WO2005011926A1 - 生活支援システム - Google Patents
生活支援システム Download PDFInfo
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- WO2005011926A1 WO2005011926A1 PCT/JP2004/011132 JP2004011132W WO2005011926A1 WO 2005011926 A1 WO2005011926 A1 WO 2005011926A1 JP 2004011132 W JP2004011132 W JP 2004011132W WO 2005011926 A1 WO2005011926 A1 WO 2005011926A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q90/00—Systems or methods specially adapted for administrative, commercial, financial, managerial or supervisory purposes, not involving significant data processing
Definitions
- the present invention relates to a life support system for providing a life support by instructing a robot to operate an article in a living space such as a living space such as a home and operating the article using the robot. More particularly, the present invention relates to an improvement in processing of input operation information at the time of giving an instruction to operate an article in a life support system.
- Robots that operate on articles are used in many industrial fields, such as grasping and transporting parts on automated product assembly lines in factories and transporting inventory in automated warehouses. ing.
- Today, robots are starting to be used not only in industrial fields, but also in ordinary households where humans live.
- As the home robot for example, there is a so-called housekeeping support robot for clearing home items.
- Japanese Patent Laying-Open No. 07-237159 discloses a technique for inputting operation information to a robot that loads articles on a pallet. With this technology, a virtual article diagram that matches the actual situation is displayed on the monitor. Then, the person who inputs the operation information inputs the operation information to the robot by intuitive operation via a two-dimensional pointing device such as a touch panel while viewing the virtual article diagram displayed on the monitor. Thus, even non-experts can easily input operation information.
- the target goods include bags, handkerchiefs, mobile phones, and goods.
- the target goods include bags, handkerchiefs, mobile phones, and goods.
- a life support system for providing a life support by instructing a robot to operate an article
- a storage unit that stores, for a group that is a set of one or more articles, group belonging article information indicating articles belonging to the group;
- An input unit to which operation information indicating an operation of an article to be instructed to the robot is input; and the input unit stores the operation information input to the input unit, which is associated with a group specified as an operation target and stored in the storage unit.
- a conversion unit that converts the group of the operation information into articles belonging to the group with reference to the group-affiliated article information, and outputs article operation instruction information that instructs the robot to operate the converted article. And providing a life support system that instructs the robot to operate the article based on the article operation instruction information output by the conversion unit to support life.
- the group is automatically converted into an article belonging to the group based on the group belonging article information. For this reason, for example, even when there are many articles to be operated, these articles can be designated collectively as a group. Therefore, the user can very easily perform an operation instruction for a plurality of articles, and even if the operation is frequently performed, the input of the operation information is not complicated, and the human error hardly occurs. Become.
- the group when the user designates gnolap as an operation target in the operation information, the group is automatically converted into articles belonging to the group, but the article belonging conditions are indicated in the group belonging article information. If it is, the condition information received from the sensing unit is converted only for the articles that satisfy the affiliation condition. For this reason, for example, if conditions related to temperature and weather are specified as belonging conditions in the group belonging article information, when ⁇ commuting to work '', for example, ⁇ cold protection equipment '' will be prepared only when the temperature is low.
- the weather is expected to rain The operation of preparing the “rain gear” only when the operation is performed automatically. Thereby, the user can always give the same operation without having to pay particular attention to the temperature, the weather, and the like, so that the convenience is improved.
- the gnolap is selected based on the selection condition. Also, you can convert it.
- the group when a group is designated as an operation target in the operation information, the group is automatically converted into articles belonging to the group, but the article selection conditions are indicated in the group belonging article information.
- the conversion is limited to the articles selected based on the selection conditions. For this reason, for example, by selecting random selection or the relationship with other articles as selection conditions in the gnolap-affiliated article information, "nectaries" are randomly selected at the time of "commuting to work” Operation such as selecting “tie” in accordance with “suit” is automatically performed. This allows the user to always give the same operation without having to consider the coordination of clothes, for example, thereby improving convenience.
- the condition information received from the sensing unit is applied to the group.
- the designated operation content may be replaced with the operation content indicated in the group belonging article information.
- the group when a group is designated as an operation target in the operation information, the group is automatically converted into an article belonging to the group, but the operation content and the execution condition are indicated in the group belonging article information.
- the condition information received from the sensing unit satisfies the execution condition, the specified operation content is replaced with the operation content indicated in the group belonging article information.
- the operation content is automatically replaced with "carry to dryer". This allows the user to always give the same operation without having to pay special attention to, for example, the weather, thereby improving convenience.
- a user when instructing a robot to perform an operation, a user selects an article to be operated. Since it can be designated as gnolap at once, the operation instruction for a plurality of articles can be performed extremely easily. Therefore, input of operation information does not become complicated, and a human error may occur.
- the conversion of operation information by taking into account the affiliation condition and selection condition of the target article, the execution condition of the operation content, and the like, for example, the user can be conscious of temperature, weather, etc., and consider the coordination of clothes. This saves time and the user always has to give the same operation, thus improving convenience.
- FIG. 1 is a configuration diagram of an article operation system as an example of a life support system according to a first embodiment of the present invention
- FIG. 2 is a diagram showing an example of information stored in an article information table in each embodiment of the present invention.
- FIG. 3 is a diagram showing an example of group belonging article information according to the first embodiment of the present invention.
- FIG. 4 is a diagram showing operation information before conversion in an article operation system as an example of the life support system according to the first, second, and sixth embodiments of the present invention
- FIG. 5 is a flowchart showing a conversion process according to the first embodiment of the present invention.
- FIG. 6 is a diagram showing operation information after conversion according to the first embodiment of the present invention.
- FIG. 7 is a configuration diagram of an article operation system according to a second embodiment of the present invention.
- FIG. 8 is a diagram showing an example of group belonging article information according to the second embodiment of the present invention.
- FIG. 9A is a flowchart showing a conversion process according to the second embodiment of the present invention.
- FIG. 9B is a flowchart showing a subroutine 1 in a conversion process according to the second embodiment of the present invention.
- FIG. 10 is a diagram showing operation information after conversion according to the second embodiment of the present invention.
- FIG. 11 is a configuration diagram of an article operation system as an example of a life support system according to a third embodiment of the present invention
- Garden 12 is a diagram showing an example of group belonging article information in the third embodiment of the present invention
- Garden 13A is a flowchart showing a conversion process in the third embodiment of the present invention.
- Garden 13B] is a flowchart showing a subroutine 2 in the conversion process in the third embodiment of the present invention.
- FIG. 14 is a configuration diagram of an article operation system as an example of a life support system according to a fourth embodiment
- FIG. 17 is a diagram showing an example of group belonging article information according to the fourth embodiment of the present invention.
- Garden 18A is a flowchart showing a conversion process in the fourth embodiment of the present invention.
- Garden 18B] is a flowchart showing a subroutine 3 in the conversion process in the fourth embodiment of the present invention.
- FIG. 14 is a configuration diagram of an article operation system as an example of a life support system according to a fifth embodiment
- FIG. 22 is a diagram showing an example of group belonging article information according to the fifth embodiment of the present invention.
- FIG. 26 is a diagram showing operation information after conversion in a form.
- FIG. 26 is a configuration diagram of an article operation system according to a sixth embodiment of the present invention.
- FIG. 28 is a flowchart showing a conversion process in the sixth embodiment of the present invention.
- FIG. 29 is a diagram showing operation information after conversion in the sixth embodiment of the present invention.
- FIG. 30 is an explanatory diagram showing a mouth bot and the like operated by an article operation system as an example of a life support system working on a seventh embodiment of the present invention,
- FIG. 31 is a sketch of a house where a robot operated by an article operation system according to a seventh embodiment of the present invention is active.
- a life support system for providing a life support by instructing a robot to operate an article
- a storage unit that stores, for a group that is a set of one or more articles, group belonging article information indicating articles belonging to the group;
- An input unit to which operation information indicating an operation of an article to be instructed to the robot is input; and the input unit stores the operation information input to the input unit, which is associated with a group specified as an operation target and stored in the storage unit.
- a conversion unit that converts the group of the operation information into articles belonging to the group with reference to the group-affiliated article information, and outputs article operation instruction information that instructs the robot to operate the converted article.
- a life support system for instructing the robot to operate the article based on the article operation instruction information output by the conversion unit to provide life support.
- the group of the group-affiliated article information includes another group that belongs to the gnolap and is a set of one or more articles.
- the group belonging article information includes a belonging condition attached to at least one of the articles belonging to the group,
- the life support system further includes a sensing unit that acquires affiliation condition information for determining whether the affiliation condition is satisfied, and outputs the acquired condition information to the conversion unit.
- the conversion unit when converting the group to the article belonging to the group, The life support according to the first aspect, wherein the article is deleted when the assignment condition of the article in the group specified by the operation information is not satisfied, based on the assignment condition information acquired from the sensing unit. Provide system.
- the group-affiliated article information is used to select one of all or some of the articles belonging to the group together with the plurality of articles belonging to the group. Including selection criteria,
- the conversion unit selects the group in the operation information based on the selection condition when the selection condition is included in the group-affiliated article information for the group specified by the operation information.
- the life support system according to the first aspect which converts the product into the article, is provided.
- a sensing unit for acquiring selection condition information used for a selection process based on the selection condition and outputting the acquired selection condition information to the conversion unit is further provided.
- the life support system according to a fourth aspect, wherein the conversion unit receives the selection condition information from the sensing unit, and selects the article with reference to the selection condition information.
- the group-affiliated article information includes an operation content attached to the article belonging to the group and an execution condition thereof,
- the lifestyle support system includes a sensing unit that acquires condition information for determining whether the execution condition is satisfied, and outputs the acquired condition information to the conversion unit.
- the condition information output from the sensing unit satisfies the execution condition attached to the article belonging to the group specified by the information
- the operation content specified in the operation information is changed to the group belonging article.
- the group-affiliated article information includes an operation start condition of the group
- the life support system includes a sensing unit that acquires condition information for determining whether the operation start condition is satisfied or not and outputs the acquired condition information to the conversion unit.
- the conversion unit starts conversion of the operation information when determining that the operation start condition of the group specified by the operation information is satisfied by the condition information output from the sensing unit.
- the group belonging article information includes an operation completion condition of the group
- the lifestyle support system includes a sensing unit that acquires condition information for determining a timing at which the operation completion condition is satisfied, and outputs the acquired condition information to the conversion unit,
- the apparatus further comprises a sensing unit for acquiring and outputting article attribute information indicating an attribute of the article,
- the lifestyle support according to the first aspect wherein the storage unit stores article attribute information indicating an attribute of the article, and is sequentially updated based on the article attribute information obtained and output by the sensing unit. Provide system.
- the article attribute information according to the ninth aspect, wherein the article attribute information includes at least one of a type, a weight, a volume, a material, and a location as attributes of the article.
- the article attribute information includes at least one of a type, a weight, a volume, a material, and a location as attributes of the article.
- the sensing unit may include, as the condition information, attribute information of the item, date and time, current or future weather conditions or traffic information, and a user of the life support system. Schedule of action, type, number, total weight, total volume of the articles belonging to the group or elapsed time since belonging to the group, and information indicating the start or end of operation of the control system independent of the life support system.
- a life support system according to any one of the fourth, fourth, fifth, sixth, seventh, and eighth aspects of acquiring at least one of them is provided.
- FIG. 1 is a configuration diagram of an article operation system as an example of a life support system according to a first embodiment of the present invention.
- reference numeral 100 denotes a first robot operation terminal
- 120 denotes a robot, which transmit information to each other via a wireless or wired network 90.
- the robot 120 is used at home as an example of a living environment.
- the first robot operation terminal 100 is connected to the storage unit 101 via the storage unit 101 having the first group belonging article table 102 and the article information table 103, the control unit 108, and the work environment of the mouth bot 120.
- a sensing unit 104 for detecting an article and its attribute information therein and updating the article information table 103 via a control unit 108;
- a display unit 105 connected to the storage unit 101 and configured by, for example, a liquid crystal display;
- the input unit 106 is configured by a dimensional pointing device, and is connected to the input unit 106, the input unit 106, and the storage unit 101 for inputting operation information indicating an operation instructing the robot 120 by the user, and is input to the input unit 106.
- the control unit 108 includes a control unit 108 that generates a control command for the robot 120 from the received operation information, and a transmission / reception unit 109 connected to the control unit 108 to transmit and receive communication data. Since the sensing unit 104 is connected to the article information table 103 via the control unit 108, the information of the article information table 103 is updated by the sensing unit 104 during the operation of the first conversion unit 107 and the control unit 108. It can be prevented from being done.
- the robot 120 is connected to the transmitting / receiving unit 109 via the wireless or wired network 90 and transmits / receives communication data so that information can be transmitted to each other. And a control unit 122 for controlling the operation of the robot 120.
- FIG. 2 is a diagram showing an example of information (article attribute information) stored in the article information table 103.
- ID information such as an ID number for individual identification and the name and the location (position specified by two orthogonal axes, for example, the X-axis and Y-axis coordinates), etc.
- the information about the attribute of is shown.
- the location In addition, for example, there are a type, a weight, a volume, a material, and presence / absence of dirt.
- the information stored in the article information table 103 is registered / updated by the sensing unit 104 via the control unit 108 under the control of the control unit 108.
- the sensing unit 104 detects articles in the working environment of the robot 120 (here, at home) and their attribute information.
- the sensing unit 104 may be configured by a camera sensor, or a receiving unit (a receiving stage or a device) that receives information obtained by a camera or a sensor via wired communication or wireless communication. ). Therefore, as an example, the sensing unit 104 includes a camera (image sensor) 104a that captures a current image of a work environment including a product, a current image captured by the camera 104a connected to the camera 104a, and a product. And a calculation unit 104b capable of executing the background subtraction method using an image of the work environment taken in advance when the image does not exist, and capable of outputting the execution result to the storage unit 101. Further, the current time may be detected by a clock.
- the sensing unit 104 When indicating information managed and operated by a predetermined institution such as the Research Institute, for example, by accessing the database 96 of the institution via the Internet 95, the attribute information of the article can be obtained.
- the sensing unit 104 The bar code information obtained by the sensor 104a is received by the transmission / reception unit 104c, and the transmission / reception unit 104c accesses the Internet 95 based on the received bar code information to acquire attribute information of the article corresponding to the bar code information. What is necessary is just to have a function. Further, in the future, identification means or devices such as two-dimensional barcodes and RF tags that can have a larger amount of information than barcodes will be used. In this case, it is also possible to obtain the attribute information of the article directly from these identification means or devices, and the sensing unit 104 has a function of receiving information obtained by the sensor from the identification means or device. It should just be.
- FIG. 3 is a diagram showing an example of information (Gnorepe belonging article information) stored in the first group belonging article table 102.
- FIG. 3 shows, for a group that is a set of one or a plurality of articles, ro information and a name such as an ID number for individually identifying gnolap, and articles belonging to the group.
- Gnolepe ro information is prefixed with “G”.
- the article is specified by the ro information shown in the article information table 103 as shown in FIG.
- goods belonging to the gnole are specified by ro information of other groups. For example, it is shown that the group “G0004: Work attendance” includes the item “0003: Handkerchief” and the group “G0001: Valuable item”.
- the display device 105 graphically displays the contents of the first gnolape belonging article table 102 and the article information table 103 using, for example, icons and actual images of articles. As a result, an article and a group that can be operated are presented to the operator of the robot 120.
- the operator of the robot 120 inputs, from the input unit 106, operation information including a target to be operated and operation details.
- the input unit 106 is composed of, for example, a two-dimensional pointing device, but may be any unit as long as operation information including an operation target and operation contents can be input.
- FIG. 4 is a diagram showing an example of the operation information.
- the group “G0004: Work to work” is specified as the operation target, and “Transport to location (500, 500)” is specified as the operation content.
- the operation information power S shown in FIG. 4 is given to the first conversion unit 107 through the input unit 106. Shall be.
- step SI 1 first conversion section 107 determines whether or not the operation target indicated in the operation information is a group. This determination can be easily made based on whether or not the first character of the ro information to be operated is “G”.
- the process proceeds to step SI2. If the head of the operation target HD information is not “G”, that is, if the operation target is an article instead of gnolap (No in step S11), the first conversion unit 107 does not convert the operation information, The processing by the first conversion unit 107 ends.
- step S12 the first conversion unit 107 refers to the first gnolap belonging belonging table 102 shown in Fig. 3 to convert the gnolap to be operated into the articles belonging to the group or each group. Convert to In the above example, it can be seen from FIG. 3 that the articles “0003: handkerchief” and the gnorape “G0001: valuables” belong to the group “G0004: Work attendance”. For this reason, the first conversion unit 107 converts the group “G0004: company attendance” into the article “0003: handkerchief” and the gnorape “G0001: valuables” in the operation information. Then, proceed to step S13.
- step S 13 the first conversion unit 107 determines whether or not the operation information includes another group as an operation target.
- the process returns to step S12. If no other group is included (No in step S13), the first conversion unit 107 ends the processing by the first conversion unit 107.
- the first conversion unit 107 refers to the first group belonging item table 102 shown in Fig. 3 to convert the gnorape "G0001: valuables” to the item "0001: clock” and the items. Convert to "0002: wallet”. Then, again in step S13, the first conversion unit 107 determines whether or not the operation information still includes another group as an operation target. However, since no other group is included in the operation information (step S13). No), the first conversion unit 107 ends the processing by the first conversion unit 107.
- the operation information in FIG. 4 is changed as shown in FIG. That is, as the operation target, the article “0003: handkerchief”, the article “0001: clock”, and the article “0002: wallet” are fingers. Is defined.
- the operation information as converted and output by the first conversion unit 107 as shown in FIG. 6 is provided to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the provided operation information. For example, the following command is generated from the operation information in Fig. 6.
- the commands 1) and 12) generated by the control unit 108 are input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input commands 1) and 12), and controls the robot S 120 by using the S robot 120 with the force of the article “0003: handkerchief”, the article “0001: clock”, and the article “0002: wallet”.
- the operation of being “gripped” and “moving to the transport position (500, 500)” is executed.
- the first conversion unit 107 refers to the first group belonging article table 102, and The group to be operated is automatically converted to the articles belonging to the group to be operated. For this reason, even when there are a plurality of operation target articles, the operator of the robot 120 can input the operation contents so as to collectively designate the operation contents as a gnolap.
- the operation instruction can be easily executed. Therefore, input of operation information does not become complicated, and human error hardly occurs.
- FIG. 7 is a configuration diagram of an article operation system as an example of the life support system according to the second embodiment of the present invention. 7, the same reference numerals as in FIG. 1 denote the same components as in FIG.
- the second robot operation terminal 100A is different from the first robot operation terminal 100 in FIG. 1 in that a sensing unit 201 that is connected to the second conversion unit 107A and obtains gnorape belonging condition information is newly provided. I have. Also, in place of the first gnolape belonging article table 102 and the first conversion section 107 of the storage unit 101, information of the second group belonging article table 102A in which at least one article is given a group belonging condition for at least one group And a second conversion unit 107A for converting the operation information based on the group belonging condition information received from the sensing unit 201. Other configurations are the same as those in FIG.
- FIG. 8 is a diagram showing an example of information (group belonging item information) stored in the second group belonging item table 102A.
- group belonging item information information stored in the second group belonging item table 102A.
- the ro information and the name of each group and the ro information of the articles or gnorapes belonging to the group are shown.
- the condition for the article or the group to belong to the gnolap that is, the condition for belonging to the gnolap, that is, the condition to belong to the gnolap (hereinafter, simply referred to as “affiliation condition”).
- the group "a certain gnolap the condition for the article or the group to belong to the gnolap, that is, the condition for belonging to the gnolap.
- the sensing unit 201 acquires the condition information necessary for determining whether or not the belonging condition specified in the second gnole belonging belonging table 102A is satisfied.
- the condition information includes, for example, attribute information of the article (weight, volume, material, presence / absence of dirt, existence position). Etc.), date and time, current or future weather conditions (temperature, humidity, weather, etc.) or traffic information, user's scheduled action, type, number, gross weight, gross volume, or belonging to the group Information indicating the start or end of a control system independent of the article operation system such as a refrigerator or a washing machine.
- the attribute information of the article can be detected similarly to the sensing unit 104 described above.
- the sensing unit 201 may be configured by a camera or a sensor, similarly to the sensing unit 104, or by a receiving unit that receives information obtained by the camera or the sensor via wired communication or wireless communication. You may comprise. Alternatively, it has a function of receiving barcode information obtained by the sensor and accessing the Internet based on the received information, and a function of receiving information obtained by the identification means or device force sensor attached to the article. You should do it.
- the attribute information of the article may be read from the article information table 103 updated by the sensing unit 104 via the control unit 108.
- the sensing unit 201 may have a function of accessing the article information table 103.
- the date and time, temperature, humidity, or weather can be detected by a timer, a temperature sensor, a humidity sensor, a light amount sensor, or the like as an example of the sensing unit 201.
- the sensing unit 201 may be configured by a timer or the various sensors described above.
- the sensing unit 201 only needs to have a function of accessing the second gnolap belonging article table 102A and the article information table 103.
- Information indicating the start or end of a control system independent of the article operation system such as a refrigerator or a washing machine can be obtained by providing a sensor in the control system. Can be detected. In this case, the sensing unit 201 only needs to have a function of receiving information from the sensor.
- the operation of the article operation system according to the second embodiment is basically the same as that of the first embodiment except for the operation of the second conversion unit 107A.
- the operation of second conversion section 107A will be described with reference to the flowcharts in FIGS. 9A and 9B.
- steps common to FIG. 5 are denoted by the same reference numerals as in FIG.
- operation information as shown in FIG.
- the items of the condition information acquired by the sensing unit 201 are temperature, current and future weather, and the temperature is “8 degrees”, the current weather is “clear”, and the future weather is “cloudy”.
- step SI1 the second conversion unit 107A determines whether or not the operation target indicated in the operation information is a group.
- the process proceeds to step S12. If the operation target is not a group but an article (No in step S11), the second conversion unit 107A does not convert the operation information and ends the processing by the second conversion unit 107A.
- the second conversion unit 107A refers to the second gnolap-affiliated article table 102A shown in FIG. 8 and assigns a group to be operated to articles belonging to the group or each gnolap. Convert.
- the articles or groups belonging to the gnorape “G0004: work at the company” are the articles “0003: noon kachi”, the group “G0001: valuables”, the group “G0002: cold protection equipment” and the group “G0003: It turns out to be rain gear.
- the second conversion unit 107A converts the group “G0004: Work attendance” into the article “0003: Handkerchief”, the group “G0001: Valuables”, the group “G0002: Cold protection” and the group “G0003: Rain gear”. To ". Thereafter, the process proceeds to step S20.
- step S20 the second conversion unit 107A calls the subroutine 1 of FIG. 9B stored in the second conversion unit 107A, and the belonging condition determination process is performed on each of the converted articles or groups.
- (2) Performed by the conversion unit 107A determination processing is performed by the second conversion unit 107A for each of the article "0003: handkerchief", the gnorape "G0001: valuables", the group “G0002: cold protection gear”, and the gnolap "G0003: rain gear”.
- the process proceeds to the next step S23 without being deleted by the second conversion unit 107A, and whether or not all of the converted articles or groups have been processed, in other words, unprocessed
- the second conversion unit 107A determines whether or not there is an article or group.
- the second conversion unit 107A makes a determination on the group “G0001: valuables” of the "Green protection” and the Gnorape "G0003: rain gear”.
- the process proceeds to the next step S23 without being deleted by the second conversion unit 107A, and the unprocessed article or group is processed. It is determined by the second conversion unit 107A whether or not there is.
- Step S21 since there are a group “G0002: winter clothing” and a group “G0003: rainwear”, the process returns to step S21, and the determination processing is performed by the second conversion unit 107A for the gnorape “G0002: winter clothing”.
- the second conversion unit 107A based on the previous reference to the second gnolape belonging article table 102A shown in FIG. 8, based on the second group belonging article table 102A in FIG. The temperature is below 10 degrees. " When the temperature information is “8 degrees” as the condition information from the sensing unit 201, the second conversion unit 107A determines that the gnorape “G0002: cold protection equipment” satisfies the belonging condition (step S21). Yes). For this reason, the group “G0002: Winter protection” is not deleted. Then, the process proceeds to the next step S23, where the second conversion unit 107A determines whether there is an unprocessed article or group.
- the process returns to step S21, and the determination processing is performed by the second conversion unit 107A for the group “G00 03: rain gear” (step S21).
- the second conversion unit 107A obtains the belonging condition of the group “G0003: rain gear” from the second group belonging article table 102A of FIG. It has been found that the current and future weather is rain. Now, if the current weather is “clear” and the future weather is “cloudy” as the condition information from the sensing unit 201, the second conversion unit 107A sets the gnorape “G0003: rain gear” to the affiliation condition.
- step S21 Do not satisfy Is determined by the second conversion unit 107A (No in step S21). Therefore, the gnorape “G000 3: rain gear” is deleted by the second conversion unit 107A (step S22). The second conversion unit 107A further determines whether or not all of the converted articles or groups have been processed. Since all the processing has been completed (No in step S23), the process returns from subroutine 1.
- step S13 the second conversion unit 107A determines whether or not the operation information includes another group as an operation target.
- the process returns to step SI2. If no other group is included (No in step S13), the second conversion unit 107A ends the processing by the second conversion unit 107A.
- the second conversion unit 107A refers to the second group belonging article table 102A shown in Fig. 8 to convert the gnope "G0001: valuables” into the article “0001: clock” and the article "0002". : Wallet ”and the group“ G0002: winter clothing ”into an article“ 0004: muffler ”and an article“ 0005: coat ”.
- step S20 the subroutine 1 is called in step S20, and the belonging condition determination process is performed by the second conversion unit 107A for each article.
- the item or group after the conversion is not deleted by the second conversion unit 107A and proceeds to the next step S23. It is determined by the second conversion unit 107A whether or not all the processes have been completed, in other words, whether or not there is any unprocessed article or gnorape. Then, since there is an article “0002: wallet”, an article “0004: muffler” and an article “0005: coat”, the condition is always satisfied for the article “0002: wallet” (step S21).
- the second conversion unit 107A does not delete the data, and proceeds to the next step S23, where the second conversion unit 107A determines whether there is an unprocessed article or gnorape. Similarly, the article "0004: muffler” and the article “0005: coat” are not deleted by the second conversion unit 107A, but proceed to the next step S23 to determine whether there is an unprocessed article or group. The second converter 107A determines whether there is no unprocessed article or group (No in step S23), and returns from subroutine 1.
- step SI3 the force S for determining by the second conversion unit 107A whether or not the operation information still includes another gnolep as the operation target, and another group is included. Since there is not (No in S13), the second conversion unit 107A ends the processing by the second conversion unit 107A.
- FIG. 10 an article "0003: handkerchief", an article “0001: clock”, an article “0002: wallet”, an article “0004: muffler”, and an article “0005: coat” are designated as operation targets.
- the operation information as shown in FIG. 10 converted and output by the second conversion unit 107A is provided to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the given operation information.
- the command generated by the control unit 108 is input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input command.
- the article “0003: handkerchief”, the article “0001: clock”, the article “0002: wallet”, the article “0004: muffler”, and the article “0005: coat” are gripped by the robot 120, and the position (500, 500) Transported to
- the second conversion unit 107A refers to the second group belonging item table 102A and operates on the operation target based on the condition information obtained from the sensing unit 201.
- the group indicated as is automatically converted to only those items that meet the affiliation conditions.
- the conditions change, such as "cold protection” and when it rains, "raining gear".
- the user does not need to bother to judge the necessity of such an article in consideration of the conditions, and only needs to input common operation information.
- an operation of starting laundry when laundry is accumulated in a laundry basket can be designated.
- the upper limit value of the number, total weight, or total volume of the articles (dirt) contained in the article “laundry basket” belonging to the group “washing” is designated as the belonging condition.
- a weight sensor and an optical sensor capable of counting the number of articles (dirt) are disposed at the opening of the laundry as a sensing unit 201. Then, the operation information for designating the operation target as the group “washing” and the operation content as “carry to the washing machine” is input to the system.
- the number and the total weight of the laundry in the article "laundry basket” are obtained as the condition information from the sensing unit 201, and when this exceeds the upper limit value, that is, when the belonging condition is satisfied. Only, a "washing basket” is carried to the washing machine. Since there are devices such as a washing machine, a laundry basket, and a trash can that use volume as one control index, the sensing unit 201 can handle the total volume as condition information. As an example of a method of detecting the total volume, the weight can be obtained by detecting the weight of the article with a weight sensor and multiplying the value by the density of the article.
- an infrared sensor switch is provided in the height direction of the device, so that it is possible to detect that an article has entered a dustbin or the like up to a certain height (bulk).
- the upper limit of the degree of dirt is specified as the belonging condition for clothing, it is possible to perform an operation such as washing the clothing if the dirt becomes severe to some extent.
- FIG. 11 is a configuration diagram of an article operation system as an example of the life support system according to the third embodiment of the present invention.
- the same components as those in FIGS. 1 and 7 are denoted by the same reference numerals as those in FIGS.
- the third robot operation terminal 100B is different from the second group operation article table 102A and the second conversion unit 107A in that at least one item selection condition for at least one gnorape is used.
- the third conversion for converting the operation information based on the third group belonging article table 102B to which the information is added, the selection condition information received from the sensing unit 201, and the information of the third gnolap belonging article table 102B.
- a part 107B is provided.
- the selection condition information acquired by the sensing unit 201 is used for an article selection process based on the selection condition information.
- Other configurations are the same as those in FIG.
- FIG. 12 is a diagram showing an example of information (group belonging item information) stored in the third group belonging table 102B.
- group belonging item information stored in the third group belonging table 102B.
- the ro information and the name, and the ro information of the articles or gnorapes belonging to the group are shown.
- the conditions for selecting one of all or a part of the goods belonging to the group for a certain gnolap that is, the selection conditions, are described. For example, in the group "G 0007: suit”, the articles “0010: gray suit", the article “0011: dark blue suit” and the article “0012: brown suit” are shown as belonging articles.
- the condition indicates that on Monday and Thursday, the item “0010: gray suit” is selected, on Tuesday and Friday, the item “0011: dark blue suit” is selected, and for the other items, the item “0012: brown suit” is selected. Te, ru. Further, as a selection condition, when the article “0016: dark blue tie” is selected in the group “G0008: tie”, the article “0011: dark blue suit” is not selected, and the article “0010: gray suit” is not selected. It is shown that the article “0012: brown suit” is selected at random.
- the operation of the article operation system according to the third embodiment is basically the same as that of the first embodiment except for the operation of the third conversion unit 107B.
- the operation of third conversion section 107B will be described with reference to the flowcharts in FIGS. 13A and 13B.
- operation information as shown in FIG. 14 is provided to the third conversion unit 107B via the input unit 106.
- the group “G0009: Work attendance costume” is specified as the operation target, and “Transport to position (2000, 2000)” is specified as the operation content.
- the item of the condition information acquired by 1 is the date and time, particularly the day of the week, and here, the day of the week is “Tuesday”. Therefore, as an example of the sensing unit 201, a timer capable of detecting the day of the week may be used, or a transmitting / receiving unit that acquires the day of the week via the Internet may be used.
- step SI1 the third converter 107B determines whether or not the operation target indicated in the operation information is a group.
- the process proceeds to step S12. If the operation target is not a group but an article (No in step S11), the third conversion unit 107B ends the processing by the third conversion unit 107B without converting the operation information.
- step S12 the third conversion unit 107B converts the gnolap to be operated into articles belonging to the group or each group with reference to the third group belonging article table 102B shown in FIG. I do.
- the group “G0007: suit” and the group “G0008: tie” belong to the group “G0009: work attendance at work”.
- the third conversion unit 107B converts the group “G0009: office work outfit” into the group “G0007: suit” and the group “G0008: tie” in the operation information. Thereafter, the process proceeds to step S30.
- step S30 the subroutine 2 stored in the third conversion unit 107B is called by the third conversion unit 107B, and the selection processing based on the selection condition is performed by the third conversion unit 107B at line 5.
- step S13 the third conversion unit 107B determines whether or not the operation information still includes another group as an operation target.
- the process returns to step S12. If no other group is included (No in step S13), the third conversion unit 107B ends the processing by the third conversion unit 107B.
- step S12 third conversion section 107B associates with third group shown in FIG.
- the group “G0007: suit” is converted into the goods “0010: gray suit” and the goods “0011: dark blue suit” and “0012: brown suit”
- the group “G0008: tie” Is converted into a product “0013: red tie”, a product “0014: yellow tie”, a product “0015: green tie”, and a product “0016: dark blue tie”.
- step S30 subroutine 2 stored in third conversion section 107B is called by third conversion section 107B, and an article selection process based on the selection condition is performed by third conversion section 107B.
- Step S32 The selection of the object and n- port is performed from the third conversion ⁇ 107).
- Rei Sensin, Sound ⁇ 201 Power
- the selection condition is defined as “0011 on Tuesday and Friday” in Section 12. Therefore, the third conversion unit 107B selects the item “00 11: Navy blue suit” and the other items “0010: The gray suit ”and the article“ 0012: brown suit ”are deleted from the operation information by the third conversion unit 107B.
- step S32 the selection of the articles is performed by the third conversion unit 107B.
- FIG. 12 specifies that “select 0013-0016 randomly” as the selection condition. Therefore, basically, the article “0013: red tie” and the article “001 4: yellow Tie "and article” 0015: green tie “and article” 0016: dark blue tie "should be randomly selected.
- step S13 the third conversion unit 107B determines whether or not the operation information still includes another gnolep as an operation target, but no other gnolep is included. Therefore (No in step S13), third converting section 107B ends the processing by third converting section 107B.
- the operation information in FIG. 14 is converted as shown in FIG. In FIG. 15, the article “0011: dark blue suit” and the article “0013: red tie” are designated as operation targets.
- the item “0011: dark blue suit” was selected because the day of the week S was “Tuesday", but on Monday or Thursday, the item “0010: gray suit” was selected. On Wednesday, Saturday or Sunday, the item “0012: brown suit” is selected. On Friday, the article “0011: dark blue suit” is selected.
- the article “0011: Navy blue suit” was selected, the article “0016: Navy blue tie” was excluded from the selection, and the product “0011: Navy blue suit” was selected instead of Tuesday and Friday. If not, a selection is made randomly, including the article "0016: dark blue tie”.
- the operation information as shown in FIG. 15 converted and output by the third conversion unit 107B is provided to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the given operation information.
- the command generated by the control unit 108 is input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input command. Therefore, the article “001: dark blue suit” and the article “0013: red tie” are gripped by the robot 120 and transported to the position (2000, 2000).
- the third conversion unit 107B refers to the third group belonging article table 102B and operates based on the condition information obtained from the sensing unit 201.
- the group specified as the target is automatically converted to the selected item based on the selection conditions. This allows the operator of the robot 120 to input only common operation information, for example, to coordinate clothes. [0103] When only "random selection” and “relation with other articles" are specified as selection conditions, it is not always necessary to acquire condition information from sensing section 201.
- one article may be selected from a part of the articles, and the rest may be converted as they are. For example, if you have one tie pin with more than one tie, you can select one tie from multiple ties and convert the tie pin as it is. It is.
- step S20 that is, subroutine 1 in the second embodiment may be executed before or after step S30 or in parallel.
- FIG. 16 is a configuration diagram of an article operation system as an example of a life support system according to a fourth embodiment of the present invention.
- the same components as those in FIGS. 1, 7, and 11 are denoted by the same reference numerals.
- the fourth robot operating terminal 100C in FIG. 16 is different from the second robot operating terminal 100A in FIG. 7 in that at least one fourth robot operating terminal 100A is used instead of the second gnolap belonging table 102A and the second converting unit 107A.
- the fourth Gnorape belonging article table 102C based on the information of the fourth Gnorape belonging article table 102C, the fourth Gnorape belonging article table 102C in which the operation contents and the execution conditions are attached to at least one article, and the condition information received from the sensing unit 201.
- a fourth conversion unit 107C for converting the operation information.
- the condition information acquired by the sensing unit 201 is used to determine whether the execution condition is satisfied.
- Other configurations are the same as in FIG.
- FIG. 17 is a diagram showing an example of information (Gnorepe belonging information) stored in the fourth group belonging article table 102C.
- information Gnorepe belonging information
- FIG. 17 similarly to FIG. 3, for each group, ro information and a name, and ro information of an article or gnorape belonging to the group are shown. Furthermore, for a certain gnolap, the operation contents and the conditions for executing the operation contents, that is, the execution conditions, are described for all or a part of the articles belonging to the gnolap. Has been.
- the group “G0006: Laundry” indicates that the group belongs to Gnorape "G0005: Clothes", and as the operation contents and execution conditions, "Transport to the drying place at position (1000, 1000)""No" and "The current and future weather is not rainy", “Transport to the dryer at location (2000, 2000)”, and "Current and future weather is rainy”.
- the operation of the article operation system according to the fourth embodiment is basically the same as that of the first embodiment except for the operation of the fourth conversion unit 107C.
- the operation of fourth conversion section 107C will be described with reference to the flowcharts in FIGS. 18A and 18B.
- the operation information as shown in FIG. 19 is provided to the fourth conversion unit 107C via the input unit 106.
- the group “G0006: Washed items” is specified as the operation target, and “transport to position (500, 500)” is specified as the operation content.
- the items of the condition information acquired by the sensing unit 201 are the current and future weather.
- the current weather is “cloudy” and the future weather is “clear”.
- a temperature sensor, a humidity sensor, a light amount sensor, or the like that can detect the weather is used, or the current or future temperature, humidity, or the weather is detected via the Internet. It is also possible to use a transmission / reception unit that acquires the information.
- step S11 the third converter 107B determines whether or not the operation target indicated in the operation information is a group.
- the process proceeds to step S12. If the operation target is not a group but an item (No in step S11), the third conversion unit 107B does not convert the operation information and ends the processing by the third conversion unit 107B.
- step S12 the fourth conversion unit 107C converts the gnolap to be operated into articles or each group belonging to the group with reference to the fourth gnolap belonging article table 102C shown in Fig. 17. I do. From FIG. 17, it can be seen that belonging to the group “G0006: washed laundry” are the gnolap “G0005: clothing” and the article “0009: sneakers”. For this reason, the fourth conversion unit 107C converts the group “G0006: laundry” into the group “G0005: clothing” and the article “0009: sneakers” in the operation information. Then, proceed to step S40. [0112] In step S40, the subroutine 3 stored in the fourth conversion unit 107C is called by the fourth conversion unit 107C, and the operation content replacement processing is performed by the fourth conversion unit 107C.
- the fourth conversion unit 107C performs an operation content replacement process.
- the process proceeds to step S42, where it is determined whether each execution condition is satisfied.
- Judge by 107C it is known from the sensing unit 201 that the current weather is “cloudy” and the future weather is “clear” as the condition information. Is not rainy ”is satisfied (Yes in step S42). For this reason, the fourth conversion unit 107C converts the operation content of the group “G0005: clothing” into “move to the drying place at the position (1000, 1000)” (step S43).
- step S13 the fourth conversion unit 107C determines whether or not the operation information still includes another group as an operation target.
- the process returns to step S12. If no other group is included (No in step S13), fourth conversion section 107C ends the processing by fourth conversion section 107C.
- the fourth conversion unit 107C refers to the fourth group-affiliated article table 102C shown in FIG. 17 to associate the group "G0005: clothing” with the article “0007: T-shirt” and the article "008. To "shirts".
- step S40 the subroutine 3 stored in the fourth conversion unit 107C is called by the fourth conversion unit 107C, and the replacement process of the operation content is performed by the fourth conversion unit 107C.
- the article “0007: ⁇ shirt” and the article “008: ⁇ shirt” are both operated. Since the content is not specified (No in step S41), the subroutine 3 is returned without replacing the operation content.
- step S13 the fourth conversion unit 107C again determines whether or not the operation information includes another group as an operation target, but the group includes another group. Since there is no such information (No in step S13), the fourth conversion unit 107C ends the processing by the fourth conversion unit 107C.
- the operation information in FIG. 19 is converted as shown in FIG.
- an article “0007: T-shirt”, an article “0008: ⁇ shirt”, and an article “0009: Shun Ichiichi” are specified as operation targets, and the operation content is an article “0007: ⁇ shirt” And for the article “0008: ⁇ ⁇ ⁇ Shirt”, “Convey to the drying place at the location (1000, 1000)", but for the article “0009: Sneakers", for the article "0009: Sneakers," the shadow drying place at the location (3000, 3000) ⁇ ⁇ ⁇ ⁇ ⁇ Each is specified.
- the operation information as shown in FIG. 20 converted and output by the fourth conversion unit 107C is provided to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the given operation information.
- the command generated by the control unit 108 is input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input command. Therefore, the article “0007: @shirt” and the article “0008: @shirt” are gripped by the robot 120, and the “transport to the drying place” operation is performed.
- the fourth conversion unit 107C refers to the fourth group belonging article table 102C, and the condition information acquired from the sensing unit 201 satisfies the execution condition. At the time, the operation content is automatically replaced. This allows the operator of the robot 120 to perform an operation (drying place) according to conditions (current or future weather) such as, for example, washing clothes. For operations where the information changes, it is possible to simply input common operation information.
- step S20 ie, subroutine 1, in the second embodiment, or step S30, ie, subroutine 2 in the third embodiment, may be executed before or after step S40 or in parallel.
- FIG. 21 is a configuration diagram of an article operation system as an example of a life support system according to a fifth embodiment of the present invention. 21, the same reference numerals as in FIGS. 1, 7, 7, and 16 denote the same constituent elements.
- the fifth robot operation terminal 100D in FIG. 21 is different from the second robot operation terminal 100A in FIG. 7 in that at least one fifth ganrape belonging belonging table 102A and the second conversion unit 107A are replaced by at least one Fifth conversion for converting the operation information with reference to the fifth group belonging article tape 102D to which the group operation start condition is attached, the condition information received from the sensing unit 201, and the fifth group belonging article table 102D.
- a part 107D is provided.
- the condition information acquired by the sensing unit 201 is used to determine whether the operation start condition is satisfied.
- the fifth conversion unit 107D includes a storage unit 151 connected to the input unit 106 for storing the operation information 152 obtained from the input unit 106, a storage unit 151, a sensing unit 201, and a fifth group belonging article table.
- a storage unit 151 connected to the input unit 106 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- a storage unit 151 for storing the operation information 152 obtained from the input unit 106
- FIG. 22 is a diagram showing an example of information (group belonging item information) stored in the fifth group belonging item table 102D.
- group belonging item information stored in the fifth group belonging item table 102D.
- the ID information and the name and the HD information of the articles or gnorapes belonging to the group are shown.
- the conditions for starting operations on the group Condition that is, the operation start condition power is described.
- the operation start conditions are "time 18:00". "It is shown.
- the operation of the article operation system according to the fifth embodiment is basically the same as that of the first embodiment except for the fifth conversion unit 107D.
- the operation of the conversion start unit 153 in the fifth conversion unit 107D will be described with reference to the flowchart in FIG.
- operation information as shown in FIG. 24 is stored in the storage unit 151 in the fifth conversion unit 107D.
- the group “G0007: object to be washed” is specified as the operation target, and “transport to the washing machine at the position (4000, 4000)” is specified as the operation content.
- the item of the condition information acquired by the sensing unit 201 is time. For this reason, as an example of the sensing unit 201, it is possible to use a timer that can detect time, or a transmitting / receiving unit that obtains time via the Internet.
- step SI1 the fifth conversion unit 107D determines whether or not the operation target indicated in the operation information is a group.
- the process proceeds to step S15. If the operation target is not a group but an article (No in step S11), the fifth conversion unit 107D does not convert the operation information and ends the processing by the fifth conversion unit 107D.
- step S15 the fifth conversion unit 107D refers to the fifth group belonging article table 102D shown in FIG. 22, and determines whether or not the operation start condition of the group to be operated is satisfied. to decide. From FIG. 22, since the operation start condition of the group “G0007: laundry to be washed” is “time 18:00”, when the time acquired from the sensing unit 201 is “18:00” (Yes in step S15), the process proceeds to step S12. . If not, return to step S15 again. For this reason, subsequent processing is not performed until 18:00.
- step S12 the fifth conversion unit 107D refers to the group belonging item table 102D shown in Fig. 22, and converts the group to be operated into an item belonging to the group or each group. . From FIG. 22, it can be seen that the group “G0005: clothes” and the article “0009: sneakers” belong to the group “G0007: laundry”. this Therefore, the fifth conversion unit 107D converts the genorape "G0007: laundry” into the group “G0005: clothing” and the article “0009: sneakers” in the operation information. Thereafter, the process proceeds to step S13.
- step S13 the fifth conversion unit 107D determines whether or not the operation information still includes another group as an operation target.
- the process returns to step S15. If no other group is included (No in step S13), the fifth conversion unit 107D ends the processing by the fifth conversion unit 107D.
- step S15 it is determined whether the operation start condition is satisfied for the group "G0005: clothing". Since the operation start condition is "unconditional" (Yes in step S15), the step Proceeding to S12, the fifth conversion unit 107D converts the group “G0005: clothing” into an article “0007: T-shirt” and an article “008: ⁇ shirt” with reference to the group belonging article table 102D shown in FIG. I do.
- the operation information includes the force S for determining by the fifth conversion unit 107D whether the operation information still includes another group as an operation target, and also includes gnolepe as another operation object. Since there is not (No in Step S13), the fifth conversion unit 107D ends the processing by the fifth conversion unit 107D.
- the operation information in FIG. 24 is converted as shown in FIG.
- the article “0007: T-shirt”, the article “0008: ⁇ shirt”, and the article “0009: Suni-ichi-ichi” are specified, and the operation content is “position (4000, 4000) Transport to a washing machine at This conversion is performed at 18:00 as per the operation start conditions.
- the operation information as shown in FIG. 25 converted and output by the fifth conversion unit 107D is provided to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the given operation information.
- the command generated by the control unit 108 is input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input command.
- the fifth conversion unit 107D refers to the fifth group belonging article table 102D and the condition information acquired from the sensing unit 201 satisfies the operation start condition. When the operation information conversion starts. This eliminates the need for the user to pay attention to the timing of, for example, an operation whose execution is to be performed, and merely needs to input operation information in advance.
- the fifth embodiment for example, when "washing" is instructed, it is also possible to divide the start times according to the material, color and pattern of the article, the degree of dirt, and the like.
- the upper limit of the weight or volume of an article as an operation start condition, not only laundry but also, for example, garbage that is accumulated in a ⁇ recycle bin '' has reached a predetermined weight or volume. It is also possible to carry it to an incinerator at a later date. Alternatively, it becomes possible to carry out an operation such as transporting a contaminated material, which is accumulated in a “washing basket”, to a washing machine when the weight or volume reaches a predetermined value.
- the fifth embodiment can be executed in combination with the second to fourth embodiments.
- the operation start condition described in the fifth embodiment is replaced with the affiliation condition described in the second embodiment, the selection condition described in the third embodiment, or the operation content with the execution condition described in the fourth embodiment.
- the information may be described in the article information belonging to Gnorape.
- step S20 in the second embodiment, ie, subroutine 1, and step S30 in the third embodiment, ie, subroutine 2, or step S40, ie, subroutine 3 in the fourth embodiment are executed after step S12. Good.
- FIG. 26 shows an article operation system as an example of the life support system according to the sixth embodiment of the present invention. It is a block diagram of a stem. 26, the same reference numerals as in FIG. 21 denote the same components as in FIG.
- the sixth robot operating terminal 100E in FIG. 26 is different from the fifth robot operating terminal 100D in FIG. 21 in that, instead of the fifth gnorape belonging table 102D and the fifth conversion unit 107D, at least one For the group, the operation information conversion is performed by referring to the sixth group belonging article table 102E to which the operation completion condition is attached, the condition information acquired from the sensing unit 201, and the information of the sixth group belonging article table 102E.
- Six conversion units 107E are provided.
- the condition information acquired from the sensing unit 201 is used by the sixth conversion unit 107E to determine the timing at which the operation completion condition is satisfied.
- the sixth conversion unit 107E is connected to the input unit 106, and temporarily stores the operation information 152 obtained from the input unit 106.
- the storage unit 151 includes a storage unit 151, a sensing unit 201, and a sixth gnolape belonging article table 102E. Is connected to the control unit 108, and based on the condition information acquired by the sensing unit 201, determines the timing based on the operation completion condition, and converts the operation information 152 stored in the storage unit 151. 153A. Other configurations are the same as in FIG.
- FIG. 27 is a diagram showing an example of information (Gnorape property belonging information) stored in the sixth group belonging article table 102E.
- information Gnorape property belonging information
- FIG. 27 similarly to FIG. 3, for each group, ID information and a name, and ro information of an article or gnorape belonging to the group are shown. Further, for a certain gnolap, a condition under which the operation for the group is completed, that is, an operation completion condition is described.
- Gnorape "G0004: Work attendance” indicates goods "0003: Handkerchief” and Gnorape "G0 001: Valuables" as belonging goods or Gnorape
- the operation completion conditions include "Traffic congestion". If it is not violent, the time is 7:00, if it is violent, the time is 3:1. "
- the operation of the article operation system according to the sixth embodiment is basically the same as that of the first embodiment, except for the operation of the sixth conversion unit 107E.
- the operation of the conversion start unit 153A in the sixth conversion unit 107E will be described with reference to the flowchart in FIG.
- operation information as shown in FIG. 4 is stored in the storage unit 151 in the sixth conversion unit 107E.
- the items of the condition information acquired by the sensing unit 201 are the time and the degree of traffic congestion, It is assumed that the degree of traffic congestion is “severe”. Therefore, as an example of the sensing unit 201, a transmitting / receiving unit 201E that acquires traffic information via the Internet 91 is used.
- step SI1 the sixth conversion unit 107E determines whether or not the operation target indicated in the operation information is a group.
- the process proceeds to step S16.
- the sixth conversion unit 107E ends the processing by the sixth conversion unit 107E without converting the operation information.
- the sixth conversion unit 107E refers to the sixth gnolap belonging article table 102E shown in FIG. 27, and determines whether or not the timing at which the operation completion condition of the gnolap to be operated is satisfied. to decide.
- the operation completion condition of “G0004: Attendance at work” is “time 7:00 if traffic congestion is not severe, and time 6:30 if traffic congestion is severe”.
- the degree of traffic congestion acquired by the sensing unit 201 is “severe”, and the required time from the start of operation to the completion is calculated by the conversion start unit 153A to be 30 minutes in advance.
- the conversion start unit 153A determines that the time 6:00, which is 30 minutes before the time 6:30, is the timing to start the operation (in other words, the timing at which the operation completion condition is satisfied). Then, when the time acquired from the sensing unit 201 is “6:00”, the process proceeds to step S12 as a timing at which the operation completion condition is satisfied (Yes in step S16). Otherwise, return to step S16 again. Therefore, no further processing is performed until 6:00.
- the moving speed of the robot 120 is substantially constant, and may be set in the conversion start unit 153A in advance.
- the movement route of the robot 120 includes the current position of the robot 120, the position of an object to be operated (defined in the article information table 103), and the layout of the robot 120 including the layout and furniture arrangement in the home. With reference to the map information on the movable range, the information can be obtained, for example, by using a technique used in a car navigation system that is currently widely used.
- the map information is stored in, for example, the sixth robot operation terminal 100E. It may be stored in the storage unit 101 in advance, or may be obtained from outside via a communication unit.
- a relation table between the location and the moving speed may be provided in advance.
- step S12 the sixth conversion unit 107E refers to the sixth gnolape belonging article table 102E shown in Fig. 27, and converts the gnolap to be operated into articles or each group belonging to the gnolap. . From FIG. 27, it can be seen that the articles “0003: Handkerchief” and the group “G0001: Valuables” belong to the group “G0004: Work attendance”. For this reason, the sixth conversion unit 107E converts the group “G0004: going to work” into the article “0003: handkerchief” and the group “G0001: valuables” in the operation information. Thereafter, the process proceeds to step S13.
- step S13 the sixth conversion unit 107E determines whether or not the operation information still includes another group as an operation target.
- the process returns to step S16. If no other group is included (No in step S13), the sixth conversion unit 107E ends the processing by the sixth conversion unit 107E.
- step S16 the sixth conversion unit 107E determines whether or not the timing at which the operation completion condition of the group "G0001: valuables” is satisfied, but the operation completion condition is "unconditional”.
- step S16 the process proceeds to step S12, where the sixth conversion unit 107E refers to the sixth group belonging article table 102E shown in FIG. 27, and changes the gnope "G0001: valuables” to the article "0001: clock” and the article. Convert to "0002: wallet".
- step S13 the sixth conversion unit 107E determines whether or not the operation information still includes another gnolap as an operation target, but since no other group is included, (No in step S13), the sixth conversion unit 107E ends the processing by the sixth conversion unit 107E.
- the operation information in FIG. 4 is converted as shown in FIG. In FIG. 29, as the operation target, the article “0001: clock”, the article “0002: wallet”, and the article “0003: handkerchief” are specified, and “transport to the position (500, 500)” is specified as the operation content. Specified. This conversion is performed so that the operation completion condition of the group "G0004: It takes place at 6:00.
- Operation information such as 29 is given to the control unit 108.
- the control unit 108 generates an operation command of the robot 120 with reference to the article information table 103 based on the given operation information.
- the command generated by the control unit 108 is input to the control unit 122 of the robot 120 via the transmission / reception unit 109, the wireless or wired network 90, and the transmission / reception unit 121.
- the control unit 122 operates the robot 120 according to the input command. Since the time required from operation start to completion is 30 minutes, the time at which the robot 120 completes the operation is time 3:1 when traffic congestion is severe, and time 7:00 when traffic is not intense . Therefore, the article “0001: clock”, the article “0002: wallet” and the article “0003: handkerchief” are gripped by the robot 120, and the “transport to position (500, 500)” operation is executed by the time. You.
- the sixth conversion unit 107E satisfies the operation completion condition from the condition information acquired from the sensing unit 201 with reference to the sixth gnolap belonging article table 102E.
- the conversion of the operation information is started at that timing. This eliminates the need for the user to pay attention to the timing of starting the operation, and merely inputting the operation information in advance.
- the operation completion condition is specified by designating a user's action schedule until returning home, such as preparing a meal before returning home, Can specify a specific time and date, such as washing a car.
- the sixth embodiment can be executed in combination with the second to fifth embodiments.
- the operation completion condition described in the sixth embodiment is changed to the affiliation condition described in the second embodiment, the selection condition described in the third embodiment, the operation content with the execution condition described in the fourth embodiment, Alternatively, it may be described in the group belonging article information together with the operation start condition described in the fifth embodiment.
- step S20 in the second embodiment that is, subroutine 1, step S30 in the third embodiment, that is, subroutine 2, or
- the step S40 in the fourth embodiment that is, the subroutine 3 may be executed after the step S12.
- step S15 in the fifth embodiment may be executed before and after step S16.
- the display unit 105 may display the converted operation information, the condition information obtained by the sensing unit 201, and the like. As a result, the operation information actually given to the robot is presented to the operator, and even if there is an input error in the operation information, such an input error can be corrected by the correction operation input from the input unit 106. can do. Further, when each group belonging article information includes, for example, recursive data indicating that the group A belongs to the group A, the data may be presented on the display unit 105 together with a warning. The existence of recursive data can be recognized by detecting that processing for gnorape having the same HD information has been performed multiple times.
- the force was assumed to be managed separately s, instead ⁇ , ⁇ , ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ Operations can be performed in the same manner as in each embodiment, and similar effects can be obtained.
- components such as an input unit, a conversion unit, a storage unit for storing group-affiliated article information and article attribute information, a display unit, and a sensing unit are provided in the robot operation terminal.
- the present invention is not limited to such a configuration. These components may be arranged in any manner within the article operation system. It does not matter.
- the gnolape-affiliated article information and the article attribute information are assumed to be stored in the form of a table, respectively.
- the form of storing force information is not limited to the tape-notch form. Other forms may be used.
- a single operation information is described as being input.
- the present invention can be similarly implemented even when a plurality of operation information is input collectively. .
- a series of operations can be instructed to the robot. For example, by inputting an operation command to carry the dirty objects in the laundry basket to the washing machine to start the washing and an operation command to move the laundry to the drying place after the washing in the washing machine, the washing instruction can be performed.
- the robot instructs the robot to perform a series of operations such as carrying the washing power and washing machine to the washing machine to start washing, and after the washing is completed, carrying the laundry to the drying place. be able to.
- the seventh embodiment of the present invention by describing a specific configuration example of an article operation system as an example of a life support system and an operation example of a robot operated by the article operation system, the first to sixth embodiments are described. Supplement the article operation system described in the form.
- FIG. 30 is a diagram illustrating a specific configuration example of an article operation system according to a seventh embodiment of the present invention.
- reference numeral 100 denotes the first to sixth robot operation terminals 100 and 100A in the article operation system (FIGS. 1, 7, 7, 11, 16, 21, and 26) in the description of the first to sixth embodiments.
- 100B, 100C, 100D, and 100E as a representative example of the first robot operation terminal.
- reference numeral 3001 denotes a computer, in which the storage unit 101, the conversion unit 107, the control unit 108, the transmission / reception unit 109, and the like of the article operation system described in the first to sixth embodiments are stored. Execute each process.
- Reference numeral 3002 denotes a display for displaying information of the computer 3001, and reference numerals 3003A and 3003B denote a keyboard and a mouse for inputting information to the computer 3001, respectively.
- Reference numeral 3004 denotes a camera, which is an example of the sensing unit 104 of the material operation system in the description of the first to sixth embodiments.
- the sensing unit 104 includes one or more cameras 3004.
- Reference numeral 120 denotes a robot of the article operation system described in the first to sixth embodiments.
- a processing unit 3005 is provided with the transmission / reception unit 121 and the control unit 122 of the material operation system in the description of the first to sixth embodiments, and implements each processing.
- 3006 is a movable trolley that can be moved under the control of the control unit 122 of the processing unit 3005, and 3007 is provided with a driving device 3006A such as a driving motor that drives four traveling wheels 3006B.
- the gripping arm is provided on a mobile trolley 3006 whose traveling is controlled by the control unit 122, and grips an article under the control of the control unit 122.
- the robot operation terminal 100 has a configuration in which a sensing unit 104 configured by a camera 3004 is added to a general computer system configured by a computer 3001, a display 3002, a keyboard 3003A, and a mouse 3003B.
- the sensing unit 104 constituted by the camera 3004 acquires the image of each article, that is, the image of the clock 3008 and the wallet 3009, and, based on the acquired image, the method and the like as already described in the first embodiment.
- the information such as the position of these articles is acquired by using.
- the acquired article information is recorded / updated in an article information table 103 recorded in a storage medium such as a hard disk provided in the computer 3001 and corresponding to the storage unit 101.
- the article information table 103 records the latest information of the article "0001: clock” and the article "0002: wallet", as in the article information table 103 shown as an example in FIG. .
- the information in the article information table 103 may be provided to a user via a display 3001 corresponding to the display unit 105.
- the article operation system is configured to instruct a robot to operate an article in a living space including a living space such as a home and operate the article using the robot. More particularly, the present invention relates to an improvement in processing of input operation information at the time of instructing an article operation in the article operation system.
- the processing of the operation information is as follows.
- the user inputs operation contents for the robot 120 using the keyboard 3003A and the mouse 3003B corresponding to the input unit 106.
- the computer 3001 first information is stored in a storage medium corresponding to the storage unit 101 such as a hard disk provided in the computer 3001, and based on the information of the article table 102 belonging to gnolap and the article information table 103, the first actual operation is performed.
- the respective processes of the conversion unit 107, the control unit 108, and the transmission / reception unit 109 as already described in the embodiment are performed.
- the article information table 103 is as shown in FIG. 2
- the group belonging article table 102 is as shown in FIG.
- the user operates the keyboard 3003 A and the mouse 3003 B to set the operation target to “G0001: valuables”.
- the operation content of “transport to the entrance” the command to transport the clock 3008 and the wallet 3009 to the entrance is transmitted to the robot 120 as already described in the first embodiment.
- the processing unit 3005 for realizing the processing of the transmission / reception unit 121 and the control unit 122 of the article operation system in the description of the first to sixth embodiments controls the mobile trolley 3006 by the command. Then, the robot 120 approaches the clock 3008 and the wallet 3009, and then controls the gripping arm 3007 to grip the clock 3008 and the wallet 3009. Transport 3009 to the entrance.
- FIG. 31 is a sketch of a house in which a robot 120 operated by an article operation system as an example of a life support system according to a seventh embodiment of the present invention is active.
- an X axis 3101 and a ⁇ axis 3102 are coordinate axes used to indicate the position of an article or the like in a house.
- the camera 3004 is a camera constituting the sensing unit 104 in FIG. 30, and one or more cameras 3004 are installed in each room in the house.
- the clock 3008 and the wallet 3009 are the clock 3008 and the wallet 3009 in FIG.
- Robot 120 is robot 120 in FIG.
- a moving path 3103 indicated by a dotted line is a path along which the robot 120 moves.
- the robot 120 moves along the moving path 3103, holds the clock 3008 with the holding arm 3007, and transports it to the entrance 3104.
- the purse 3009 is gripped by the gripping arm 3007 and transported to the entrance 3104.
- a number of cameras 3004 corresponding to the sensing unit 104 constantly sense the articles in the house shown in the floor plan, and the clock 3008 and The wallet 3009 records / updates the positions (360, 350) and (290, 90) in the article information table 103 via the control unit 108.
- the robot 120 issues the following command to the article operation system of the present invention. Is transmitted.
- the robot 120 located at the position (100, 270) moves along the movement route 3103 from the room 1 to the room 2, and in the room 2, the position (360, 350) A total of 3008 is held by the Komoe arm 3007.
- the robot 120 located at the position (100, 270) moves along the movement route 3103 from the room 1 to the room 2, and in the room 2, the position (360, 350) A total of 3008 is held by the Komoe arm 3007.
- the B temple total 3008 move from room 2 through room 1 to the entrance at the position (220, 80) along the movement path 3103, and watch 3008 with the gripping arm 3007 at the entrance. Release the grip and release.
- the user moves along the movement route 3103 to the room 5, and in the room 5, the wallet 3009 at the position (290, 90) is held by the arm 3007.
- the user moves along the movement route 3103 from the room 5 to the entrance, releases the gripping arm 3007 from the wallet 3009 at the entrance, and releases it.
- the robot 120 has the ability to carry a plurality of articles, the following command may be transmitted.
- the robot 120 located at the position (100, 270) moves along the movement route 3103 from the room 1 to the room 2 and moves to the position (360, 350) ( A total of 3008 is held by the ⁇ Tomoe arm 3007.
- a total of 3008 is held by the ⁇ Tomoe arm 3007.
- the robot 120 located at the position (100, 270) moves along the movement route 3103 from the room 1 to the room 2 and moves to the position (360, 350)
- a total of 3008 is held by the ⁇ Tomoe arm 3007.
- the next race while holding the ⁇ Tera total 300 8, it moves from Room 2 through Room 1 to Room 5 along the travel route 3103, ⁇ 5 store, position (290, 90) Hold the wallet 3009 with the Tomoe arm 3007 (hold it.
- the clock 3008 and the wallet 3009 move it from room 5 to the entrance.
- the robot 120 moves along the movement path 3103, and transports the clock 3008 and the wallet 3009 to the entrance 3104.
- the position of an article to be operated is moved by a human or the like while the robot 120 is operating. In this case, even if the robot 120 moves to the position of the operation target article, the operation target article is not found and the operation is delayed.
- an inquiry about the position of the operation target article is made to the control unit 108 of the robot operation terminal 100 via the control unit 122 of the robot 120, the force transmission / reception unit 121, the network 90, and the transmission / reception unit 109.
- the camera 3004 corresponding to the sensing unit 104 constantly senses articles in the house, and the sensing information is stored and updated in the article information table 103 via the control unit 108, so that the latest Are stored in the product information table 103. Therefore, by the inquiry, the control unit 108 of the mouth bot operation terminal 100 accesses the article information table 103 to acquire the latest position of the article to be operated, whereby the position is determined.
- the latest information on the position of the operation target article is sent from the control unit 108 of the robot operation terminal 100 to the control unit 122 of the robot 120 via the transmission / reception unit 109, the network 90, and the transmission / reception unit 121.
- the robot 120 By moving the robot 120 to the position of the latest operation target article under the control of the control unit 122, it is possible to prevent the operation of the robot 3006 from being delayed.
- the robot is used in a living space such as a home.
- a living space other than a home for example, an office, a supermarket, a department store, a store such as a convenience store, a hotel
- the present invention can of course be applied to a case where a robot is used in a space such as a hospital or a nursing facility.
- the present invention can be used in industrial fields such as factories and warehouses.
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Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2005512558A JP3868988B2 (ja) | 2003-08-04 | 2004-08-04 | 生活支援システム |
US11/346,538 US7292911B2 (en) | 2003-08-04 | 2006-02-02 | Living assistance system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003285531 | 2003-08-04 | ||
JP2003-285531 | 2003-08-04 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/346,538 Continuation US7292911B2 (en) | 2003-08-04 | 2006-02-02 | Living assistance system |
Publications (1)
Publication Number | Publication Date |
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WO2005011926A1 true WO2005011926A1 (ja) | 2005-02-10 |
Family
ID=34113886
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/011132 WO2005011926A1 (ja) | 2003-08-04 | 2004-08-04 | 生活支援システム |
Country Status (3)
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US (1) | US7292911B2 (ja) |
JP (1) | JP3868988B2 (ja) |
WO (1) | WO2005011926A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2008307662A (ja) * | 2007-06-15 | 2008-12-25 | Fujitsu Ltd | ロボットシステム、エディタ端末、およびエディタプログラム |
JP2009169951A (ja) * | 2008-01-10 | 2009-07-30 | Internatl Business Mach Corp <Ibm> | 方法、コンピュータ・プログラム、システム(センサを使用して表面上に配置された物体を識別するシステムおよび方法) |
JP2009199510A (ja) * | 2008-02-25 | 2009-09-03 | Wen Tsan Wang | 物品の自動アクセス方法 |
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WO2006006624A1 (ja) * | 2004-07-13 | 2006-01-19 | Matsushita Electric Industrial Co., Ltd. | 物品保持システム、ロボット及びロボット制御方法 |
WO2009004772A1 (ja) * | 2007-07-05 | 2009-01-08 | Panasonic Corporation | ロボットアームの制御装置及び制御方法、ロボット、及び制御プログラム |
US7770952B2 (en) * | 2007-10-12 | 2010-08-10 | Gm Global Technology Operations, Inc. | Vehicle trash management apparatus |
WO2009055296A1 (en) * | 2007-10-22 | 2009-04-30 | Honda Motor Co., Ltd. | Design and evaluation of communication middleware in a distributed humanoid robot architecture |
US9795004B2 (en) * | 2014-04-14 | 2017-10-17 | Abl Ip Holding Llc | Learning capable lighting equipment |
US10482550B1 (en) | 2013-03-27 | 2019-11-19 | Vecna Robotics, Inc. | Mobile robot for performing hospitality service(s) for guest(s) of a hospitatlity business |
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- 2004-08-04 JP JP2005512558A patent/JP3868988B2/ja not_active Expired - Fee Related
- 2004-08-04 WO PCT/JP2004/011132 patent/WO2005011926A1/ja active Application Filing
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JPH09269810A (ja) * | 1996-03-29 | 1997-10-14 | Minolta Co Ltd | 移動体制御装置 |
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JP2009169951A (ja) * | 2008-01-10 | 2009-07-30 | Internatl Business Mach Corp <Ibm> | 方法、コンピュータ・プログラム、システム(センサを使用して表面上に配置された物体を識別するシステムおよび方法) |
JP2009199510A (ja) * | 2008-02-25 | 2009-09-03 | Wen Tsan Wang | 物品の自動アクセス方法 |
Also Published As
Publication number | Publication date |
---|---|
JP3868988B2 (ja) | 2007-01-17 |
US20060195225A1 (en) | 2006-08-31 |
JPWO2005011926A1 (ja) | 2009-05-28 |
US7292911B2 (en) | 2007-11-06 |
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