WO2022049756A1 - 判定装置、判定方法及び記憶媒体 - Google Patents

判定装置、判定方法及び記憶媒体 Download PDF

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Publication number
WO2022049756A1
WO2022049756A1 PCT/JP2020/033735 JP2020033735W WO2022049756A1 WO 2022049756 A1 WO2022049756 A1 WO 2022049756A1 JP 2020033735 W JP2020033735 W JP 2020033735W WO 2022049756 A1 WO2022049756 A1 WO 2022049756A1
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WIPO (PCT)
Prior art keywords
task
proposition
robot
information
determination
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Ceased
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PCT/JP2020/033735
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English (en)
French (fr)
Japanese (ja)
Inventor
雅嗣 小川
伸治 加美
永哉 若山
博之 大山
真澄 一圓
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NEC Corp
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NEC Corp
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Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to PCT/JP2020/033735 priority Critical patent/WO2022049756A1/ja
Priority to US18/023,812 priority patent/US20230321827A1/en
Priority to JP2022546844A priority patent/JP7485058B2/ja
Priority to EP20952490.9A priority patent/EP4212290A4/en
Publication of WO2022049756A1 publication Critical patent/WO2022049756A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/52—Program synchronisation; Mutual exclusion, e.g. by means of semaphores
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34372—Inability to process, execute assigned task within allocated time interval

Definitions

  • the present disclosure relates to a technical field of a determination device, a determination method, and a storage medium that perform processing related to a task to be performed by a robot.
  • Patent Document 1 When a task to be made to work by a robot is given, a control method for controlling the robot necessary for executing the task has been proposed.
  • Patent Document 1 when a plurality of articles are gripped by a robot having a hand and stored in a container, a combination of the order in which the hands grip the articles is determined, and the storage is based on an index calculated for each combination.
  • a robot determination device for determining the order of articles to be used is disclosed.
  • Patent Document 2 discloses a robot system that notifies a user of the end of processing when an object (work) is moved by a robot hand.
  • One of the objects of the present disclosure is to provide a determination device, a determination method, and a storage medium capable of suitably executing a determination of completion of a task to be executed by a robot in view of the above-mentioned problems.
  • One aspect of the determination device is When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task. It is a determination device having a proposition determination means for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor.
  • One aspect of the determination method is By computer When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task. This is a determination method for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor.
  • One aspect of the storage medium is When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task.
  • a program for causing a computer to execute a process for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor is stored. It is a storage medium.
  • the configuration of the robot control system in the first embodiment is shown.
  • the hardware configuration of the robot controller is shown.
  • An example of the data structure of application information is shown.
  • the bird's-eye view of the work space when the target task is pick and place is shown.
  • An example of displaying a task screen for specifying a target task is shown.
  • An example of displaying the task screen when the target task ends normally is shown below.
  • An example of displaying the task screen when the target task does not end normally is shown.
  • the schematic block diagram of the robot control system in 3rd Embodiment is shown.
  • the schematic block diagram of the determination apparatus in 4th Embodiment is shown.
  • FIG. 1 shows the configuration of the robot control system 100 according to the first embodiment.
  • the robot control system 100 mainly includes a robot controller 1, a task instruction device 2, a storage device 4, a robot 5, and a measurement device 7.
  • the robot controller 1 assigns the target task to a sequence for each time step (time step) of a simple task that the robot 5 can accept.
  • the robot 5 is controlled based on the converted and generated sequence.
  • a task (command) obtained by decomposing a target task into units that can be accepted by the robot 5 is also referred to as a "subtask”
  • a sequence of subtasks that the robot 5 should execute in order to achieve the target task is also referred to as a "subtask sequence”. Call.
  • the subtask sequence corresponds to an operation sequence that defines a series of operations of the robot 5.
  • the robot controller 1 performs data communication with the task instruction device 2, the storage device 4, the robot 5, and the measurement device 7 via a communication network or by direct communication by wireless or wired.
  • the robot controller 1 receives an input signal "S1" for designating a target task from the task instruction device 2.
  • the robot controller 1 transmits an output control signal "S2" to the task instruction device 2 to output information about the task to be executed by the robot 5.
  • the robot controller 1 transmits a control signal “S3” relating to the control of the robot 5 to the robot 5.
  • the robot controller 1 receives the measurement signal "S4" from the measuring device 7.
  • the task instruction device 2 is a device that receives input related to the target task by a worker who specifies the target task.
  • the task instruction device 2 performs a predetermined display based on the output control signal S2 supplied from the robot controller 1, and supplies the input signal S1 generated based on the input of the operator to the robot controller 1.
  • the task instruction device 2 may be a tablet terminal including an input unit and a display unit, or may be a stationary personal computer.
  • the storage device 4 has an application information storage unit 41.
  • the application information storage unit 41 stores application information necessary for generating a subtask sequence from a target task. Details of the application information will be described later with reference to FIG.
  • the storage device 4 may be an external storage device such as a hard disk connected to or built in the robot controller 1, or may be a storage medium such as a flash memory. Further, the storage device 4 may be a server device that performs data communication with the robot controller 1 via a communication network. In this case, the storage device 4 may be composed of a plurality of server devices.
  • the robot 5 performs work related to the target task based on the control signal S3 supplied from the robot controller 1.
  • the robot 5 is, for example, a robot that operates at various factories such as an assembly factory and a food factory, or at a distribution site.
  • the robot 5 may be a vertical articulated robot, a horizontal articulated robot, or any other type of robot.
  • the robot 5 may supply a state signal indicating the state of the robot 5 to the robot controller 1.
  • This state signal may be an output signal of a sensor that detects the state (position, angle, etc.) of the entire robot 5 or a specific part such as a joint, and the progress state of the subtask of the robot 5 generated by the control unit of the robot 5. It may be a signal indicating.
  • the measuring device 7 is a camera, a range sensor, a sonar, or one or a plurality of sensors that detect a state in a work space in which a target task is executed.
  • the measuring device 7 includes at least one camera that captures an image of the work space.
  • the measuring device 7 supplies the generated measurement signal S4 to the robot controller 1.
  • the measurement signal S4 includes at least an image captured in the work space.
  • the measuring device 7 may be a self-propelled or flying sensor (including a drone) that moves in the work space. Further, the measuring device 7 may include a sensor provided in the robot 5, a sensor provided in another object in the work space, and the like. Further, the measuring device 7 may include a sensor that detects a sound in the work space. As described above, the measuring device 7 may include various sensors for detecting the state in the work space and may include sensors provided at any place.
  • the configuration of the robot control system 100 shown in FIG. 1 is an example, and various changes may be made to the configuration.
  • a plurality of robots 5 may exist, or may have a plurality of controlled objects such as robot arms, each of which operates independently.
  • the robot controller 1 generates a subtask sequence to be executed for each robot 5 or each controlled object based on the target task, and outputs the control signal S3 based on the subtask sequence to the target robot 5.
  • the robot 5 may perform collaborative work with other robots, workers or machine tools operating in the work space.
  • the measuring device 7 may be a part of the robot 5.
  • the task instruction device 2 may be configured as the same device as the robot controller 1.
  • the robot controller 1 may be composed of a plurality of devices.
  • the plurality of devices constituting the robot controller 1 exchange information necessary for executing the pre-assigned process among the plurality of devices.
  • the robot controller 1 and the robot 5 may be integrally configured.
  • FIG. 2A shows the hardware configuration of the robot controller 1.
  • the robot controller 1 includes a processor 11, a memory 12, and an interface 13 as hardware.
  • the processor 11, the memory 12, and the interface 13 are connected via the data bus 10.
  • the processor 11 functions as a controller (arithmetic unit) that controls the entire robot controller 1 by executing a program stored in the memory 12.
  • the processor 11 is, for example, a processor such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit).
  • the processor 11 may be composed of a plurality of processors.
  • the processor 11 is an example of a computer.
  • the memory 12 is composed of various volatile memories such as RAM (Random Access Memory), ROM (Read Only Memory), and flash memory, and non-volatile memory. Further, the memory 12 stores a program for executing the process executed by the robot controller 1. A part of the information stored in the memory 12 may be stored by one or a plurality of external storage devices that can communicate with the robot controller 1, or may be stored by a storage medium that can be attached to and detached from the robot controller 1. good.
  • the interface 13 is an interface for electrically connecting the robot controller 1 and other devices. These interfaces may be wireless interfaces such as network adapters for wirelessly transmitting and receiving data to and from other devices, and may be hardware interfaces for connecting to other devices by cables or the like.
  • the hardware configuration of the robot controller 1 is not limited to the configuration shown in FIG. 2A.
  • the robot controller 1 may be connected to or built in at least one of a display device, an input device, and a sound output device. Further, the robot controller 1 may be configured to include at least one of the task instruction device 2 and the storage device 4.
  • FIG. 2B shows the hardware configuration of the task instruction device 2.
  • the task instruction device 2 includes a processor 21, a memory 22, an interface 23, an input unit 24a, a display unit 24b, and a sound output unit 24c as hardware.
  • the processor 21, the memory 22, and the interface 23 are connected via the data bus 20. Further, the input unit 24a, the display unit 24b, and the sound output unit 24c are connected to the interface 23.
  • the processor 21 executes a predetermined process by executing the program stored in the memory 22.
  • the processor 21 is a processor such as a CPU and a GPU.
  • the processor 21 generates an input signal S1 by receiving the signal generated by the input unit 24a via the interface 23, and transmits the input signal S1 to the robot controller 1 via the interface 23. Further, the processor 21 controls at least one of the display unit 24b and the sound output unit 24c via the interface 23 based on the output control signal S2 received from the robot controller 1 via the interface 23.
  • the memory 22 is composed of various volatile memories such as RAM, ROM, and flash memory, and non-volatile memory. Further, the memory 22 stores a program for executing the process executed by the task instruction device 2.
  • the interface 23 is an interface for electrically connecting the task instruction device 2 and another device. These interfaces may be wireless interfaces such as network adapters for wirelessly transmitting and receiving data to and from other devices, and may be hardware interfaces for connecting to other devices by cables or the like. Further, the interface 23 performs an interface operation of the input unit 24a, the display unit 24b, and the sound output unit 24c.
  • the input unit 24a is an interface for receiving user input, and corresponds to, for example, a touch panel, a button, a keyboard, a voice input device, and the like.
  • the display unit 24b is, for example, a display, a projector, or the like, and displays based on the control of the processor 21.
  • the sound output unit 24c is, for example, a speaker, and outputs sound based on the control of the processor 21.
  • the hardware configuration of the task instruction device 2 is not limited to the configuration shown in FIG. 2 (B).
  • at least one of the input unit 24a, the display unit 24b, and the sound output unit 24c may be configured as a separate device that is electrically connected to the task instruction device 2.
  • the task instruction device 2 may be connected to various devices such as a camera, or may be built-in.
  • FIG. 3 shows an example of the data structure of the application information stored in the application information storage unit 41.
  • the application information includes abstract state designation information I1, constraint condition information I2, operation limit information I3, subtask information I4, abstract model information I5, and object model information I6.
  • Abstract state specification information I1 is information that specifies an abstract state that needs to be defined when generating a subtask sequence. This abstract state is an abstract state of an object in a work space, and is defined as a proposition used in a target logical formula described later. For example, the abstract state specification information I1 specifies an abstract state that needs to be defined for each type of target task.
  • Constraint information I2 is information indicating the constraint conditions when executing the target task.
  • the constraint condition information I2 states that, for example, when the target task is pick and place, the constraint condition that the robot 5 (robot arm) must not touch the obstacle and that the robot 5 (robot arm) must not touch each other. Indicates constraints and the like.
  • the constraint condition information I2 may be information in which constraint conditions suitable for each type of target task are recorded.
  • the operation limit information I3 indicates information regarding the operation limit of the robot 5 controlled by the robot controller 1.
  • the operation limit information I3 is information that defines, for example, an upper limit of the speed, acceleration, or angular velocity of the robot 5.
  • the motion limit information I3 may be information that defines the motion limit for each movable part or joint of the robot 5.
  • Subtask information I4 indicates information on subtasks that can be accepted by the robot 5. For example, when the target task is pick and place, the subtask information I4 defines leaching, which is the movement of the robot arm of the robot 5, and glassing, which is the gripping by the robot arm, as subtasks. The subtask information I4 may indicate information on subtasks that can be used for each type of target task.
  • Abstract model information I5 is information about an abstract model that abstracts the dynamics in the workspace.
  • the abstract model is represented by a model that abstracts the dynamics of reality by a hybrid system, as will be described later.
  • the abstract model information I5 includes information indicating the conditions for switching the dynamics in the above-mentioned hybrid system.
  • the switching condition is, for example, in the case of a pick-and-place where the robot 5 grabs an object to be worked on (also referred to as an "object") and moves it to a predetermined position, the object must be grasped by the robot 5.
  • the condition that it cannot be moved is applicable.
  • Abstract model information I5 has information about an abstract model suitable for each type of target task.
  • the object model information I6 is information about the object model of each object in the work space to be recognized from the measurement signal S4 generated by the measuring device 7.
  • Each of the above-mentioned objects corresponds to, for example, a robot 5, an obstacle, a tool or other object handled by the robot 5, a working body other than the robot 5, and the like.
  • the object model information I6 is, for example, information necessary for the robot controller 1 to recognize the type, position, posture, currently executed motion, etc. of each object described above, and for recognizing the three-dimensional shape of each object. It includes 3D shape information such as CAD (Computer Aided Design) data.
  • the former information includes the parameters of the inferior obtained by learning a learning model in machine learning such as a neural network. This inference device is learned in advance to output, for example, the type, position, posture, and the like of an object that is a subject in the image when an image is input.
  • the application information storage unit 41 may store various information related to the subtask sequence generation process and the output control signal S2 generation process.
  • FIG. 4 is an example of a functional block showing an outline of the processing of the robot controller 1.
  • the processor 11 of the robot controller 1 functionally has an output control unit 15, an operation sequence generation unit 16, a robot control unit 17, and a proposition determination unit 18.
  • FIG. 4 shows an example of data exchanged between blocks, but the present invention is not limited to this. The same applies to the figures of other functional blocks described later.
  • the output control unit 15 generates an output control signal S2 for displaying an input screen (also referred to as a “task screen”) in which information about the target task is designated by the operator, and the output control signal S2 is used as the task instruction device 2. It is transmitted via the interface 13. For example, the output control unit 15 displays an image (also referred to as a “work space image”) captured in the work space included in the measurement signal S4 on the task screen, and accepts inputs based on various operations. Then, the output control unit 15 receives the input signal S1 generated by the task instruction device 2 by the input operation on the task screen from the task instruction device 2 via the interface 13. In this case, the input signal S1 includes information (also referred to as “task designation information Ia”) that roughly designates the target task.
  • the input signal S1 includes information (also referred to as “task designation information Ia”) that roughly designates the target task.
  • the task designation information Ia is, for example, information corresponding to a schematic command to the robot 5, and does not include information defining a specific operation of the robot 5 (for example, control input information or subtask information described later). Then, the output control unit 15 supplies the task designation information Ia based on the input signal S1 supplied from the task instruction device 2 to the operation sequence generation unit 16.
  • the output control unit 15 receives information regarding the completion determination result of the target task (also referred to as “determination result information Ie”) from the proposition determination unit 18.
  • the output control unit 15 corresponds to information notifying the completion of the target task or information (alert information) notifying that the target task has not been completed due to some abnormality based on the determination result information IE.
  • the output control signal S2 is generated.
  • the output control unit 15 supplies the output control signal S2 to the task instruction device 2 via the interface 13.
  • the task instruction device 2 performs a display or sound output notifying the normal completion of the target task, or a display or sound output notifying that the target task has not been completed normally.
  • the operation sequence generation unit 16 generates a subtask sequence “Sr” to be executed by the robot 5 based on the task designation information Ia supplied from the output control unit 15, the measurement signal S4, and the application information stored in the storage device 4. do.
  • the operation sequence generation unit 16 collectively generates the subtask sequence Sr required from the start to the completion of the target task. Then, the operation sequence generation unit 16 supplies the generated subtask sequence Sr to the robot control unit 17.
  • the subtask sequence Sr includes information indicating the execution order and execution timing of each subtask.
  • the operation sequence generation unit 16 receives information requesting the generation of a proposition regarding the target task (also referred to as “proposition request information Ic”) from the proposition determination unit 18.
  • the operation sequence generation unit 16 has a proposition representing the current state of the target task (also referred to as a “first proposition”) and a proposition representing the completion state of the target task designated by the task designation information Ia (“first proposition”). Also called “2 propositions”) and.
  • the operation sequence generation unit 16 supplies the generated information indicating the first proposition and the second proposition (also referred to as “proposition information Id”) to the proposition determination unit 18.
  • the method of generating the first proposition and the second proposition will be described in detail in the section "(5-8) Proposition generation unit ".
  • the robot control unit 17 controls the robot 5 to execute each subtask constituting the subtask sequence Sr at a predetermined execution timing (time step) based on the subtask sequence Sr supplied from the operation sequence generation unit 16. conduct. Specifically, the robot control unit 17 transmits the control signal S3 to the robot 5 to execute position control or torque control of the joints of the robot 5 for realizing the subtask sequence Sr. Then, when the output of the control signal S3 to the robot 5 based on the subtask sequence Sr is completed (the output is lost), the robot control unit 17 notifies the execution completion of the subtask sequence Sr (“completion notification information Ib””. Also called) is supplied to the proposition determination unit 18.
  • the robot 5 may have a function corresponding to the robot control unit 17 instead of the robot controller 1.
  • the robot 5 receives the subtask sequence Sr from the motion sequence generation unit 16 to execute joint position control or torque control for realizing the subtask sequence Sr. Further, when the execution of the subtask sequence Sr is completed, the robot 5 supplies the completion notification information Ib to the proposition determination unit 18 of the robot controller 1.
  • the proposition determination unit 18 executes a determination as to whether or not the target task is normally completed (also referred to as “target task completion determination”) based on a comparison between the propositions. Specifically, when the proposition determination unit 18 receives the completion notification information Ib from the robot control unit 17, the proposition request information Ic is supplied to the operation sequence generation unit 16, and the proposition information Id is used as a response to the operation sequence generation unit. Receive from 16. Then, the proposition determination unit 18 compares the first proposition and the second proposition indicated by the proposition information Id, and if they are different, the determination result information indicating that the target task was not completed normally. Generate Ie.
  • the proposition determination unit 18 compares the first proposition and the second proposition indicated by the proposition information Id, and if they match, determines determination result information Ie indicating that the target task has been completed normally. Generate. Then, the proposition determination unit 18 supplies the generated determination result information Ie to the output control unit 15.
  • each component of the output control unit 15, the operation sequence generation unit 16, the robot control unit 17, and the proposition determination unit 18 can be realized, for example, by the processor 11 executing a program. Further, each component may be realized by recording a necessary program in an arbitrary non-volatile storage medium and installing it as needed. It should be noted that at least a part of each of these components is not limited to being realized by software by a program, but may be realized by any combination of hardware, firmware, and software. Further, at least a part of each of these components may be realized by using a user-programmable integrated circuit such as an FPGA (Field-Programmable Gate Array) or a microcontroller. In this case, this integrated circuit may be used to realize a program composed of each of the above components.
  • FPGA Field-Programmable Gate Array
  • each component may be composed of an ASIC (Application Specific Standard Produce), an ASIC (Application Specific Integrated Circuit), or a quantum computer control chip.
  • ASIC Application Specific Standard Produce
  • ASIC Application Specific Integrated Circuit
  • quantum computer control chip As described above, each component may be realized by various hardware. The above is the same in other embodiments described later. Further, each of these components may be realized by the collaboration of a plurality of computers by using, for example, cloud computing technology.
  • FIG. 5 is an example of a functional block showing the functional configuration of the operation sequence generation unit 16.
  • the operation sequence generation unit 16 includes an abstract state setting unit 31, a target logical expression generation unit 32, a time step logical expression generation unit 33, an abstract model generation unit 34, and a control input generation unit 35. It has a subtask sequence generation unit 36 and a proposition generation unit 37.
  • the abstract state setting unit 31 works based on the measurement signal S4 supplied from the measuring device 7, the task designation information Ia supplied from the output control unit 15, the abstract state designation information I1, and the object model information I6. Set the abstract state in space. In this case, the abstract state setting unit 31 recognizes an object in the workspace that needs to be considered when executing the target task, and generates a recognition result Im regarding the object. Then, the abstract state setting unit 31 defines a proposition to be expressed by a logical expression for each abstract state that needs to be considered when executing the target task based on the recognition result Im.
  • the abstract state setting unit 31 supplies information indicating the set abstract state (also referred to as “abstract state setting information IS”) to the target logical expression generation unit 32. Further, the abstract state setting unit 31 supplies the abstract state setting information IS indicating the state at the time of the request to the proposition generation unit 37 based on the request from the proposition generation unit 37.
  • the target logical expression generation unit 32 uses the target task indicated by the task designation information Ia as a logical expression of time phase logic representing the final achievement state (also referred to as “target logical expression Ltag”). Convert to. In this case, the target logical expression generation unit 32 adds the constraint conditions to be satisfied in the execution of the target task to the target logical expression Ltag by referring to the constraint condition information I2 from the application information storage unit 41. Then, the target logical expression generation unit 32 supplies the generated target logical expression Ltag to the time step logical expression generation unit 33 and the proposition generation unit 37.
  • the time step logical formula generation unit 33 converts the target logical formula Ltag supplied from the target logical formula generation unit 32 into a logical formula (also referred to as “time step logical formula Lts”) representing the state at each time step. do. Then, the time step logical formula generation unit 33 supplies the generated time step logical formula Lts to the control input generation unit 35.
  • the abstract model generation unit 34 abstracts the actual dynamics in the work space based on the abstract model information I5 stored in the application information storage unit 41 and the recognition result Im supplied from the abstract state setting unit 31. ⁇ ”is generated.
  • the abstract model generation unit 34 regards the target dynamics as a hybrid system in which continuous dynamics and discrete dynamics are mixed, and generates an abstract model ⁇ based on the hybrid system. The method of generating the abstract model ⁇ will be described later.
  • the abstract model generation unit 34 supplies the generated abstract model ⁇ to the control input generation unit 35.
  • the control input generation unit 35 satisfies the time step logical expression Lts supplied from the time step logical expression generation unit 33 and the abstract model ⁇ supplied from the abstract model generation unit 34, and is consumed by an evaluation function (for example, a robot).
  • the control input to the robot 5 is determined for each time step that optimizes the energy amount). Then, the control input generation unit 35 supplies information indicating the control input to the robot 5 for each time step (also referred to as “control input information Icn”) to the subtask sequence generation unit 36.
  • the subtask sequence generation unit 36 generates the subtask sequence Sr based on the control input information Icn supplied from the control input generation unit 35 and the subtask information I4 stored in the application information storage unit 41, and controls the subtask sequence Sr by the robot. Supply to unit 17.
  • the proposition generation unit 37 has an abstract state setting information IS supplied from the abstract state setting unit 31 and a target logic supplied from the target logical expression generation unit 32 when the proposition request information Ic is supplied from the proposition determination unit 18. Based on the formula Ltag, proposition information Id indicating the first proposition and the second proposition, respectively, is generated. Then, the proposition generation unit 37 supplies the generated proposition information Id to the proposition determination unit 18.
  • the abstract state setting unit 31 refers to the object model information I6 and recognizes the environment of the work space (image processing technology, image recognition technology, voice recognition technology, RFID (Radio).
  • the recognition result Im is generated by analyzing the measurement signal S4 by a technique using (Freequency Abstraction) or the like).
  • the recognition result Im includes information such as the type, position, and posture of the object in the work space.
  • the object in the work space is, for example, a robot 5, an object such as a tool or a part handled by the robot 5, an obstacle, and another work body (a person or other object who works other than the robot 5).
  • the abstract state setting unit 31 sets the abstract state in the workspace based on the recognition result Im and the abstract state designation information I1 acquired from the application information storage unit 41.
  • the abstract state setting unit 31 refers to the abstract state designation information I1 and recognizes the abstract state to be set in the workspace.
  • the abstract state to be set in the workspace differs depending on the type of target task. Therefore, when the abstract state to be set for each type of the target task is defined in the abstract state designation information I1, the abstract state setting unit 31 is the abstract state designation information corresponding to the target task indicated by the task designation information Ia. Refer to I1 and recognize the abstract state to be set.
  • FIG. 6 shows a bird's-eye view of the work space when the target task is pick and place.
  • the work space shown in FIG. 6 there are two robot arms 52a and 52b, four objects 61 (61a to 61d), an obstacle 62, and a region G which is the destination of the object 61. There is.
  • the abstract state setting unit 31 recognizes the state of the object 61, the existence range of the obstacle 62, the state of the robot 5, the existence range of the area G, and the like.
  • the abstract state setting unit 31 recognizes the position vectors "x 1 " to "x 4 " at the centers of the objects 61a to 61d as the positions of the objects 61a to 61d. Further, the abstract state setting unit 31 recognizes the position vector “x r1 ” of the robot hand 53a that grips the object and the position vector “x r2 ” of the robot hand 53b as the positions of the robot arm 52a and the robot arm 52b. do.
  • the abstract state setting unit 31 recognizes the postures of the objects 61a to 61d (unnecessary because the object is spherical in the example of FIG. 6), the existence range of the obstacle 62, the existence range of the region G, and the like.
  • the abstract state setting unit 31 recognizes the position vectors of the obstacle 62 and the vertices of the area G.
  • the abstract state setting unit 31 determines the abstract state to be defined in the target task by referring to the abstract state designation information I1. In this case, the abstract state setting unit 31 determines a proposition indicating an abstract state based on the recognition result Im (for example, the number of each type of object) regarding the object existing in the work space and the abstract state designation information I1.
  • the recognition result Im for example, the number of each type of object
  • the proposition " wi " that the object exists in the outer region may be further defined.
  • the non-working area is, for example, an area (floor surface or the like) where the object exists when the object falls from the work table.
  • the abstract state setting unit 31 recognizes the abstract state to be defined by referring to the abstract state designation information I1, and propositions representing the abstract state (gi, o i , h, etc. in the above example ) . ) Is defined according to the number of objects 61, the number of robot arms 52, the number of obstacles 62, the number of robots 5, and the like. Then, the abstract state setting unit 31 supplies the information indicating the proposition representing the abstract state to the target logical expression generation unit 32 as the abstract state setting information IS.
  • the target logical expression generation unit 32 converts the target task indicated by the task designation information Ia into a logical expression using temporal logic.
  • the target logical expression generation unit 32 sets the target task with the operator “ ⁇ ” corresponding to the “eventually” of the linear logical expression (LTL: Linear Temporal Logical) and the proposition “g” defined by the abstract state setting unit 31. Using “ i ", the logical formula " ⁇ g 2 " is generated.
  • the target logical expression generation unit 32 is an operator of any time phase logic other than the operator “ ⁇ ” (logical product “ ⁇ ”, logical sum “ ⁇ ”, negative “ ⁇ ”, logical inclusion “ ⁇ ”, always.
  • a logical expression may be expressed using " ⁇ ", next " ⁇ ", until “U”, etc.).
  • the logical expression may be expressed by using any time phase logic such as MTL (Metric Temporal Logic) and STL (Signal Temporal Logic), not limited to the linear temporal logic.
  • the task designation information Ia may be information for designating the target task in natural language. There are various techniques for converting a task expressed in natural language into a logical expression.
  • the target logical expression generation unit 32 generates the target logical expression Ltag by adding the constraint condition indicated by the constraint condition information I2 to the logical expression indicating the target task.
  • the constraint condition information I2 includes two constraint conditions corresponding to the pick and place shown in FIG. 6, "the robot arms 52 do not always interfere with each other" and "the object i does not always interfere with the obstacle O". If so, the target logical expression generation unit 32 converts these constraints into logical expressions. Specifically, the target logical formula generation unit 32 uses the proposition " oi " and the proposition "h" defined by the abstract state setting unit 31 in the explanation of FIG. 6 to satisfy the above two constraints, respectively. Convert to the following formula. ⁇ ⁇ h ⁇ i ⁇ ⁇ o i
  • the following target formula Ltag is generated.
  • the constraint conditions corresponding to the pick and place are not limited to the above two, and "the robot arm 52 does not interfere with the obstacle O" and “the plurality of robot arms 52 do not grab the same object”. , "Objects do not touch each other” and other constraints exist. Similarly, such a constraint condition is also stored in the constraint condition information I2 and reflected in the target formula Ltag.
  • Time step logical expression generation unit 33 determines the number of time steps (also referred to as “target time step number”) for completing the target task, and the target logical expression is determined by the target number of time steps. Determine a combination of propositions that represent the state at each time step that satisfies the Ltag. Since there are usually a plurality of these combinations, the time step logical expression generation unit 33 generates a logical expression obtained by combining these combinations by a logical sum as a time step logical expression Lts.
  • the above combination is a candidate for a logical expression representing a sequence of actions instructed by the robot 5, and is also referred to as "candidate ⁇ " hereafter.
  • the following target logical formula Ltag is supplied from the target logical formula generation unit 32 to the time step logical formula generation unit 33.
  • the time step logical formula generation unit 33 uses the proposition "gi , k " which is an extension of the proposition "gi” so as to include the concept of the time step.
  • the proposition "gi , k " is a proposition that "the object i exists in the region G in the time step k".
  • the target logical formula Ltag is rewritten as follows.
  • ⁇ g2 and 3 can be rewritten as shown in the following equation.
  • the above-mentioned target logical formula Ltag is represented by the logical sum ( ⁇ 1 ⁇ ⁇ 2 ⁇ ⁇ 3 ⁇ ⁇ 4 ) of the four candidates “ ⁇ 1 ” to “ ⁇ 4 ” shown below.
  • the time step logical formula generation unit 33 defines the logical sum of the four candidates ⁇ 1 to ⁇ 4 as the time step logical formula Lts.
  • the time step formula Lts is true when at least one of the four candidates ⁇ 1 to ⁇ 4 is true.
  • the time step logical formula generation unit 33 determines, for example, the target number of time steps based on the estimated work time specified by the input signal S1 supplied from the task instruction device 2. In this case, the time step logical formula generation unit 33 calculates the target number of time steps from the above-mentioned estimated time based on the information of the time width per time step stored in the memory 12 or the storage device 4. In another example, the time step logical expression generation unit 33 stores in advance information associated with the target number of time steps suitable for each type of target task in the memory 12 or the storage device 4, and refers to the information. By doing so, the target number of time steps is determined according to the type of target task to be executed.
  • the time step logical formula generation unit 33 sets the target number of time steps to a predetermined initial value. Then, the time step logical formula generation unit 33 gradually increases the number of target time steps until the time step logical formula Lts in which the control input generation unit 35 can determine the control input is generated. In this case, the time step logical formula generation unit 33 determines the target time step number when the optimum solution cannot be derived as a result of the control input generation unit 35 performing the optimization process according to the set target time step number. Add only a number (integer of 1 or more).
  • the time step logical formula generation unit 33 may set the initial value of the target time step number to a value smaller than the time step number corresponding to the work time of the target task expected by the user. As a result, the time step logical formula generation unit 33 preferably suppresses setting an unnecessarily large target number of time steps.
  • the abstract model generation unit 34 generates an abstract model ⁇ based on the abstract model information I5 and the recognition result Im.
  • the abstract model information I5 information necessary for generating the abstract model ⁇ is recorded for each type of target task. For example, when the target task is pick and place, a general-purpose abstraction that does not specify the position and number of objects, the position of the area where the objects are placed, the number of robots 5 (or the number of robot arms 52), etc.
  • the model is recorded in the abstract model information I5.
  • the abstract model generation unit 34 generates the abstract model ⁇ by reflecting the recognition result Im for the abstract model of the general-purpose form including the dynamics of the robot 5 recorded in the abstract model information I5.
  • the abstract model ⁇ becomes a model in which the state of the object in the work space and the dynamics of the robot 5 are abstractly represented.
  • the state of the object in the work space indicates the position and number of the object, the position of the area where the object is placed, the number of robots 5, and the like.
  • the abstract model information I5 may include information about the abstracted dynamics of the other work body.
  • the abstract model ⁇ is a model that abstractly represents the state of the object in the work space, the dynamics of the robot 5, and the dynamics of another work body.
  • the dynamics in the work space are frequently switched. For example, in pick-and-place, when the robot arm 52 is grasping the object i, the object i can be moved, but when the robot arm 52 is not grasping the object i, the object i is not grasped. I can't move i.
  • the abstract model generation unit 34 can determine the abstract model ⁇ to be set for the workspace shown in FIG. 6 by the following equation (1).
  • u j indicates a control input for controlling the robot hand j
  • "I" is an identity matrix. Indicated, "0” indicates an example of zero line. Although speed is assumed here as an example, the control input may be acceleration.
  • " ⁇ j, i " is a logical variable that is “1” when the robot hand j is grasping the object i and "0” in other cases.
  • the equation (1) is a difference equation showing the relationship between the state of the object at the time step k and the state of the object at the time step k + 1.
  • the gripping state is represented by a logical variable that is a discrete value
  • the movement of the object is represented by a continuous value, so that the equation (1) represents a hybrid system. ..
  • equation (1) only the dynamics of the robot hand, which is the hand of the robot 5 that actually grips the object, is considered, not the detailed dynamics of the entire robot 5. As a result, the amount of calculation for the optimization process by the control input generation unit 35 can be suitably reduced.
  • the abstract model generation unit 34 can obtain the abstract model information I5 and the recognition result even when the position and number of the objects, the area where the objects are placed (area G in FIG. 6), the number of robots 5, and the like fluctuate. Based on Im, it is possible to determine the abstract model ⁇ suitable for the environment of the target workspace.
  • the abstract model generation unit 34 generates a model of a mixed logical dynamic (MLD: Mixed Logical Dynamic) system or a hybrid system combining Petri net, an automaton, etc., instead of the model shown in the equation (1). May be good.
  • MLD Mixed Logical Dynamic
  • Control input generation unit 35 is based on the time step logical expression Lts supplied from the time step logical expression generation unit 33 and the abstract model ⁇ supplied from the abstract model generation unit 34.
  • the control input for the robot 5 for each time step that becomes the optimum is determined.
  • the control input generation unit 35 defines an evaluation function for the target task, and solves an optimization problem that minimizes the evaluation function with the abstract model ⁇ and the time step logical expression Lts as constraints.
  • the evaluation function is, for example, predetermined for each type of target task and stored in the memory 12 or the storage device 4.
  • the control input generation unit 35 has a minimum distance "d k " and a control input " uk " between the object to be carried and the target point to carry the object. (That is, the evaluation function is defined so as to minimize the energy consumed by the robot 5).
  • control input generation unit 35 determines the sum of the square of the norm of the distance d k and the square of the norm of the control input uk in all the time steps as the evaluation function. Then, the control input generation unit 35 solves the constrained mixed integer optimization problem shown in the following equation (2) with the abstract model ⁇ and the time step logical equation Lts (that is, the logical sum of the candidates ⁇ i ) as constraints.
  • T is the number of time steps to be optimized, and may be the target number of time steps, or may be a predetermined number smaller than the target number of time steps, as will be described later.
  • the control input generation unit 35 approximates the logical variable to the continuous value (it is regarded as a continuous relaxation problem). As a result, the control input generation unit 35 can suitably reduce the amount of calculation.
  • STL linear logic formula
  • the control input generation unit 35 sets the number of time steps used for optimization to a value smaller than the target time step number (for example, the above-mentioned threshold value). You may. In this case, the control input generation unit 35 sequentially determines the control input uk by solving the above-mentioned optimization problem every time a predetermined number of time steps elapses, for example.
  • the control input generation unit 35 may solve the above-mentioned optimization problem and determine the control input uk to be used for each predetermined event corresponding to the intermediate state with respect to the achievement state of the target task. In this case, the control input generation unit 35 sets the number of time steps until the next event occurs to the number of time steps used for optimization.
  • the above-mentioned event is, for example, an event in which the dynamics in the workspace are switched. For example, when the target task is pick and place, it is determined as an event that the robot 5 grabs the object, the robot 5 finishes carrying one of the plurality of objects to be carried to the destination, and the like. Be done.
  • the event is determined in advance for each type of target task, for example, and information for specifying the event for each type of target task is stored in the storage device 4.
  • Subtask sequence generation unit 36 generates a subtask sequence Sr based on the control input information Icn supplied from the control input generation unit 35 and the subtask information I4 stored in the application information storage unit 41. Generate. In this case, the subtask sequence generation unit 36 recognizes the subtask that can be accepted by the robot 5 by referring to the subtask information I4, and converts the control input for each time step indicated by the control input information Icn into the subtask.
  • the subtask information I4 contains a function indicating two subtasks, that is, the movement of the robot hand (reaching) and the gripping of the robot hand (grasping), as the subtasks that the robot 5 can accept when the target task is pick and place.
  • the function "Move” representing leaching has, for example, the initial state of the robot 5 before the execution of the function, the final state of the robot 5 after the execution of the function, and the time required to execute the function as arguments. It is a function.
  • the function "Grasp” representing grasping is, for example, a function in which the state of the robot 5 before the execution of the function, the state of the object to be grasped before the execution of the function, and the logical variable ⁇ are used as arguments.
  • the function "Grasp” indicates that the operation of grasping is performed when the logical variable ⁇ is "1", and the operation of releasing when the logical variable ⁇ is "0" is performed.
  • the subtask sequence generation unit 36 determines the function "Move” based on the trajectory of the robot hand determined by the control input for each time step indicated by the control input information Icn, and the control input information Icn determines the function "Grasp". Determined based on the transition of the logical variable ⁇ for each time step shown.
  • the proposition generation unit 37 generates an abstract state setting information IS supplied from the abstract state setting unit 31 and a target logical formula generation when the proposition request information Ic is supplied from the proposition determination unit 18. Based on the target logical formula Ltag supplied from the unit 32, the propositional information Id indicating the first proposition and the second proposition is generated. Here, the generation of the first proposition and the second proposition will be described respectively.
  • the proposition generation unit 37 relates to the target task based on the abstract state setting information IS generated by the abstract state setting unit 31 at the time when the proposition request information Ic is supplied from the proposition determination unit 18 (that is, when the execution of the subtask sequence Sr is completed). Generate a first proposition that abstractly represents the current state. In this case, the proposition generation unit 37 generates the first proposition obtained by extracting the part representing the state of the object necessary for the completion determination of the target task from the propositions indicated by the abstract state setting information IS.
  • the "object necessary for determining the completion of the target task” is, for example, a work object (work), and in the example of FIG. 6, it corresponds to the objects 61a to 61d.
  • the "object necessary for determining the completion of the target task” may be determined for each type of target task.
  • the storage device 4 or the memory 12 or the like stores information that defines "an object necessary for determining the completion of the target task" for each type of the target task, and the proposition generation unit 37 stores the information.
  • “the object necessary for determining the completion of the target task” is determined.
  • the proposition generation unit 37 further uses the proposition " wi " that the object exists in the work table and the non-working area other than the area G, and uses the first proposition shown in the following equation (4). Generate. g 1 ⁇ w 2 ⁇ g 3 ⁇ g 4 (4)
  • the proposition generation unit 37 refers to the abstract state setting information IS generated based on the measurement signal S4 at the time when the execution of the subtask sequence Sr by the robot 5 is completed, and abstractly represents the current state of the target task.
  • the first proposition is preferably generated.
  • the proposition generation unit 37 may receive the recognition result Im generated based on the measurement signal S4 instead of receiving the abstract state setting information IS from the abstract state setting unit 31.
  • the proposition generation unit 37 generates a first proposition that abstractly represents the current state (the state of the object in FIG. 6) with respect to the target task based on the recognition result Im.
  • the proposition generation unit 37 generates a second proposition that abstractly represents the completion state of the target task based on the target logical expression Ltag supplied from the target logical expression generation unit 32.
  • the proposition generation unit 37 excludes the logical expression of the constraint condition included in the target logical expression Ltag, and generates the second proposition using only the logical expression corresponding to the target task.
  • the proposition generation unit 37 generates the second proposition shown in the following equation (5) excluding various constraints such as not interfering with obstacles from the target logical equation Ltag. ⁇ g 1 ⁇ ⁇ g 2 ⁇ ⁇ g 3 ⁇ ⁇ g 4 (5)
  • the proposition generation unit 37 further deletes a predetermined operator such as the operator " ⁇ " corresponding to "eventually" from the target logical expression Ltag, which does not affect the completion determination of the target task. Generate a proposition.
  • the information of the operator to be deleted is stored in advance in, for example, the storage device 4 or the memory 12.
  • the proposition generation unit 37 generates the second proposition represented by the following equation (6).
  • the proposition generation unit 37 abstractly represents the completion state of the target task by using the target logical formula Ltag generated based on the target task designated by the task designation information Ia or the like. Properly produced.
  • the proposition generation unit 37 may receive a logical expression excluding the constraint condition from the target logical expression Ltag from the target logical expression generation unit 32 instead of the target logical expression Ltag.
  • the proposition determination unit 18 determines that the target task has been completed normally when the first proposition and the second proposition indicated by the proposition information Id received from the operation sequence generation unit 16 match. For example, when the proposition determination unit 18 receives the proposition information Id indicating the first proposition shown in the equation (3) and the second proposition shown in the equation (6), the equation (3) and the equation (6) Since they are the same, the first proposition and the second proposition match, and it is determined that the target task has been completed normally.
  • the proposition determination unit 18 determines whether the second proposition has a predetermined operator such as the operator " ⁇ " corresponding to "eventually" that does not affect the completion determination of the target task. If the second proposition has a predetermined operator such as the operator " ⁇ " corresponding to “eventually” that does not affect the completion determination of the target task, the proposition determination unit 18 is concerned. The presence or absence of the operator is not regarded as a difference, and the presence or absence of a match between the first and second propositions described above is determined. Therefore, when the proposition determination unit 18 receives the proposition information Id indicating the first proposition shown in the equation (3) and the second proposition shown in the equation (5), the equation (3) and the equation (5) Is the same except for the operator " ⁇ ", so that the first proposition and the second proposition match, and it is determined that the target task has been completed normally.
  • the proposition information Id indicating the first proposition shown in the equation (3) and the second proposition shown in the equation (5)
  • the equation (3) and the equation (5) Is the same except for the operator " ⁇
  • the proposition determination unit 18 can accurately determine the completion of the target task based on the first proposition and the second proposition generated by the proposition generation unit 37.
  • FIG. 7 shows a display example of a task screen for designating a target task.
  • the output control unit 15 generates an output control signal S2 and transmits the output control signal S2 to the task instruction device 2 to control the task instruction device 2 to display the task screen shown in FIG. 7.
  • the task screen shown in FIG. 7 mainly has a task type designation field 25, a work space image display field 26, and various buttons 28 (28a, 28b).
  • the output control unit 15 receives an input for designating the type of the target task in the task type designation field 25.
  • the task type designation field 25 is an input field in the form of a pull-down menu, and the output control unit 15 displays a list of acceptable target task type candidates in the task type designation field 25 so as to be selectable. ..
  • pick and place is designated as the type of the target task in the task type designation field 25.
  • the output control unit 15 displays a work space image captured in the work space by the measuring device 7 in the work space image display field 26, and is designated necessary for executing the target task designated in the task type designation field 25. Accept.
  • the output control unit 15 refers to the abstract state designation information I1 corresponding to the pick and place selected in the task type designation field 25, and the target object to be worked by the robot 5 and the target object. Recognize that it is necessary to determine the destination. Therefore, the output control unit 15 receives an input for designating an object and a destination on the work space image display field 26, respectively.
  • the output control unit 15 displays the marks 27a to 27d on which the object is designated by a solid line, and the marks 27e on which the destination is designated by a broken line. Then, when the output control unit 15 detects that the object determination button 28a is selected, the output control unit 15 recognizes the position information of the marks 27a to 27d drawn by the user as information for specifying the position of the object. Further, when the output control unit 15 further detects that the destination determination button 28b is selected, the output control unit 15 uses the position information of the mark 27e drawn by the user after the selection of the object determination button 28a as information for specifying the destination. recognize. Then, the output control unit 15 supplies information for identifying these objects and destinations (here, position information of each mark on the work space image) to the operation sequence generation unit 16 as task designation information Ia.
  • the output control unit 15 supplies information for identifying these objects and destinations (here, position information of each mark on the work space image) to the operation sequence generation unit 16 as task designation information Ia.
  • the output control unit 15 preferably accepts user input regarding the designation of the type of the target task and the designation of the object related to the target task, and the task designation information Ia is suitable. Can be obtained in.
  • the output control unit 15 accepts the input of designating some pixels constituting the object and the destination by touch operation or click operation. May be good. In this case, the output control unit 15 regards the position information of each designated pixel as information for specifying the object and the destination, and supplies the task designation information Ia to the operation sequence generation unit 16. In another example, the output control unit 15 may generate the task designation information Ia based on the recognition result Im regarding the object and the destination without the user input on the work space image display field 26.
  • FIG. 8 shows a display example of the task screen when the target task specified in FIG. 7 is completed normally.
  • the output control unit 15 generates an output control signal S2 based on the determination result information Ie received from the proposition determination unit 18, and transmits the output control signal S2 to the task instruction device 2, thereby transmitting the output control signal S2 to the task instruction device 2 in FIG. It is controlled to display the task screen shown in.
  • the task screen shown in FIG. 8 mainly has a notification area 29 and a work space image display field 26A.
  • the output control unit 15 displays a text message to the effect that the target task has been completed in the notification area 29. ing. Further, the output control unit 15 displays a work space image based on the latest measurement signal S4 in the work space image display column 26A.
  • the output control unit 15 can suitably notify the user on the task screen that the designated target task has been completed.
  • FIG. 9 shows a display example of the task screen when the target task specified in FIG. 7 does not end normally.
  • the output control unit 15 generates an output control signal S2 based on the determination result information Ie received from the proposition determination unit 18, and transmits the output control signal S2 to the task instruction device 2, whereby FIG. 9 is shown in the task instruction device 2. It is controlled to display the task screen shown in.
  • the task screen shown in FIG. 9 has a notification area 29 and a work space image display field 26A, similarly to the task screen of FIG.
  • the output control unit 15 displays a text message in the notification area 29 to the effect that the target task has not been completed normally, based on the determination result information IE received from the proposition determination unit 18. Further, the output control unit 15 displays a work space image based on the latest measurement signal S4 in the work space image display column 26A.
  • the output control unit 15 can appropriately notify the user of an alert for not completing the specified target task normally on the task screen.
  • FIG. 10 is an example of a flowchart showing an outline of robot control processing executed by the robot controller 1 in the first embodiment.
  • the output control unit 15 of the robot controller 1 acquires the task designation information Ia (step S11).
  • the output control unit 15 transmits an output control signal S2 for displaying the task screen to the task instruction device 2 via the interface 13, and the task instruction device 2 displays the task screen based on the output control signal S2. indicate.
  • the output control unit 15 receives the input signal S1 related to the designation of the target task from the task instruction device 2 displaying the task screen, the output control unit 15 acquires the input signal S1 as the task designation information Ia.
  • the operation sequence generation unit 16 generates a subtask sequence Sr, which is an operation sequence of the robot 5, based on the task designation information Ia acquired in step S11 and the measurement signal S4 (step S12). In this case, the operation sequence generation unit 16 recognizes an object in the workspace necessary for generating the subtask sequence Sr, and generates the subtask sequence Sr necessary for completing the target task indicated by the task designation information Ia.
  • the robot control unit 17 sequentially supplies the control signal S3 based on the generated subtask sequence Sr to the robot 5, and controls the robot 5 to operate according to the generated subtask sequence Sr (step S13).
  • the robot control unit 17 determines whether or not the subtask sequence Sr has been completed (step S14). In this case, the robot control unit 17 determines that the subtask sequence Sr has been completed, for example, when there are no more control signals to be output to the robot 5 based on the subtask sequence Sr (that is, the output of the control signal is completed). It should be noted that the robot control unit 17 has completed the subtask sequence Sr when the time length corresponding to the number of time steps possessed by the subtask sequence Sr has elapsed after the start of supplying the control signal based on the subtask sequence Sr to the robot 5. You may judge.
  • step S14 determines that the subtask sequence Sr has been completed (step S14; Yes)
  • the robot control unit 17 proceeds to the process to step S15.
  • step S14; No the control of the robot 5 is continued in step S13.
  • the operation sequence generation unit 16 After the completion of the subtask sequence Sr, the operation sequence generation unit 16 generates a first proposition representing the current state of the target task and a second proposition representing the completed state of the target task, respectively (step S15).
  • the proposition determination unit 18 supplies the proposition request information Ic to the operation sequence generation unit 16 at the timing when the completion notification information Ib is received from the robot control unit 17, and the operation sequence generation unit 16 propositions the proposition request information Ic.
  • the first proposition and the second proposition are generated.
  • the proposition determination unit 18 determines whether or not the first proposition generated by the operation sequence generation unit 16 and the second proposition match (step S16). In this case, the proposition determination unit 18 receives the proposition information Id indicating the first proposition and the second proposition from the operation sequence generation unit 16, and compares the first proposition and the second proposition indicated by the received proposition information Id. Based on this, the determination result information Ie is generated.
  • step S16 determines that the first proposition and the second proposition match (step S16; Yes)
  • the output control unit 15 notifies the completion of the task (step S17).
  • the output control unit 15 supplies, for example, the output control signal S2 generated based on the determination result information IE to the task instruction device 2 to display a task screen (see FIG. 8) that clearly indicates the normal completion of the target task. Controls the display on the task instruction device 2.
  • the robot controller 1 can suitably notify the user of the completion of the target task.
  • step S16 when the proposition determination unit 18 determines that the first proposition and the second proposition do not match (step S16; No), it determines that the target task has not been completed normally.
  • the output control unit 15 outputs alert information indicating that the task has not been completed normally (step S18).
  • the output control unit 15 supplies, for example, the output control signal S2 generated based on the determination result information IE to the task instruction device 2, so that the task screen (task screen) indicating an alert for the failure to complete the target task normally ( (See FIG. 9) is controlled to be displayed on the task instruction device 2.
  • the robot controller 1 can appropriately notify the user of an alert that the target task has not been completed normally.
  • the robot controller 1 may cause the robot 5 to execute a predetermined target task instead of causing the robot 5 to execute the target task specified based on the user input on the task screen.
  • the robot controller 1 may control to display the result of the target task completion determination on the task screen, or in addition to this, control to output the result of the target task completion determination by sound. ..
  • the output control unit 15 of the robot controller 1 notifies the task instruction device 2 of the result of the target task completion determination by supplying the output control signal S2 including the sound output signal generated based on the determination result information Ie to the task instruction device 2.
  • the output control unit 15 may cause the task instruction device 2 to execute the above-mentioned sound output only when the determination result information Ie indicating that the target task has not been completed normally is acquired.
  • the sound output may be a voice guidance notifying that the target task has not been completed normally, or may be an alert sound.
  • the robot controller 1 can suitably notify the user of the task instruction device 2 of the result of the target task completion determination.
  • the robot controller 1 determines the target task completion to the management terminal that collectively manages the robots or other machines in the factory. The result of may be output.
  • the output control unit 15 of the robot controller 1 receives the judgment result information Ie from the proposition determination unit 18, and then transmits the judgment result information Ie or the information based on the judgment result information Ie to the management terminal via the interface 13. .. Then, the management terminal may store the information received from the robot controller 1 as task history information, or may execute display or sound output based on the received information. Note that the robot controller 1 may transmit alert information based on the determination to the management terminal only when it is determined that the target task has not been completed normally.
  • the block configuration of the operation sequence generation unit 16 shown in FIG. 5 is an example, and various changes may be made.
  • the information of the motion sequence candidate ⁇ instructed to the robot 5 is stored in advance in the storage device 4, and the motion sequence generation unit 16 executes the optimization process of the control input generation unit 35 based on the information.
  • the operation sequence generation unit 16 selects the optimum candidate ⁇ and determines the control input of the robot 5.
  • the operation sequence generation unit 16 does not have to have a function corresponding to the abstract state setting unit 31, the target logical expression generation unit 32, and the time step logical expression generation unit 33 in the generation of the subtask sequence Sr.
  • information regarding the execution result of a part of the functional blocks of the operation sequence generation unit 16 shown in FIG. 5 may be stored in the application information storage unit 41 in advance.
  • the application information includes design information such as a flowchart for designing the subtask sequence Sr corresponding to the target task in advance, and the operation sequence generation unit 16 refers to the design information.
  • the subtask sequence Sr may be generated.
  • a specific example of executing a task based on a pre-designed task sequence is disclosed in, for example, Japanese Patent Application Laid-Open No. 2017-39170.
  • the robot controller 1 of the second embodiment is different from the robot controller 1 of the first embodiment in that it determines the completion of the target task when a predetermined time length has elapsed from the start of the target task.
  • the same components as those in the first embodiment will be appropriately designated with the same reference numerals, and the description thereof will be omitted.
  • FIG. 11 is a functional block diagram of the robot controller 1A in the second embodiment.
  • the robot controller 1A has, for example, the hardware configuration shown in FIG. 2A, and the processor 11 of the robot controller 1A functionally has an output control unit 15, an operation sequence generation unit 16A, and a robot control unit. It has 17A and a proposition determination unit 18A.
  • the operation sequence generation unit 16A generates a subtask sequence Sr to be executed by the robot 5 based on the task designation information Ia supplied from the output control unit 15, the measurement signal S4, and the application information stored in the storage device 4.
  • the operation sequence generation unit 16A sets one or a plurality of intermediate states (also referred to as “sub-goals”) up to the completion state (goal) of the target task. Then, the operation sequence generation unit 16A sequentially generates a plurality of subtask sequences Sr necessary from the start to the completion of the target task based on the subgoal.
  • the operation sequence generation unit 16A sequentially generates a subtask sequence Sr for shifting from the initial state to the subgoal, from the subgoal to the next subgoal, and from the last subgoal to the completed state (goal). Further, when the operation sequence generation unit 16A receives the proposition request information Ic from the proposition determination unit 18A, the operation sequence generation unit 16A generates the proposition information Id indicating the first proposition and the second proposition as in the operation sequence generation unit 16 of the first embodiment. It is generated and the proposition information Id is supplied to the proposition determination unit 18A.
  • information necessary for setting a subgoal for each target task is stored in the storage device 4 in advance, and the operation sequence generation unit 16A sets the subgoal by referring to this information.
  • the above information is, for example, in the case of pick and place, the maximum number of pieces of information for moving an object in one subtask sequence Sr.
  • the robot control unit 17A controls the robot 5 based on the subtask sequence Sr supplied from the operation sequence generation unit 16A. Then, when the supplied subtask sequence Sr is completed, the robot control unit 17A supplies the completion notification of the subtask sequence Sr to the operation sequence generation unit 16A.
  • the proposition determination unit 18A determines the completion of the target task as the first proposition and the first proposition when a predetermined time length has elapsed from the start of the target task (that is, when the first subtask sequence Sr is supplied to the robot control unit 17A). 2 Perform by comparing with the proposition. Then, the proposition determination unit 18A generates the determination result information Ie based on the comparison result of the proposition, and supplies the determination result information Ie to the output control unit 15, as in the first embodiment.
  • the above-mentioned predetermined time length is, for example, a time length equal to or longer than the expected time length of the target task before the start of the target task (for example, a time length obtained by adding the upper limit time length of a possible time lag to the required time length).
  • the information necessary for calculating the predetermined time length or the predetermined time length is stored in the storage device 4 or the like for each target task that can be set, and the proposition determination unit 18A is based on the information.
  • the "information required to calculate the predetermined time length" is, for example, the time length per unit of the dependent object when the required time length of the task depends on the number of objects, etc., and in the example of FIG. 6, the target This is the length of time required for the work per body of the object 61.
  • the proposition determination unit 18A determines the completion of the target task when a predetermined time length has elapsed from the start of the target task, and when the first proposition and the second proposition are different, the target task is normally completed. I think I didn't. As a result, the proposition determination unit 18A can accurately determine whether or not the target task has been completed normally.
  • the operation sequence generation unit 16A first sets the pick and place of the first two objects 61a and 61b to the region G as a subgoal. Then, the operation sequence generation unit 16A first calculates the subtask sequence Sr up to the subgoal, and supplies the calculated subtask sequence Sr to the robot control unit 17.
  • the operation sequence generation unit 16A sets the current abstract state based on the measurement signal S4 after receiving the completion notification of the subtask sequence Sr from the robot control unit 17, and the remaining objects 61c and 61d are placed on the work table. Recognize that it exists. Then, the operation sequence generation unit 16A generates a subtask sequence Sr for picking and placing the remaining objects 61c and 61d, and supplies the subtask sequence Sr to the robot control unit 17.
  • the operation sequence generation unit 16A repeatedly generates the subtask sequence Sr so that the target task is completed.
  • the robot control unit 17A continues to output the control signal S3 to the robot 5 even if the expected time required for the target task elapses before the start of execution of the target task.
  • the object of the proposition determination unit 18 is The task completion judgment does not start.
  • the robot controller 1A determines the completion of the target task when a predetermined time has elapsed from the start of the target task. As a result, the robot controller 1A can accurately determine whether or not the target task has been completed normally.
  • FIG. 12 is an example of a flowchart showing an outline of the robot control process executed by the robot controller 1A in the second embodiment.
  • the proposition determination unit 18A determines whether or not a predetermined time length has elapsed from the start of the target task (step S24). Then, when the predetermined time length has not elapsed from the start of the target task (step S24; No), the proposition determination unit 18A continues to perform the process related to step S23 by the operation sequence generation unit 16A and the robot control unit 17A.
  • the operation sequence generation unit 16A has the first proposition representing the current state of the target task and the first proposition.
  • a second proposition representing the completion status of the target task is generated (step S25).
  • the proposition determination unit 18 supplies the proposition request information Ic to the operation sequence generation unit 16, and the operation sequence generation unit 16A receives the proposition request information Ic from the proposition determination unit 18, and the first proposition and the first proposition. Generate 2 propositions.
  • the proposition determination unit 18A determines whether or not the first proposition generated by the operation sequence generation unit 16A and the second proposition match (step S26). Then, when the proposition determination unit 18A determines that the first proposition and the second proposition match (step S26; Yes), it determines that the target task has been completed normally. In this case, the output control unit 15 notifies the completion of the task (step S27). On the other hand, when the proposition determination unit 18A determines that the first proposition and the second proposition do not match (step S26; No), it determines that the target task has not been completed normally. In this case, the output control unit 15 outputs alert information indicating that the task has not been completed normally (step S28).
  • the third embodiment is different from the first embodiment and the second embodiment in that the determination result information Ie is transmitted to the external device that manages the state of the robot 5.
  • the same components as those of the first embodiment and the second embodiment will be appropriately designated by the same reference numerals, and the description thereof will be omitted.
  • FIG. 13 shows a schematic configuration diagram of the robot control system 100B according to the third embodiment.
  • the robot control system 100B mainly includes a robot controller 1B, a task instruction device 2, a storage device 4, a robot 5, a management device 6, a measuring device 7, and a terminal 8.
  • the robot controller 1B performs data communication with the management device 6 which is a cloud server via the communication network 3.
  • the robot controller 1B has, for example, the hardware configuration shown in FIG. 2 and the functional block configuration shown in FIG. 4 or FIG. Then, the robot controller 1B performs the same processing as the robot controller 1 of the first embodiment or the robot controller 1A of the second embodiment, and indicates that the target task is not normally completed via the communication network 3.
  • the alert information "Ig" is supplied to the management device 6.
  • the alert information Ig is information generated by the output control unit 15 that has received the determination result information Ie, and includes information indicating that the target task has not been completed normally, identification information of the robot 5, and the target task. It contains date and time information that indicates the date and time when it was executed.
  • the management device 6 functions as an alert collection center for collecting alert information Ig.
  • the management device 6 is composed of a plurality of servers, and stores the alert information Ig supplied from the robot controller 1B via the communication network 3. Further, the management device 6 can perform data communication with a terminal 8 used by an administrator (for example, a call center employee) who manages the state of the robot 5 by wire or wirelessly or via a communication network.
  • the terminal 8 acquires the alert information Ig stored in the management device 6, and notifies the administrator (call center employee) that the target task has not been completed normally based on the alert information Ig. In this case, the terminal 8 performs at least one of sound output and display for notifying the administrator that the target task has not been completed normally.
  • the manager contacts, for example, a person concerned at the site where the robot 5 is present, and gives an instruction to remove the cause of the unsuccessful completion of the target task.
  • the robot control system 100B can suitably notify an external call center or the like that the target task has not been completed normally.
  • FIG. 14 shows a schematic configuration diagram of the determination device 1X according to the fourth embodiment.
  • the determination device 1X mainly has a proposition determination means 18X.
  • the determination device 1X can be the robot controller 1 in the first embodiment, the robot controller 1A in the second embodiment, or the robot controller 1B in the third embodiment. Further, the determination device 1X may be a device that performs processing corresponding to the proposition determination unit 18 when the robot controller 1 in the first embodiment is realized by a plurality of devices. Similarly, the determination device 1X performs a process corresponding to the proposition determination unit 18 or the proposition determination unit 18A when the robot controller 1A in the second embodiment or the robot controller 1B in the third embodiment is realized by a plurality of devices. It may be a device to perform. Further, the determination device 1X may be composed of a plurality of devices.
  • the proposition determination means 18X has a first proposition representing the current state of the task, which is detected by a sensor when the robot's motion sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task, and the task. The completion of the task is determined based on the second proposition indicating the completion state of.
  • the “current state” refers to the state of the task detected by the sensor at the time of processing (determination processing) by the determination device 1X.
  • the proposition determination means 18X determines the completion of the task in "when the operation sequence of the robot related to the task is completed"
  • the proposition determination means 18X is in the first embodiment (including a modification, the same applies hereinafter) or the third embodiment. It can be the proposition determination unit 18.
  • the proposition determination unit 18A in the second embodiment or the third embodiment can be used.
  • FIG. 15 is an example of a flowchart showing a processing procedure executed by the determination device 1X in the fourth embodiment.
  • the proposition determination means 18X determines whether or not it corresponds to either the case where the robot operation sequence related to the task is completed or the case where a predetermined time length has elapsed from the start of the task (step S31). Then, when the robot operation sequence related to the task is completed, or when a predetermined time length has elapsed from the start of the task (step S31; Yes), the proposition determination means 18X detects the current state of the task by the sensor. Based on the first proposition representing the task and the second proposition representing the completion state of the task, the completion determination of the task is performed (step S32). On the other hand, when the robot operation sequence related to the task is not completed and the predetermined time length has not elapsed from the start of the task (step S31; No), the proposition determination means 18X does not execute the process of step S32. ..
  • the determination device 1X can accurately execute the completion determination of whether or not the task has been completed by comparing the propositions representing the state of the task.
  • Non-transitory Computer Readable Medium Non-Transitory Computer Readable Medium
  • Non-temporary computer-readable media include various types of tangible storage media (Tangible Storage Medium).
  • non-temporary computer-readable media examples include magnetic storage media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (eg, magneto-optical disks), CD-ROMs (ReadOnlyMemory), CD-Rs, Includes CD-R / W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (RandomAccessMemory)).
  • the program may also be supplied to the computer by various types of temporary computer-readable media (Transitory ComputerReadable Medium). Examples of temporary computer readable media include electrical, optical, and electromagnetic waves.
  • the temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.
  • [Appendix 1] When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task.
  • a determination device having a proposition determination means for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor.
  • [Appendix 2] The determination device according to Appendix 1, wherein the proposition determination means determines that the task has not been completed when the first proposition and the second proposition are different.
  • [Appendix 3] The determination device according to Appendix 1 or 2, further comprising an output control means for outputting alert information indicating that the task has not been completed when it is determined in the completion determination that the task has not been completed.
  • [Appendix 4] The determination device according to Appendix 3, wherein the output control means transmits the alert information to a management device that manages the robot.
  • [Appendix 5] The determination device according to Appendix 3, wherein the output control means outputs a display or a sound indicating that the task has not been completed as an output of the alert information.
  • the term "display or sound output” is not limited to the case where the output control means performs display or sound output by itself, but also includes the case where the display or sound output is executed by transmitting a signal to another device.
  • [Appendix 6] The determination device according to any one of Supplementary note 3 to 5, wherein the output control means outputs information indicating the normal completion of the task when it is determined in the completion determination that the task has been completed.
  • the operation sequence generation means sequentially generates a plurality of operation sequences required from the start of the task to the completion of the task, based on one or a plurality of intermediate states until the task is completed.
  • the determination device according to Appendix 7, wherein the proposition determination means determines the completion of the task based on the first proposition and the second proposition when a predetermined time length has elapsed from the start of the task.
  • the operation sequence generation means is A logical expression conversion means for converting the task into a logical expression based on temporal logic, A time step logical expression generation means for generating a time step logical expression, which is a logical expression representing the state of each time step in order to execute the task, from the logical expression.
  • a subtask sequence generation means that generates a sequence of subtasks to be executed by the robot as the operation sequence based on the time step logical formula.
  • the determination device according to any one of Supplementary note 7 to 10.
  • the operation sequence generation means is The determination device according to Appendix 11, further comprising an abstract state setting means for defining an abstract state, which is an abstract state of an object related to the task, as a proposition used in the logical formula.
  • the determination device according to any one of Supplementary note 1 to 12, wherein the predetermined time length is set to a time length equal to or longer than the required time length of the task.
  • [Appendix 14] By computer When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task. A determination method for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor. [Appendix 15] When the robot operation sequence related to the task is completed, or when a predetermined time has elapsed from the start of the task. A program for causing a computer to execute a process for determining the completion of the task based on the first proposition indicating the current state of the task and the second proposition indicating the completion state of the task detected by the sensor is stored. Storage medium.
  • Robot controller 1X Judgment device 2 Task instruction device 3 Communication network 4 Storage device 5 Robot 6 Management device 7 Measuring device 41 Application information storage unit 100, 100B Robot control system

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