WO2008001777A1

WO2008001777A1 - Robot control system, robot control method, and robot

Info

Publication number: WO2008001777A1
Application number: PCT/JP2007/062811
Authority: WO
Inventors: Yuichiro Nakajima
Original assignee: Toyota Jidosha Kabushiki Kaisha
Priority date: 2006-06-27
Filing date: 2007-06-26
Publication date: 2008-01-03
Also published as: JP2008006518A

Abstract

It is possible to provide a robot control system, a robot control method, and a robot which can easily describe a model, requires a small calculation amount, and can easily cope with a modification of a task or a part of a robot. The robot control system includes: control units (23 to 27) which are provided for respective functions of the robot and can control the corresponding functions; and task control units (20, 21) which convert a requested main operation task into specialized tasks corresponding to the control units (23 to 27) and cause the control units (23 to 27) to execute the specialized tasks.

Description

Specification

Robot control system, robot control method, and robot

Technical field

The present invention relates to a robot control system, a robot control method, and a robot, and more particularly, to a robot control technique according to a task.

Background art

[0002] Robots for various applications have been developed. Usually, a robot generally controls the operation of each part constituting a force robot having a multi-degree-of-freedom mechanism by a control unit constituted by a computer.

[0003] Therefore, in order to operate the whole body of the robot in a coordinated manner, a complex body model is required. In particular, as the degree of freedom increases as robot technology advances, the robot's body model becomes more complex, and the environment model that includes the whole body of the robot must be larger and more complex.

[0004] In addition, when the robot is caused to perform the work, the control unit must perform calculation so that each part cooperates and does not interfere with each other. The amount of calculation to execute the work was enormous.

[0005] In addition, when a task is changed or added, it is necessary to teach the robot in consideration of the whole body of the robot because the influence of each part must be taken into consideration. For example, for a robot with 20 axes, it is necessary to give a command value to each axis, but if the target value for some axes is changed, the command values for all other axes are changed. It was necessary and the work was enormous.

[0006] Furthermore, if a part of the robot is changed due to a function expansion or the like, the change affects the whole body of the robot, so the whole robot must be set again. There wasn't. For example, when the joint angle is changed from 50 degrees to 70 degrees, or from 2 fingers to 5 fingers.

On the other hand, Patent Document 1 discloses a technique for performing distributed control for robot control. Yes. However, the technology disclosed in Patent Document 1 relates to a control technology that gives a unique task command to each of a plurality of microrobots and performs a unique mission. The distributed control is not executed for the processing of each part. Therefore, even the robot disclosed in Patent Document 1 can cause the above-described problems.

Patent Document 1: Japanese Patent Laid-Open No. 11-231910

Disclosure of the invention

Problems to be solved by the invention

[0008] As described above, according to the conventional robot control, the complexity of the model and the calculation amount are increased, and further, the teaching work for the task change and the setting work for the part change are increased. There was a problem.

[0009] The present invention has been made to solve an energetic problem. The description of the model is easy, the amount of calculation is small, and it is easy to cope with changes in tasks and some parts. It is an object to provide a bot control system, a robot control method, and a robot. Means for solving the problem

[0010] A robot control system according to the present invention is provided corresponding to each function of the robot, a plurality of control units capable of controlling the corresponding function, and the requested main operation task, the plurality of control units And a task control unit that converts the subdivided task into subdivided tasks corresponding to each unit, and causes the plurality of control units to execute the subdivided task.

[0011] Here, the task control unit converts the requested main operation task into the subdivision tasks set for each of the plurality of steps to be processed in time series, and for each step It is preferable to cause the plurality of control units to execute the segmentation task.

[0012] In addition, it is desirable that the plurality of control units autonomously execute operations in response to the segmentation task.

[0013] Further, the correspondence relationship between the function and the control unit may be changeable. In a preferred embodiment, the robot control system described above is mounted on a robot.

[0014] A robot control method according to the present invention is provided corresponding to each function of the robot. Is a method for controlling a robot equipped with a plurality of control units capable of controlling a function to convert a requested main operation task into subdivided tasks that are subdivided according to the plurality of control units. And a step of causing the plurality of control units to execute the converted segmentation task.

The invention's effect

[0015] According to the present invention, there is provided a robot control system, a robot control method, and a robot that are easy to describe a model, have a small amount of calculation, and can easily cope with a change in a task or a part of a part. Can be provided.

Brief Description of Drawings

[0016] FIG. 1 is an explanatory diagram for explaining a processing concept of a robot control system according to the present invention.

FIG. 2 is a block diagram showing a configuration of a robot control system that is effective in the present invention.

FIG. 3A is a flowchart showing processing (up to S202) of the robot control system that is relevant to the present invention.

FIG. 3B is a flowchart showing processing (S203 and subsequent steps) of the robot control system that is relevant to the present invention.

FIG. 4A is a detailed block diagram of a head control unit of a robot control system that is effective in the present invention.

FIG. 4B is a block diagram illustrating FIG. 4A in more detail.

Explanation of symbols

[0017] 1 Robot

2 Object

10 sensors

20 Control unit

21 First task controller

22 Second task controller

23 Head control unit

24 Right arm control

25 Left arm control 26 Right hand control

27 Left hand control

30 Actuator

BEST MODE FOR CARRYING OUT THE INVENTION

[0018] First, a robot control system that is effective in the present invention will be described with reference to the conceptual diagram shown in FIG. The robot 1 shown in the example shown in FIG. 1 includes at least a head having an environment recognition unit and a double arm having a hand for holding an object. In this example, the robot 1 is instructed to carry out a task of carrying the object 2 with both hands and transporting it to a predetermined point (hereinafter referred to as “main operation task”). In this case, the robot 1 is preliminarily classified and set in the order of the main operation task force for realizing transportation: the step of viewing → the step of grasping → the step of carrying → the step of placing. In the example shown in FIG. 1, the robot 1 executes the carrying step. Further, in the carrying step, it is instructed to execute a subdivided task (hereinafter referred to as “subdivided task”) for each part (function) of the robot 1. For example, the subdivision task of looking at the object 2 for the head, the subdivision task of grasping the object 2 for the right hand, the subdivision task of extending the arm to the target position for the right arm, and the left hand On the other hand, it is a subdivision task of grasping the object 2, and for the left arm, it follows the external force.

[0019] Each function (part) autonomously executes an operation based on a subdivision task. In this way, each part autonomously operates based on the subdivision task assigned to itself, but this realizes the highest main operation task of `` transport '' as a whole body be able to.

[0020] In the example shown in Fig. 1, the left hand and the left arm may be given different subdivision tasks as different parts S, and the left hand system may be given one subdivision task as one part. Good.

[0021] Next, the configuration of the robot control system that is useful in the present invention will be described with reference to FIG. The robot control system inputs a detection signal from the sensor 10 to the control unit 20 from the sensors 10 provided at each part of the robot. The control unit 20 controls the actuator 30 according to the detection signal from the sensor 10 and the operation signal from the operator. [0022] The sensor 10 includes, for example, an image sensor (camera) for detecting the position and posture of an object, a motion sensor and a tactile sensor for detecting an external force, an encoder and a tachometer for detecting a joint angle, a sound Detecting microphone etc. are included. The sensor 10 is connected to the control unit 20 by wire or wireless.

[0023] The control unit 20 includes a first task control unit 21, a second task control unit 22, a head control unit 23, a right arm control unit 24, a left arm control unit 25, a right hand control unit 26, and a left hand control unit 27. ing. The ability to divide functions and parts into units and to provide a control unit can be determined and changed appropriately according to the required performance. The example shown in Fig. 2 assumes a mouth bot with only the upper body as shown in Fig. 1, but in the case of a robot that has legs and can walk autonomously, the right leg control unit and left leg control Part.

The control unit 20 includes a CPU (Central Processing Unit), a memory such as ROM, RAM, and the like as a hardware configuration. At this time, the control unit 20 may be configured of the control units 21 to 27 by one CPU as a whole, but may be configured by the number of CPUs corresponding to each of the control units 21 to 27. It can be configured with one CPU for each arbitrary group.

[0025] The first task control unit 21 has a function of recognizing and processing a main operation task requested by an instruction from an operator or a determination of the robot itself. For example, “transporting a specific object from one place to another” is required as a main operation task. In order to enable such processing, the first task control unit 21 has a large number of main operation tasks set in advance and stored in the storage unit.

[0026] The second task control unit 22 breaks down the main operation task recognized by the first task control unit 21 into a procedure for realizing the main operation task, and for each step constituting the procedure. , Convert to subdivision tasks. For example, the main operation task of “carrying a specific object from one place to another” is broken down into a viewing step, a grasping step, a carrying step, and a placing step. Then, at each step, the head control unit 23, the right arm control unit 24, the left arm control unit 25, the right hand control unit 26, and the left hand control unit 27 are each caused to execute a subdivision task that is a command of an operation unit. In order to enable such processing, the second task control unit 22 associates a main operation task with a subdivision task for each of a plurality of steps. And stored in the storage unit.

[0027] The head control unit 23, the right arm control unit 24, the left arm control unit 25, the right hand control unit 26, and the left hand control unit 27 are provided corresponding to each function (part) of the robot 1, and the corresponding function (part) It is possible to control the amount of movement in units of motion.

[0028] The head control unit 23 controls the operation of the head of the robot 1 and a camera provided on the head. The right arm control unit 24 mainly controls the motion of the right arm joint. The left arm control unit 25 mainly controls the movement of the left arm joint. The right hand control unit 26 mainly controls the movement of the joint of the right hand finger. The left hand control unit 27 mainly controls the operation of the joint of the finger part of the left hand.

The actuator 30 is a motor or the like that is provided at each part of the robot and drives an arm, a joint, or the like. The actuator 30 is connected to the control unit 20 by wire or wirelessly.

[0030] Next, the flow of control in the robot control system according to the present invention will be described using the flowcharts of Figs. The example shown in Figs. 3 and 3 is when the robot is instructed to hold and carry the object with both hands.

[0031] When the transportation of a predetermined object is instructed by a command from the operator or the robot's own judgment, the first task control unit 21 recognizes that this instruction is a "transportation" task, Set (S100).

Next, the second task control unit 22 acquires information indicating that the task is “transport” from the first task control unit 21, and in the “transport” task, the step of viewing (S 101), It is determined from data associated in advance that the subdivision tasks should be executed in chronological order in the order of grasping step (S102), carrying step (S103), and placing step (S104).

[0033] First, in the viewing step (S201), a task to be searched for in the head control unit 23, a posture maintenance task in the right arm control unit 24, a posture maintenance task in the left arm control unit 25, and a right hand control unit 26 The task to be released is executed for this task, and the task to be released is executed by the left-hand control unit 27. When executing each subdivision task, each control unit 23 to 27 controls each function (part) of the robot 1 based on the detection signal input from the sensor 10. In addition, each control unit 23 to 27 is independent of other control units (autonomously) and reaches the target value determined by the subdivision task assigned to each control unit. Run [0034] In this example, the viewing step is divided into two steps. If it is determined in the first step (S201) that the robot 1 has found an object from the input from the sensor 10, the process proceeds to the subsequent step (S202). In a later step, the head control unit 23 releases the task to be seen, the right arm control unit 24 releases the posture maintenance task, the left arm control unit 25 releases the posture maintenance task, and the right hand control unit 26 releases the task. The left hand control unit 27 executes each task to be released.

Next, when it is determined that the robot 1 includes the object in the field of view and is in the imaging state, a grasping step (S203) is executed. In the grasping step (S203), the task to be seen by the head control unit 23, the task of extending the arm by the right arm control unit 24, the task of extending the arm by the left arm control unit 25, and the task of the right hand control unit 26 are performed. Causes the left hand control unit 27 to execute the released task.

[0036] In this example, the step of grasping is divided into two steps (S203, S204). In the first step (S203), when the robot 1 determines that both hands of the robot 1 have reached the gripping position of the object from the input from the sensor 10, the process proceeds to the subsequent step (S204). In the subsequent step (S204), the task to be viewed by the head control unit 23, the task of maintaining the posture by the right arm control unit 24, the task of maintaining the posture by the left arm control unit 25, and the task of the right hand control unit 26 are performed. Causes the left hand control unit 27 to execute the grasping task.

[0037] Next, when it is determined that the robot 1 has completed the object gripping operation, a carrying step is executed (S205). In the carrying step (S205), the head control unit 23 holds the task to be searched, the right arm control unit 24 the arm extension task, the left arm control unit 25 the force tracking task, and the right hand control unit 26 task. Each task is executed by the left hand control unit 27. Although not shown in FIGS. 3A and 3B, the subdivision task in the placing step (S104) is executed, and the “transport” task is completed.

[0038] Subsequently, a configuration example of the head control unit 23 will be described on behalf of the control units 23 to 27 with reference to FIGS. 4A and 4B. As shown in FIG. 4A, the head control unit 23 includes a processing block 231 for viewing and a processing block 232 for searching.

[0039] As shown in FIG. 4B, the sensor 10 to the head control unit 23, for example, an image sensor. A detection signal indicating the position of the object is input from the sensor, and a detection signal indicating the joint angle is input from the encoder. In the processing block 231 for viewing, processing for viewing from the target position and the current angle is executed, and in the processing block 232 for searching, processing for searching from the target activation for search and the current angle is performed, and the result is output to the actuator 30.

[0040] As described above, in the robot control system according to the present invention, each control unit controls the robot in units of operation, so that the description is easy and the addition and modification of functions are facilitated. . In addition, when adding or modifying the function of each part, the change does not affect the entire robot and can be easily executed. Furthermore, since the second task control unit issues a command for the operation unit in consideration of the role of each function (part) so that the task can be achieved, each function (part) autonomously uses that command as a task. Cooperative operation can be realized simply by operating in the same manner.

[0041] Further, by making the classification of each part variable, it is possible to control as a single model by combining necessary parts, and it is possible to expand the range of tasks that can be handled. Also, as a whole, mechanisms with multiple degrees of freedom can be processed in parallel and distributed by classifying each part, so the calculation time is shortened and the robot's reaction speed can be increased. .

Claims

The scope of the claims

[1] A plurality of control units provided corresponding to each function of the robot and capable of controlling the corresponding functions and a requested main operation task are subdivided according to the plurality of control units. A robot control system comprising: a task control unit that converts a task into a task and causes the plurality of control units to execute the subdivided task.

[2] The task control unit converts the requested main operation task into the sub-tasks set for each of the plurality of steps to be processed in time series, and the sub-task is divided for each step. 2. The robot control system according to claim 1, wherein the control task is executed for the plurality of control units.

[3] The robot control system according to [1] or [2], wherein the plurality of control units autonomously execute operations according to the subdivision task.

4. The robot control system according to claim 1, wherein the correspondence relationship between the function and the control unit can be changed.

[5] A robot comprising the robot control system according to claim 1 or 2.

[6] A method of controlling a robot that is provided corresponding to each function of the robot and includes a plurality of control units capable of controlling the corresponding function,

Converting the requested main operation task into a subdivided task subdivided corresponding to the plurality of control units;

And a step of causing the plurality of control units to execute the converted subdivision task.