JP7174673B2 - Guide robot - Google Patents

Description

The present invention relates to a guiding robot.

Service robots, including guide robots, are also assumed to be used in spaces where people pass. For example, in a building, it performs tasks that were conventionally performed by people, such as providing guidance to users, guarding, patrolling, and cleaning.

In this kind of usage situation of service robots, it is often not possible to completely separate the area for providing services to users, such as setting up a safety fence in the robot installation area like conventional industrial robots. It's becoming Therefore, it is important to have a configuration that gives particular consideration to safety for users.

Japanese Patent Laid-Open No. 2004-100003 discloses a system in which, among objects present in the surroundings ascertained based on environmental information, when an obstacle exists within a safe area including the operating range, the operation is temporarily stopped, and the obstacle specifying information is sent to the outside. An autonomous robot is disclosed that provides visual output to a . It is described that this makes it possible for surrounding people to easily determine what the obstacle recognized by the robot is.

Patent Document 2 discloses an autonomous mobile robot that controls movement by tilting the center of gravity of the housing, and includes a plurality of obstacle detection sensors that detect surrounding objects and an inclination angle measurement that detects the tilt angle of the housing. and an obstacle detection sensor that changes the detection range according to the measured angle of the tilt angle measuring means. It is described that this enables correct detection of obstacles.

JP 2009-113190 A JP-A-2006-247803

The autonomous robot described in Patent Literature 1 may temporarily stop its operation, in which case it becomes difficult to provide continuous service to the user.

The autonomous mobile robot described in Patent Document 2 is capable of detecting obstacles when the inclination angle of the housing changes, but adjusts its operation according to the conditions of users, obstacles, etc. around the robot. not something to do.

SUMMARY OF THE INVENTION It is an object of the present invention to ensure safety for the user of a guide robot and to continue the operation of the guide robot without stopping guidance.

The guide robot of the present invention comprises a storage unit storing a plurality of candidate motions, a plurality of sensors for detecting objects that hinder the motion, a robot motion command unit for selecting a motion to be executed and transmitting a command to each part, The robot motion command unit acquires distance information from the object by one of the plurality of sensors, and selects an execution motion from a plurality of motion candidates in the storage unit based on the distance information. and

According to the present invention, it is possible to ensure safety for the user of the guide robot and to continue the operation of the guide robot without stopping the guidance.

2 is a front view showing the hardware configuration of the autonomous robot according to the first embodiment; FIG. 2 is a side view of the autonomous robot of FIG. 1; FIG. FIG. 2 is a side view showing a state in which the autonomous robot of Example 1 responds to a child; FIG. 2 is a block diagram showing a configuration related to control of the autonomous robot of Example 1; 4 is a flow chart showing a control process from when the autonomous robot of Example 1 receives a guidance instruction to execution of a guidance operation. FIG. 10 is a diagram showing a state in which the robot operates without detecting obstacles; FIG. 10 is a diagram showing a state in which the autonomous robot of Example 1 determines the presence or absence of an obstacle and selects an action; 10 is a flow chart showing a control process using two sensors from when the autonomous robot of Example 2 receives a guidance instruction to when it executes a guidance operation. FIG. 10 is a diagram showing a state in which the autonomous robot of Example 2 determines the presence or absence of an obstacle and selects an action, restricting the action of the left arm and selecting the action of raising the right arm. 11 is a flow chart showing a control process from when the autonomous robot of Example 3 receives a guidance instruction to execution of a guidance operation. FIG. 10 is a diagram showing an operation corresponding to step S804 of FIG. 9; FIG. 10 is a diagram showing an operation corresponding to step S807 of FIG. 9; FIG. 10 is a diagram showing an operation corresponding to step S809 of FIG. 9;

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot that operates autonomously and that is capable of responding to users such as guidance. A robot according to the invention can thus be called a "guide robot" or an "autonomous robot". The autonomous robot is desirably a remote brain robot from the viewpoint of reducing the size of the robot main body's memory, calculation unit, and the like. A remote brain robot is a robot having a configuration in which real-time processing is performed on the robot body side and unrequired processing is handled by an external system.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a front view showing the hardware configuration of an autonomous robot according to the first embodiment.

In this figure, an autonomous robot 101 is humanoid and has a head, body, arms and legs. The arms and legs are provided with joints (elbows and knees). A first external sensor 104 and a second external sensor 105 are provided on the body. A wheel motor unit 106 is provided at the tip of the leg. An arm motor unit 107 is provided at the joint of the arm. An audio output unit 108 is provided on the head. A knee motor unit 117 is provided at the joint of the leg.

The first external sensor 104 and the second external sensor 105 are not limited to the illustrated positions, and may be provided as necessary and sufficient to efficiently detect the surrounding conditions. The types of the first external sensor 104 and the second external sensor 105 are also not particularly limited, and an infrared sensor that emits an infrared laser, an ultrasonic sensor that uses ultrasonic waves, an image sensor such as a camera, or the like is used. be able to. The wheel motor unit 106 has a function of rotating wheels, and can freely move the autonomous robot 101 by this function. The arm motor unit 107 raises and lowers the forearm by its rotation, thereby setting the forearm at a desired position and angle.

In addition, although not shown, a motor is also built in the shoulder portion, so that the upper arm portion can be raised, lowered, rotated, etc. freely.

The voice output unit 108 is used, for example, when providing voice guidance to the user.

Further, the autonomous robot 101 has a robot control unit 102 therein, and is connected to a robot command generation unit 103 provided outside via a network such as an electric communication line. The robot control unit 102 includes a CPU (Central Processing Unit), memory, and the like. The robot command generation unit 103 receives information about the status of the autonomous robot 101 from the autonomous robot 101 and the like, and gives the autonomous robot 101 commands about actions such as guidance and movement. The network may be a wired communication line, but wireless communication such as a wireless LAN is desirable.

2 is a side view of the autonomous robot of FIG. 1; FIG.

As shown in FIG. 2, a second external sensor 105 is arranged on the curved torso of the autonomous robot 101 . Also, the structures of the wheel motor section 106 and the knee motor section 117 are clarified. By rotating the knee motor unit 117, the knee can be bent and stretched, and the user can freely perform actions such as standing up, bending down, crouching, and kneeling. Therefore, the autonomous robot 101 can freely increase or decrease its height.

FIG. 3 is a side view showing a situation in which the autonomous robot of Example 1 responds to a child.

As shown in the figure, the second external sensor 105 or the like detects that a child 350 is approaching, and the rotation of the knee motor unit 117 allows the knees to be bent and the child to take a crouching posture. You can also kneel. Sensors used to detect a small child 350 (infant, etc.) include not only the second external sensor 105 provided on the torso, but also sensors provided at low positions such as legs and knees (not shown). ) or, for example, a sensor (not shown) provided in the wheel motor unit 106 or the knee motor unit 117 .

FIG. 4 is a block diagram showing a configuration related to control of the autonomous robot according to the first embodiment;

In addition, in this figure, the voice output unit 108 and the voice output control unit 206 are shown as the configuration of the autonomous robot 101, but these are not essential components in the present embodiment, and will be described in the third embodiment. .

As shown in this figure, the autonomous robot 101 is provided with a robot control section 102 , a first external sensor 104 , a second external sensor 105 , a wheel motor section 106 and an arm motor section 107 . The robot control unit 102 includes a sensor information collection unit 201 that collects distance information and the like detected by the first external sensor 104 and the second external sensor 105, and a robot operation command that transmits commands to each part of the autonomous robot 101. a motion candidate database 203 (storage unit) that stores motion candidates for the autonomous robot 101; a wheel control unit 204 that controls the wheel motor unit 106; and an arm motion control unit 205 that controls the arm motor unit 107. and including. The robot motion command section 202 and the robot command generation section 103 are connected via a network.

The sensor information acquired by the sensor information collection unit 201 is sent to the robot motion command unit 202 . The robot motion commanding unit 202 acquires the next motion to be executed from the motion candidate database 203 according to the sensor information captured by the sensor information collecting unit 201 and the guidance instruction sent from the robot command generating unit 103 . Moreover, the sensor information collection unit 201 includes a sensor determination unit. The sensor determination unit determines which of the plurality of sensors is valid based on the posture of the autonomous robot 101 .

The robot motion command unit 202 may acquire a plurality of motion candidates to be executed next from the motion candidate database 203 and select an appropriate motion from among them. Herein, the next appropriate action to be performed is referred to as the "execution action". Note that execution actions do not include complete stoppage of actions. For example, when performing only audio output, it is not a complete stop of operation.

For example, when the motion candidate sent from the motion candidate database 203 relates to movement of the autonomous robot 101 , the robot motion command unit 202 sends a command to the wheel control unit 204 to operate the wheel motor unit 106 . As a result, the wheel motor unit 106 rotates and the autonomous robot 101 moves.

When the motion candidates sent from the robot motion commanding unit 202 relate to the motion of the arm of the autonomous robot 101 , the command is received by the arm motion control unit 205 to operate the arm motor unit 107 . As a result, the arm motor section 107 rotates and moves the arm section of the autonomous robot 101 to a desired position.

FIG. 5 is a flow chart showing the control process from when the autonomous robot of this embodiment receives a guidance instruction to when it executes a guidance operation. 1 to 4 are also used in the following description.

In FIG. 5, first, the robot command generation unit 103 transmits a guidance motion command to the robot motion command unit 202 of the autonomous robot 101 (S301). Next, the robot motion command unit 202 acquires the distances to the user and obstacles from the sensor information collection unit 201 (S302). This distance is detected by the first external sensor 104 . In the following description, obstacles are objects that hinder the movement of the robot, and include not only corridors, walls of rooms, doors, etc., but also people such as users.

The robot motion command unit 202 determines whether there is an obstacle within the motion range of the autonomous robot 101 based on the motion command from the robot command generation unit 103 and the distance information to the obstacle from the sensor information collection unit 201. (S303).

If it is determined in step S303 that there is no obstacle, the robot motion command unit 202 acquires the motion command transmitted from the robot command generation unit 103 (S304). Then, the robot motion command unit 202 executes the motion sent from the robot command generation unit 103 (S305).

On the other hand, if there is an obstacle within the detection range of the first external sensor 104 acquired by the sensor information collecting unit 201 and the robot motion commanding unit 202 determines that it cannot operate (S303), the robot motion commanding unit 202 obtains a candidate for a motion of the autonomous robot 101 that does not collide with an obstacle (a motion that does not contact an obstacle) from the motion candidate database 203 (S306), and the robot motion command unit 202 executes the motion command (S307).

In summary:

If there is an obstacle within the range detected by the first external sensor 104, the robot motion commanding unit 202 selects a motion that does not come into contact with the obstacle.

Here, the robot motion command unit 202 selects motions from a plurality of motion candidates (motion candidates) and sends motion commands to arms, legs, and the like that actually perform motions. Therefore, the robot motion commanding section 202 is also a motion selecting section. At the time of the selection, the conditions of users around the autonomous robot 101 (sex, height, body shape, estimated age, voice characteristics, content of conversation, walking speed, number and density of people around, etc.) Group (family) composition, clothes, etc.), temperature, humidity, brightness (illuminance), light wavelength (spectrum), sound intensity (sound pressure level), concentration of odorant (detected by an odor sensor or the like). ), date and time, day of the week, time, or the like may be used as a reference. Further, from these criteria, necessity of vocalization of the voice output unit 108, volume, wavelength, tone of voice, etc. may be selected.

In this specification, it is assumed that the operation includes voice output.

Next, the actual operation of the autonomous robot according to this embodiment will be explained.

Here, an example of a use case will be described in which an autonomous robot guides an elevator user to an elevator platform by arm motion. In this case, it is desirable to provide guidance not only by motion but also by voice.

FIG. 6A is a diagram showing a state in which the robot operates without detecting obstacles.

FIG. 6B is a diagram illustrating a state in which the autonomous robot of Example 1 determines the presence or absence of an obstacle and selects an action.

In FIG. 6A, when guiding the elevator user 401a to the elevator platform 402a, the motion of the arm to reach the distance _dA without determining whether to contact the elevator user 401a standing near the robot 701. It is carried out. As a result, the arm of the robot 701 comes into contact with the elevator user 401a. In this case, the elevator user 401a may be injured.

In FIG. 6B, when guiding elevator user 401b to elevator platform 402b, autonomous robot 101 detects elevator user 401b standing nearby, determines whether to contact elevator user 401b, Control is performed so that the motion of the arm is within a distance d _B that is shorter than the distance d _A in FIG. 6A.

This can prevent the arms of the autonomous robot 101 from contacting the elevator user 401b. In addition, it is possible to continue the operation without stopping the guidance.

In addition, even if the elevator user 401b is not contacted, the elevator user 401b may be surprised. If so determined, the operation is further restricted. As a result, the elevator user 401b can be guided without being surprised.

As described above, by controlling the operation of the autonomous robot 101, safety can be improved.

It is desirable that the autonomous robot 101 also asks the elevator user 401b whether or not the elevator user 401b is actually looking for the elevator platform 402b, and then starts the guidance operation.

FIG. 7 is a flow chart showing a control process using two sensors from when the autonomous robot of Example 2 receives a guidance instruction to when it executes a guidance operation. 1 to 4 are also used in the following description. Moreover, in the following description, points common to the first embodiment are omitted.

In FIG. 7, first, the robot command generation unit 103 transmits a guidance motion command to the robot motion command unit 202 of the autonomous robot 101 (S501). Further, the sensor information collection unit 201 acquires the distance from the first external sensor 104 to the user and obstacles (S502). Furthermore, the sensor information collection unit 201 acquires the distances to the user and obstacles from the second external sensor 105 (S503). The robot motion command unit 202 then acquires these distances from the sensor information collection unit 201 .

The robot motion command unit 202 determines whether there is an obstacle within the motion range of the autonomous robot 101 based on the motion command from the robot command generation unit 103 and the distance information to the obstacle from the sensor information collection unit 201. (S504). If it is determined in step S504 that there is no obstacle, the robot motion command unit 202 acquires the motion command transmitted from the robot command generation unit 103 (S505). Then, the robot motion command unit 202 executes the motion sent from the robot command generation unit 103 (S506).

On the other hand, if there is an obstacle within the detection range of the first external sensor 104 acquired by the sensor information collecting unit 201 and the robot motion commanding unit 202 determines that it cannot operate (S504), the robot motion commanding unit 202 obtains a candidate for a motion that does not collide with an obstacle for the motion of the autonomous robot 101 from the motion candidate database 203 (S507).

When it is determined that the robot will not collide with an obstacle within the detection range of the first external sensor 104 (S508), the robot motion command unit 202 performs a motion within a range that does not reach the obstacle (S510).

On the other hand, if it is determined that the vehicle will collide with an obstacle within the detection range of the first external sensor 104 (S508), it is further determined whether or not the vehicle will collide with an obstacle within the detection range of the second external sensor 105 ( S509). If it is determined in step S509 that the vehicle will collide with the obstacle, the process of step S507 is executed again. On the other hand, if the robot does not collide with the obstacle in step S509, the robot motion commanding unit 202 performs a motion within a range that does not reach the obstacle (S510).

Thus, the motion of the autonomous robot 101 is selected depending on whether or not it collides with an obstacle.

FIG. 8 shows a state in which the autonomous robot of Example 2 determines the presence or absence of an obstacle and selects an action, restricting the action of the left arm and selecting the action of raising the right arm. is.

As shown in this figure, when it is determined that an elevator user 601 will collide with an obstacle within the detection range of the first external sensor 104 when guiding an elevator user 601 to an elevator hall 602, the detection range of the second external sensor 105 If it is determined that the vehicle will not collide with an obstacle within the detection range of the second external sensor 105, guidance is provided by raising the right arm. That is, it is an example of the operation resulting from steps S508, S509 and S510 of FIG. As a result, the operation can be continued without stopping guidance.

If it is determined that there is a risk of contact with an obstacle even within the detection range of the second external sensor 105, the autonomous robot 101 moves to a place where the obstacle is not detected, and raises its right arm. You may control to guide.

The configurations shown in FIGS. 7 and 8 can be summarized as follows.

When there is an obstacle within the range detected by the first external sensor 104 and there is no motion candidate capable of realizing the motion purpose (one motion purpose), the robot motion command unit 202 uses the second external sensor 105 (other external sensor), and selects an operation that does not come into contact with an obstacle within the detection range of any external sensor. A plurality of motion candidates are set for one motion purpose.

This embodiment will be described with reference to FIG. 4 used in the first embodiment. 1 to 3 and 5 to 8 may also be used in the following description. Moreover, in the following description, points common to the first or second embodiment are omitted.

In this embodiment, the audio output unit 108 and the audio output control unit 206 shown in FIG. 4 are used.

The audio output unit 108 is installed on the head of the autonomous robot 101, as shown in FIGS. The audio output unit 108 is used when outputting audio to the outside. The voice output is useful for guidance to the person using the autonomous robot 101, and the like. Also, the audio output control unit 206 controls the content of audio in the audio output unit 108 and the like.

FIG. 9 is a flow chart showing the control process from when the autonomous robot of this embodiment receives a guidance instruction to when it executes a guidance operation.

In this figure, first, the robot command generation unit 103 transmits a guidance motion command to the robot motion command unit 202 of the autonomous robot 101 (S801). The sensor information collection unit 201 acquires the distance from the first external sensor 104 to the user and obstacles (S802). Then, it is determined whether there is an obstacle within the detection range of the first external sensor 104 (S803).

If there is no obstacle within the detection range of the first external sensor 104, guidance is provided by moving in that direction (S804).

On the other hand, if there is an obstacle within the detection range of the first external sensor 104, the motion of the arm is acquired (S805). Then, it is determined whether there is an obstacle within the detection range of the second external sensor 105 (S806). If there is no obstacle within the detection range of the second external sensor 105, guidance is provided by arm movements (S807).

If there is an obstacle within the detection range of the second external sensor 105, the audio output control unit 206 acquires information on audio output for guidance (S808), and provides audio guidance (S809).

In this way, depending on whether or not the robot collides with an obstacle, the guidance by the motion of the autonomous robot 101 or the voice is selected step by step.

10A-10C illustrate the autonomous robot situation corresponding to the motion or voice guidance of FIG. Here, an example use case will be described in which an autonomous robot guides elevator users to the elevator platform.

FIG. 10A shows the operation corresponding to step S804 of FIG.

That is, when there is no obstacle within the detection range of the first external sensor 104, guidance is provided by moving in that direction.

FIG. 10A shows a detection range 251 of the first external sensor 104 and a detection range 252 of the second external sensor 105 of the autonomous robot 101 . Autonomous robot 101 is leading elevator user 281 toward the left elevator. In this case, since there is no obstacle, the elevator user 281 is guided to the front of the elevator by going straight at the shortest distance. At this time, the autonomous robot 101 uses the voice output unit 108 to speak to the elevator user 281, such as "Please take this elevator," so as to make the destination easier to understand and give them a sense of security. good too.

FIG. 10B shows the operation corresponding to step S807 of FIG.

That is, when there is no obstacle within the detection range of the second external sensor 105, guidance is provided by the motion of the arm.

In FIG. 10B, since a plurality of people are standing in front of the autonomous robot 101, the autonomous robot 101 cannot go straight. In this case, the presence or absence of an obstacle in the detection range 252 of the second external sensor 105 is determined. to guide the elevator user 281 . Also in this case, voice guidance may be provided to the elevator user 281 at the same time.

FIG. 10C shows the operation corresponding to step S809 of FIG.

In other words, the autonomous robot 101 is judged to be difficult to move and to move its arms, and guidance is given only by voice.

In FIG. 10C , a plurality of people are standing within the detection range 251 of the first external sensor 104 and the detection range 252 of the second external sensor 105 of the autonomous robot 101 . Therefore, the autonomous robot 101 cannot move. In this case, the movement of the arm is also dangerous, so the elevator user 281 is guided only by voice. The content of the voice guidance is, for example, "there is an elevator XX meters ahead."

In this way, by prioritizing movement motions, arm motions, voice output, etc. among motion candidates, robot motions can be determined while ensuring the safety of the user. Guidance can be continued with reduced or limited movement without a complete stop. In other words, motion candidates are provided with priorities for one motion purpose.

It should be noted that the present invention is not limited to the above embodiments, and various modifications are possible. For example, the above embodiments have been described in detail in order to facilitate understanding of the present invention, and the present invention is not necessarily limited to aspects having all the described configurations. Moreover, it is possible to delete a part of the configuration of the embodiment, or to add or replace another configuration.

In the above embodiments, the autonomous robot is a remote brain robot, but the present invention is not limited to the remote brain robot, and the robot may have a robot command generator inside it. shall include

101: autonomous robot, 102: robot control unit, 103: robot command generation unit, 104: first external sensor, 105: second external sensor, 106: wheel motor unit, 107: arm motor unit, 108: voice Output unit 117: Knee motor unit 201: Sensor information collection unit 202: Robot motion command unit 203: Motion candidate database 204: Wheel control unit 205: Arm motion control unit 206: Voice output control unit 281 , 401a, 401b, 601: elevator user, 350: child, 402a, 402b, 602: elevator platform.

Claims (5)

a storage unit storing a plurality of motion candidates;
a plurality of sensors for detecting objects that impede movement;
A robot motion command unit that selects a motion to be executed and transmits a command to each part,
The robot motion command unit acquires distance information from the object by one of the plurality of sensors, and selects the execution motion from the plurality of motion candidates in the storage unit based on the distance information. death,
Priority is provided to the plurality of operation candidates,
The plurality of motion candidates include a motion candidate including movement, a motion candidate using an arm, and a motion candidate using voice;
The guidance robot , wherein the priority order is the motion candidate including the movement, the motion candidate using the arm, and the motion candidate using voice . 2. The guide robot according to claim 1, wherein said robot motion command unit excludes a motion of contacting said object when selecting said execution motion. 2. The guide robot according to claim 1, wherein said plurality of motion candidates are set for one motion purpose. 2. The guide robot according to claim 1, further comprising a sensor determination unit that determines which of said plurality of sensors to be valid. having a head, a torso, the arms, and legs including knees;
2. The guide robot according to claim 1, wherein said plurality of sensors are provided on at least said torso and said legs.

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