process is performed on the user. Therefore, even when a robot misrecognition or a user erroneous input occurs, it is possible to reliably prevent an exercise command unintended by the user from being executed.

  Further, it may be determined whether or not the recognized command is the exercise command by referring to a command database in which the exercise command is stored in advance.

  Further, it may be determined whether or not the recognized command is the motion command depending on whether or not the motor of the robot is controlled. As a result, it is not necessary to store information indicating whether or not the exercise command is in advance, and the memory cost can be reduced.

  When the control for reducing the rotation speed of the motor is performed according to the recognized command, the recognized command may be executed without confirming whether the recognized command is executed. As a result, the confirmation process is not performed for the operation for reducing the rotational speed such as the deceleration operation. In other words, since an emergency stop command is executed without confirmation, a quick operation is possible in an emergency.

  Further, the input of the command from the user may be performed using a terminal physically separated from the robot.

  Further, confirmation of whether or not to execute the recognized command may be performed by displaying a confirmation screen on a display unit provided in the terminal.

  In addition, the method may further include a step of recognizing an environment around the robot, and confirming with the user whether or not to execute the recognized command based on the recognized environment around the robot and the determination result. . Thus, even if an exercise command not intended by the user is executed, the user is not confirmed in a situation where there is no influence on the surroundings. Therefore, the convenience of robot control is improved.

  In addition, the method may further include a step of acquiring a current time and confirm with the user whether or not to execute the recognized command based on the acquired current time and the determination result. Thereby, confirmation is not performed with respect to a user in the time slot | zone which has no influence even if the exercise command which a user does not intend is performed. Therefore, the convenience of robot control is improved.

  A robot control apparatus according to an aspect of the present invention is a robot control apparatus that operates based on a command input from a user, the command recognition unit recognizing the command input from the user, and the command Determining means for determining whether or not the command recognized by the recognizing means is an exercise command accompanied by a physical motion; and whether or not to execute the recognized command based on the determination result of the determining means. Confirmation means for confirming with the user. Thereby, when an exercise command is executed, a confirmation process is performed on the user. Therefore, even when a robot misrecognition or a user erroneous input occurs, it is possible to reliably prevent an exercise command unintended by the user from being executed.

  A robot according to one embodiment of the present invention includes a motor, and is a robot that can execute a motion command accompanied by a physical operation by driving the motor, and recognizes a command input by a user. A determination means for determining whether or not the command recognized by the command recognition means is the exercise command, and whether or not to execute the recognized command based on a determination result of the determination means. Confirmation means for confirming with the user. Thereby, when an exercise command is executed, a confirmation process is performed on the user. Therefore, even when a robot misrecognition or a user erroneous input occurs, it is possible to reliably prevent an exercise command unintended by the user from being executed.

  According to the present invention, it is possible to provide a robot control method, a robot control apparatus, and a robot that can reliably prevent an operation unintended by a user.

1 is an external perspective view of a robot according to a first embodiment. 1 is a block diagram of a robot control system according to a first embodiment; It is a figure which shows the structural example of the command database concerning Embodiment 1. FIG. 3 is a flowchart showing a robot control method according to the first exemplary embodiment; 3 is an example of a confirmation screen according to the first embodiment. It is a figure which shows the structural example of the button type operation terminal concerning the modification 1 of Embodiment 1. FIG. 10 is an example of a confirmation screen according to the first modification of the first embodiment. It is a figure which shows the structural example of the touchscreen type operation terminal concerning the modification 2 of Embodiment 1. FIG. It is an example of the confirmation screen concerning the modification 2 of Embodiment 1. FIG. FIG. 4 is a block diagram of a robot control system according to a second embodiment. 6 is a flowchart illustrating a robot control method according to a second embodiment;

<Embodiment 1>
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an external perspective view of the robot according to the present embodiment. The robot 1 includes a robot main body 91 and an arm 92. The arm 92 has a plurality of joints and is connected to the robot body 91. The robot 1 displaces the arm 92 relative to the robot body 91 by controlling a motor (not shown) provided at the joint. The robot 1 also has drive wheels (not shown) at the bottom of the robot body 91. The robot 1 moves by controlling a motor (not shown) that rotates the drive wheels. That is, the robot 1 performs a physical operation by controlling the motor. The physical operation means that the position of all or part of the robot 1 changes relative to surrounding objects (for example, a floor or a person).

  FIG. 2 shows a block diagram of the control system of the robot 1. The robot 1 includes a wireless LAN adapter 11, a camera 12, a command processing unit 13, a speaker 14, a display 15, a command database 16, an input device 17, an auxiliary storage unit 18, a motor control unit 19, Is provided. In the control system illustrated in FIG. 1, the robot 1 receives an operation command transmitted from the operation terminal 100 via the Internet 3 and performs an operation corresponding to the operation command (for example, provision of information, Move).

  A wireless local area network (LAN) adapter 11 performs wireless communication with the operation terminal 100 via the Internet 3. For example, the camera 12 is mounted on the head of the robot 1 and images the environment around the robot 1.

  The command processing unit 13 includes a CPU (Central Processing Unit) 131 and a memory 132. The CPU 131 and the memory 132 are connected to various devices and processing units via a bus and an interface (I / F). The CPU 131 temporarily stores the recognized command in the memory 132. Then, the CPU 131 reads the command processing program stored in the auxiliary storage unit 18 and refers to the command database 16 to determine whether the recognized command is a command accompanied by a physical operation (hereinafter referred to as an exercise command). Determine whether or not.

  Specifically, the CPU 131 converts the recognized command into text (character string). Then, the CPU 131 accesses the command database 16 via the interface and determines whether or not the recognized command is an exercise command. The CPU 131 stores the determination result in the memory 132. In the robot 1 of the present embodiment, a voice signal is used as a command from the user. The command processing unit 13 for voice signal command analysis has a simple configuration using a known technique. Therefore, the present invention can be realized at low cost.

  The speaker 14 outputs an audio signal input to the command processing unit 13 or outputs an audio signal stored in the memory 132 in response to a user request. The display 15 displays the setting information of the robot 1, the processing result of the command processing unit 13, and the like. The output device such as the speaker 14 and the display 15 may be a robot built-in type or an external type.

  The command database 16 stores an index, a determination target command (various commands that the robot 1 can operate), a command flag indicating whether the command is an exercise command, and a command classification in association with each other (FIG. 3). reference). At this time, the command flag is information indicating whether or not the command is an exercise command. The classification is information indicating the processing content by the command processing unit 13.

  In the present embodiment, one command flag is associated with the exercise command. On the other hand, a command flag of 0 is associated with a command other than the exercise command (for example, display of information using the display 15 and reproduction of sound using the speaker 14). The command flag may be set in advance or may be set as appropriate depending on whether or not the motor is controlled. Note that the information stored in the command database 16 is not limited to the information shown in FIG. In the present embodiment, the value of the command flag is represented by a binary value of 0 or 1. However, the value is not limited to this, and a continuous value of 0 to 1 is used according to the operation content or the like. You may weight.

  The input device 17 is a pointing device such as a mouse, a numerical input device such as a keyboard, or a voice input device such as a microphone. The user uses the input device 17 to set commands, threshold values, and the like for the command processing unit 13.

  The motor control unit 19 includes a CPU 191 and a memory 192. The CPU 191 controls the motors 193 to 197 in accordance with instructions from the CPU 131 of the command processing unit 13. The motors 193 to 197 are provided in each part of the robot 1 (for example, arm joints, driving wheels, etc.).

  In the motor control unit 19, the CPU 191 temporarily stores the command from the command processing unit 13 in the memory 192. The CPU 191 reads a motor control processing program stored in an auxiliary storage unit (not shown) and stores the processing result in the memory 192. The memory 192 stores various data necessary for motor control and calculation results. The CPU 191 refers to information stored in the memory 192 as necessary.

  Next, a control method of the robot 1 according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing a method for controlling the robot 1. First, the user inputs a command by voice to the operation terminal 100. Then, a voice signal of the command is transmitted from the operation terminal 100 to the wireless LAN adapter 11 of the robot 1 via the Internet 3.

  The wireless LAN adapter 11 transmits the received audio signal to the command processing unit 13. The command processing unit 13 recognizes and analyzes the command of the input voice signal (step S11). That is, the CPU 131 converts the voice signal command into text and stores it in the memory 132. Note that a known technique can be used as a method for analyzing a speech signal and obtaining a text string, and thus a detailed description thereof is omitted.

  Next, the command processing unit 13 determines whether or not the recognized command is an exercise command (step S12). Specifically, the CPU 131 determines whether the command flag of the command stored in the memory 132 is 0 or 1 with reference to the command database 16 shown in FIG.

  When the command flag of the command recognized by the command processing unit 13 is 0, that is, when the command recognized by the command processing unit 13 is not an exercise command (step S12: No), the command processing unit 13 executes the command. (Step S15). Specifically, the CPU 131 of the command processing unit 13 outputs a command corresponding to the command to an output device such as the speaker 14 or the display 15. Thereby, the robot 1 executes a command that is not an exercise command. In this case, the operation of the robot 1 is not accompanied by a physical operation. For this reason, even if the command executed by the robot 1 is the result of erroneous recognition or erroneous input, it does not bother nearby people or objects.

  On the other hand, when the command flag of the command recognized by the command processing unit 13 is 1, that is, when the command recognized by the command processing unit 13 is an exercise command (step S12: Yes), the command processing unit 13 Is confirmed with the user (step S13). For example, the CPU 131 of the command processing unit 13 confirms the user by displaying a command execution confirmation screen as shown in FIG. 5 on the display 15. FIG. 5 is a screen for confirming whether or not to execute the command “Move forward maximum speed”. The command displayed here is a command recognized by the command processing unit 13. That is, it does not necessarily match the command intended (input) by the user. The CPU 131 may display a confirmation screen on the display screen (not shown) of the operation terminal 100 via the wireless LAN adapter 11 and the Internet 3. Of course, the confirmation process is not limited to the screen display, and the CPU 131 may perform confirmation by voice using the speaker 14.

  In response to the confirmation in step S13, the user instructs the robot 1 whether to execute the motion command recognized by the command processing unit 13 using the input device 17 of the robot 1 or the operation terminal 100 (step 1). S14). Specifically, the user gives an instruction to the robot 1 by selecting “Yes” or “No” on the confirmation screen shown in FIG.

  When the user instructs the robot 1 not to execute the motion command (step S14: No), the robot 1 executes no command. That is, the robot 1 does not operate anything and waits for command input again.

  On the other hand, when the user instructs the robot 1 to execute an exercise command (step S14: Yes), the robot 1 executes the exercise command (step S15). Specifically, the CPU 131 of the command processing unit 13 transmits an exercise command to the motor control unit 19 and instructs motor control according to the exercise command. The motor control unit 19 stores the received exercise command in the memory 192. The CPU 191 refers to the motion command stored in the memory 192, and performs torque control on a motor necessary for executing the motion command among the motors 193 to 197 included in the robot 1. Thereby, the robot 1 executes an operation according to the motion command.

  As described above, according to the configuration of the robot 1 according to the present embodiment, the robot 1 recognizes the command input from the user, refers to the command database, and determines whether or not the recognized command is an exercise command. Determine whether. When the command recognized by the command processing unit 13 is an exercise command, the robot 1 confirms with the user whether or not to execute the exercise command. When the exercise command is instructed by the user, the exercise command is executed for the first time. For this reason, even if the robot 1 recognizes an incorrect motion command due to erroneous recognition of the robot 1 or a user's erroneous input, the user can confirm whether or not to execute the motion command. Therefore, it is possible to reliably prevent the robot 1 from executing an exercise command not intended by the user. As a result, the safety and reliability of the robot 1 can be improved.

  In particular, in a robot that is operated by remote operation rather than a robot that the user gets on and controls, there are often no users in the vicinity of the robot. For this reason, when the robot has performed an operation unintended by the user, the user cannot stop the operation. That is, the robot control method according to the present invention is particularly effective for a robot that operates by remote control.

  Note that if the command recognized by the robot 1 is not an exercise command, even if it is erroneously executed, the influence on the surroundings is small. Therefore, commands other than exercise commands are executed without confirmation after command recognition. As a result, the user can operate the robot 1 efficiently.

  Furthermore, in the above embodiment, it is determined whether or not it is an exercise command according to a preset command flag, but the determination method is not limited to this. For example, when the motor is controlled, it may be determined that the command is an exercise command, and when the motor is not controlled, it may be determined that the command is not an exercise command. In addition, even when the motor control is performed, when a command for reducing the rotation speed of the motor is recognized, the command may be executed without performing the confirmation process. The command for reducing the rotation speed of the motor is considered to be a command for guiding the operation of the robot 1 to stop. Thereby, for example, an emergency stop command is executed without confirmation. Therefore, quick operation is possible in an emergency.

(Modification 1)
A first modification of the present embodiment will be described. In the above embodiment, voice input is used as command input means to the robot 1, but in Modification 1, a push button is used as command input means. Since other configurations are the same as those in the first embodiment, description thereof will be omitted as appropriate.

  FIG. 6 shows a configuration example of the button-type operation terminal 200 according to the first modification. The button type operation terminal 200 includes a display screen 201, a command button 202, and an execution button 203. The robot 1 and the button type operation terminal 200 are connected via a wireless LAN.

  Each command for operating the robot 1 is assigned to the command button 202 (buttons “0” to “9”). At this time, commands can be commanded only by the number of command buttons 202, and more commands than the number of command buttons 202 can be commanded by the order of pressing command buttons 202, the combination of command buttons 202 pressed simultaneously, and the like.

  Then, the control method of the robot 1 concerning the modification 1 is demonstrated. In the following description, it is assumed that the command “reverse at maximum speed” is assigned to the “1” button of the command button 202. First, the user depresses the “1” button of the command button 202. As a result, a command “retreat at maximum speed” is input to the robot 1. The robot 1 recognizes the input command (step S11 in FIG. 4).

  The command processing unit 13 refers to the command database 16 and determines whether or not the recognized command “backward” is an exercise command (step S12). As shown in FIG. 3, the command flag of the command “backward” is 1. Therefore, the command processing unit 13 determines that the command “backward” is an exercise command (step S12: Yes).

  If the command processing unit 13 determines that the “reverse” command is an exercise command, the command processing unit 13 determines whether or not to cause the robot 1 to perform an operation of “reverse at the maximum speed” on the display screen 201 of the button type operation terminal 200 A confirmation screen is displayed (see step S13, FIG. 7).

  When the user presses the execution button 203 (step S14: Yes), the robot 1 executes the command recognized by the command processing unit 13 (step S15). That is, the robot 1 performs an operation of moving backward at the maximum speed.

(Modification 2)
A second modification of the present embodiment will be described. In the above embodiment, voice input and push buttons are used as command input means to the robot 1, but in the second modification, a touch panel is used as command input means. Since other configurations are the same as those in the first embodiment, description thereof will be omitted as appropriate.

  FIG. 8 shows a configuration example of a touch panel type operation terminal 300 according to the second modification. The touch panel type operation terminal 300 includes a touch panel screen 301. In the configuration example shown in FIG. 8, a command selection area 302, a speed selection area 303, and a command instruction area 304 are displayed on the touch panel screen 301. Of course, the configuration of the touch panel screen 301 is not limited to the configuration shown in FIG. The robot 1 and the touch panel type operation terminal 300 are connected via a wireless LAN.

  When the user touches the command selection area 302, various commands that can be executed by the robot 1 are displayed, and a command to be executed can be selected. In addition, the user can set the moving speed continuously by scrolling the slide bar in the speed selection area 303. Further, when the user touches the command instruction area 304, the selected command can be input to the robot 1.

  Then, the control method of the robot 1 concerning the modification 2 is demonstrated. First, the user operates the command selection area 302 and the speed selection area 303 to select “maximum backward speed” as shown in FIG. 8, for example, and touches the command instruction area 304. As a result, the command “reverse maximum speed” is input to the robot 1 via the wireless LAN. The robot 1 recognizes the input command (step S11 in FIG. 4).

  The command processing unit 13 refers to the command database 16 and determines whether or not the recognized command “backward” is an exercise command (step S12). As shown in FIG. 3, the command flag of the command “backward” is 1. Therefore, the command processing unit 13 determines that the command “backward” is an exercise command (step S12: Yes).

  When the command processing unit 13 determines that the “backward” command is an exercise command, the touch screen 301 of the touch panel type operation terminal 300 displays a confirmation screen as to whether or not the robot 1 is to execute an operation of “backward maximum speed”. Is displayed (see step S13, FIG. 9).

  When the user touches the command execution area 305 (step S14: Yes), the robot 1 executes the recognized command (step S15). That is, the robot 1 performs an operation of moving backward at the maximum speed.

  As described in the first and second modifications, the command processing unit 13 determines whether or not the command is an exercise command by referring to the command database after the input command recognition process (after obtaining the command text information). Done. That is, the command input means is not limited as long as the text information of the command can be acquired. In other words, a multimodal interface can be provided to the user. As input means, gestures and the like can be used in addition to the voice, push buttons, and touch panel.

<Embodiment 2>
A second embodiment according to the present invention will be described. A block diagram of the control system of the robot 2 according to the present embodiment is shown in FIG. The robot 2 illustrated in FIG. 10 includes a position acquisition unit 21 and a time acquisition unit 22 in addition to the configuration of the robot 1 illustrated in FIG. The robot 2 confirms with the user whether or not to execute the command based on the location of the robot 2 (ambient environment) and the time when the command is input, in addition to the input command content. Since the other configuration is the same as that of the robot 1, description thereof will be omitted as appropriate.

  The position acquisition unit 21 is a GPS device, for example, and acquires the self-position information of the robot 2. Acquisition of the self-location information is not limited to the GPS device, and a known technique can be used. Further, the position acquisition unit 21 may estimate the self position based on map information stored in advance in the memory or a captured image of the surrounding environment captured by the camera 12. The time acquisition unit 22 is a clock, for example, and acquires the current time.

  Next, a method for controlling the robot 2 according to the present embodiment will be described with reference to FIG. FIG. 11 is a flowchart showing a method for controlling the robot 2. First, the user inputs a command by voice to the operation terminal 100. Then, the voice signal of the command is transmitted from the operation terminal 100 to the wireless LAN adapter 11 of the robot 2 via the Internet 3.

  The wireless LAN adapter 11 transmits the received voice signal to the command processing unit 13 as in steps S11 and S12 described in FIG. 2 of the first embodiment. The command processing unit 13 recognizes and analyzes the voice signal command (step S21). Next, the command processing unit 13 determines whether or not the recognized command is an exercise command (step S22). Specifically, the CPU 131 determines whether the command flag of the command stored in the memory 132 is 0 or 1 with reference to the command database 16 shown in FIG.

  When the command flag of the command recognized by the command processing unit 13 is 0, that is, when the command recognized by the command processing unit 13 is not an exercise command (step S22: No), the command processing unit 13 executes the command. (Step S29). Thereby, the robot 2 executes an operation other than the motion command.

  On the other hand, when the command flag of the command recognized by the command processing unit 13 is 1, that is, when the command recognized by the command processing unit 13 is an exercise command (step S22: Yes), the position acquisition unit 21 determines that the robot 2 Self-position information is acquired and the self-position is recognized (step S23). The CPU 131 recognizes the presence of obstacles, stairs, people, and the like around it based on the self-position. That is, the CPU 131 recognizes the environment around the robot 2. Of course, the recognition of the surrounding environment is not limited to that based on self-location acquisition. For example, the surrounding environment may be recognized by imaging the surrounding environment using the camera 12 included in the robot 2 and performing image processing on the captured image.

  The CPU 131 calculates an environment command flag value based on the surrounding environment. Specifically, a value (for example, a continuous value of 0 to 1) corresponding to the position of an obstacle or the like existing around the robot 2 is calculated as the environmental command flag value. More specifically, an environmental command flag value that is larger as the position of an obstacle or the like is closer to the robot 2 is calculated, and an environmental command flag value that is smaller as it is farther from the robot 2 is calculated. In other words, the CPU 131 calculates the environmental command flag value according to the distance between the robot 2 and surrounding obstacles.

  For example, when the arm of the robot 2 is moved and there is an obstacle or the like within the reach of the arm, the CPU 131 calculates the environmental command flag value as 1.0. If there is a person within the movable range of the robot 2, the CPU 131 calculates the environmental command flag value as 0.8. Further, when the robot 2 is in a plaza where there are no obstacles around, the CPU 131 calculates the environmental command flag value as 0.1. Of course, the above environment command flag value is an example. Further, the CPU 131 may calculate the environment command flag value using a function indicating the relationship between the distance between the robot 2 and the obstacle and the environment command flag value.

  Next, the time acquisition unit 22 acquires the current time (step S24). The CPU 131 calculates a time command flag value based on the current time. Specifically, the CPU 131 calculates a value corresponding to the current time (for example, a continuous value of 0 to 1) as a time command flag value. More specifically, a larger time command flag value is calculated as the current time is late at night, and a smaller time command flag value is calculated as the time is closer to daytime. In other words, the time command flag value is set to a large value in a time zone where noise such as motor driving noise is not desired, and the time command flag value is set to a small value in other time zones. In this way, the command processing unit 13 calculates the environmental command flag value and the time command flag value on the fly.

  The calculation of the environment command flag value and the time command flag value may be performed by the CPU 131 in the robot 2 or may be performed using calculation resources provided outside the robot 2.

  Next, the CPU 131 calculates a total command flag value using the environment command flag value and the time command flag value calculated in steps S23 and S24. The total command flag value is calculated by adding the environment command flag value and the time command flag value. Of course, the total command flag value may be a value based on the environment command flag value and the time command flag value, and is not limited to the total value of the environment command flag value and the time command flag value. For example, the total command flag value may be a value obtained by multiplying the environment command flag value and the time command flag value.

  Then, the CPU 131 determines whether or not the total command flag value is larger than a threshold value (step S26). The threshold is appropriately set by the user according to the activity environment and activity time of the robot 2. At this time, that the total command flag value is larger than the threshold means that the environment and time cannot permit the execution of the exercise command not intended by the user. On the other hand, that the total command flag value is equal to or smaller than the threshold means that the environment and time allow the execution of the exercise command not intended by the user.

  When the total command flag value is equal to or less than the threshold value (step S26: No), the command processing unit 13 executes the command (step S29). Specifically, the CPU 131 of the command processing unit 13 transmits an exercise command to the motor control unit 19 without confirming with the user, and instructs the motor control according to the exercise command. The motor control unit 19 stores the received exercise command in the memory 192. The CPU 191 refers to the motion command stored in the memory 192 and performs torque control on a motor required for executing the motion command among the motors 193 to 197 provided in the robot 2. Thereby, the robot 2 executes an operation according to the motion command.

  On the other hand, when the total command flag value is larger than the threshold (step S26: Yes), the command processing unit 13 confirms whether or not to execute the recognized exercise command to the user (step S27). For example, the CPU 131 of the command processing unit 13 confirms the user by displaying a command execution confirmation screen as shown in FIG. 5 on the display screen of the display 15 or the operation terminal 100.

  When the user instructs the robot 2 not to execute the motion command (step S28: No), the robot 2 executes no command. That is, the robot 2 does not operate anything and waits for command input again.

  On the other hand, when the user instructs the robot 2 to execute an exercise command (step S28: Yes), the robot 2 executes the exercise command (step S29). Of course, the processing order of the flowchart shown in FIG. 11 is not limited to the order shown in FIG. For example, the total command flag value may be calculated before determining whether or not the command recognized by the command processing unit 13 is an exercise command.

  As described above, according to the configuration of the robot 2 according to the present embodiment, in addition to whether the command input from the user is an exercise command, based on the environment around the robot 2 and the current time, Confirm with the user whether or not to execute the exercise command. For this reason, when the environment around the robot 2 or the current time is a situation where the malfunction of the robot 2 can be tolerated, confirmation to the user is not performed. That is, in a predetermined situation, even if an exercise command is input, confirmation to the user is not performed. As a result, it is not necessary for the user to perform confirmation processing for all exercise commands, and convenience is improved. Of course, since the confirmation process is also performed according to the surrounding environment and the current time, an operation unintended by the user can be prevented.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed and combined without departing from the spirit of the present invention. For example, the configuration of the robots 1 and 2 is not limited to that shown in FIG.

1, 2 Robot 3 Internet 11 Wireless LAN adapter 12 Camera 13 Command processing unit 14 Speaker 15 Display 16 Command database 17 Input device 18 Auxiliary storage unit 19 Motor control unit 21 Position acquisition unit 22 Time acquisition unit 91 Robot main body 92 Arm 100 For operation Terminal 131, 191 CPU
132, 192 Memory 193-197 Motor 200 Button type operation terminal 300 Touch panel type operation terminal

Claims (12)

A method for controlling a robot that operates based on a command input by a user,
Recognizing the command input by the user;
Determining whether the recognized command is a motion command with physical motion;
Recognizing the environment around the robot;
Confirming to the user whether to execute the recognized command based on the recognized surrounding environment of the robot and the determination result;
A method for controlling a robot comprising:   The robot control method according to claim 1, wherein it is determined whether or not the recognized command is the exercise command by referring to a command database in which the exercise command is stored in advance.   3. The robot control method according to claim 1, wherein whether or not the recognized command is the motion command is determined according to whether or not the motor of the robot is controlled. 4.   The control unit according to claim 3, wherein when the control for reducing the number of rotations of the motor is performed according to the recognized command, the recognized command is executed without confirming whether or not the recognized command is executed. Robot control method.   The robot control method according to claim 1, wherein the input of the command from the user is performed using a terminal physically separated from the robot.   6. The robot control method according to claim 5, wherein the confirmation as to whether or not to execute the recognized command is performed by displaying a confirmation screen on a display unit provided in the terminal. The method further includes obtaining a current time,
7. The user according to claim 1, wherein the user is confirmed whether to execute the recognized command based on the acquired current time , the recognized environment around the robot, and the determination result. Robot control method. A method for controlling a robot that operates based on a command input by a user,
Recognizing the command input by the user;
Determining whether the recognized command is a motion command with physical motion;
Obtaining the current time;
Confirming to the user whether or not to execute the recognized command based on the acquired current time and determination result;
A method for controlling a robot comprising: A robot control device that operates based on a command input by a user,
Command recognition means for recognizing the command input by the user;
Determining means for determining whether or not the command recognized by the command recognizing means is an exercise command accompanied by a physical action;
A surrounding environment recognition means for recognizing the surrounding environment of the robot;
Confirmation means for confirming to the user whether or not to execute the recognized command based on the surrounding environment of the robot recognized by the surrounding environment recognition means and the determination result of the determination means;
A robot control apparatus comprising: A robot control device that operates based on a command input by a user,
Command recognition means for recognizing the command input by the user;
Determining means for determining whether or not the command recognized by the command recognizing means is an exercise command accompanied by a physical action;
Time acquisition means for acquiring the current time;
Confirmation means for confirming to the user whether or not to execute the recognized command based on the current time acquired by the time acquisition means and the determination result of the determination means;
A robot control apparatus comprising: A robot having a motor and capable of executing a motion command accompanied by a physical motion by driving the motor,
Command recognition means for recognizing a command input by a user;
Determination means for determining whether or not the command recognized by the command recognition means is the exercise command;
A surrounding environment recognition means for recognizing the surrounding environment of the robot;
Confirmation means for confirming to the user whether or not to execute the recognized command based on the surrounding environment of the robot recognized by the surrounding environment recognition means and the determination result of the determination means;
Robot equipped with. A robot having a motor and capable of executing a motion command accompanied by a physical motion by driving the motor,
Command recognition means for recognizing a command input by a user;
Determination means for determining whether or not the command recognized by the command recognition means is the exercise command;
Time acquisition means for acquiring the current time;
Confirmation means for confirming to the user whether or not to execute the recognized command based on the current time acquired by the time acquisition means and the determination result of the determination means;
Robot equipped with.