JP5505652B2 - Robot control system and robot control method - Google Patents

Description

  The present invention relates to a robot system in which a plurality of robots operate in a collective manner, and more particularly to a control system and a control method therefor.

  There has been provided a robot system that provides services such as dance by operating a plurality of robots in a coordinated manner (Patent Document 1). This type of robot system provides a specific service as a whole by cooperatively operating a plurality of robots.

JP 2006-954 A JP2009-196047

  As described above, when a plurality of robots that perform a cooperative operation in a collective manner are to perform a cooperative operation, it is inevitable that variations such as delay occur at the start of the operation or during the operation. This is because robots of this type often have a wide variety of functions and require additional functions, so that highly versatile platform software is used and cannot be specialized only for real-time control. For this reason, the cause of the delay is not constant, and adjustment cannot be performed in advance, so that correction control is required during operation.

  As an example of synchronization control for the purpose of robot synchronization, a synchronization control method is provided in which a reference robot having a plurality of light emitting means and a performance robot are synchronized (Patent Document 2).

  However, in the synchronous control method of Patent Document 2, it is necessary to provide a reference robot that is not related to the performance, apart from one or more performance robots. This is because it is necessary for the reference robot to sequentially receive movement information from one or more performance robots, compare it with its own reference value, calculate the delay time, and notify it.

  In the synchronous control method of Patent Document 2, since it is a performance robot, the performance timing is emphasized and the movement of the robot is not considered.

  An object of the present invention is to correct a motion in a robot system in which a plurality of robots collaborate in a collective manner, when one or more robots are delayed or advanced, without causing the robot to feel as uncomfortable as possible. Is to be able to make it happen.

  In the robot control system according to the present invention, when a plurality of robots are operated in a collective manner, each robot recognizes a delay or advance state, and the robot that has recognized that correction is necessary is visually uncomfortable in the repair motion determination unit. In addition, it is possible to execute a motion that can be synchronized after the repair motion is reproduced. The repair motion includes omission of repetition, reduction of movement amount, addition of motion such as counting, replacement with approximate motion, and the like.

  According to an aspect of the present invention, there is provided a robot control system that monitors a delay or progress state of a motion of a robot and controls a plurality of robots to perform a cooperative operation in a group based on the monitoring result. A situation grasping means for grasping the delay or advance state of the motion of the own machine using the monitoring result, a correction feasibility determining means for deciding whether motion correction is possible from the delay or the advance situation grasped by the situation grasping means, When a correction is determined, repair motion determination means that determines the highest rated motion as a repair motion while selecting and evaluating possible motions, and a correction that plays back the corrected motion of the aircraft in response to the determined repair motion There is provided a robot control system including a motion reproducing means.

  According to another aspect of the present invention, there is provided a robot control method for monitoring a delay or progress state of a motion of a robot and controlling a plurality of robots to perform a cooperative operation in a group based on the monitoring result. Is a situation grasping step for grasping the delay or advance state of the motion of the own machine based on the monitoring result, a correction feasibility determining step for determining whether or not the motion can be corrected from the delay or advance situation grasped in the situation grasping step, When a fix is determined, a repair motion determination step that determines the highest rated motion as a repair motion while selecting and evaluating possible motions, and a correction that plays back the correct motion of the aircraft in response to the determined repair motion And a robot control characterized by executing a motion playback step. A method is provided.

  The robot control system according to the present invention has a part of robots compared to the assumed operation when a plurality of so-called service robots, which are intended to show movement to a person (dance, performance, etc.) If the camera is delayed or moved too quickly, the motion can be corrected and synchronized so that it does not feel uncomfortable as much as possible.

It is the figure which showed schematic structure of the whole robot control system based on the Example of this invention. It is the figure which represented the flow of the process inside the robot shown by FIG. 1 with the functional block. It is a flowchart figure for demonstrating the functional operation | movement of the repair motion determination part shown by FIG. It is a figure for demonstrating correction of the movement locus | trajectory and delay operation | movement of a robot shown by FIG.

  First, an outline of an embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a diagram showing a schematic configuration of an entire robot control system according to an embodiment of the present invention. A plurality of robots 11, 12, 13,... Are connected through a network such as a wireless LAN via an access point 20. The server 30 issues operation instructions such as start and stop to each robot through the access point 20. A robot is a robot that provides services such as dancing, acting, and music performance in a group, and any robot that places particular emphasis on motion can be used. Here, the neck and feet are driven by a servo motor or the like as a drive source. Those that are driven to move by a driving mechanism are used. The robot also holds files necessary for operation execution in a storage device such as a hard disk.

  FIG. 2 shows the flow of processing inside the robot as functional blocks. The delay state grasping unit 1 grasps the motion delay state of the robot (own device), and the correction possibility determining unit 2 determines whether the motion needs to be corrected for the grasped state. The delay situation grasping unit 1 has a function of grasping not only the delay situation but also the progress situation, but for the sake of convenience, it is called a delay situation grasping unit. Further, the correction possibility determination unit 2 determines whether or not the motion needs to be corrected based on a predetermined threshold value. When it is determined that the motion needs to be corrected, the correction possibility determination unit 2 notifies the repair motion determination unit 3 to that effect. Upon receiving the notification, the repair motion determination unit 3 selects some motions for the motion to be operated by the robot (own machine), performs a predetermined evaluation, determines the repair motion, and uses the determined repair motion as a correction motion. The operation information to be executed by the robot (own device) is output to the corrected motion reproducing unit 4. The corrected motion playback unit 4 interrupts the motion being executed by the robot (own device) and executes it.

  Next, the robot control system according to the embodiment of the present invention will be described in detail.

  In FIG. 1, as described above, a plurality of robots 11, 12, 13,... Are connected by a network such as a wireless LAN via the access point 20. Gives operation instructions such as start and stop. Each robot that has received the start instruction reproduces a file that is stored in the storage device and describes the operation, and executes the operation. This type of file is described in a script or the like, and is a file for designating absolute and relative positions, accelerations, and the like to drive the drive mechanism with respect to the mechanical firmware of the robot. Note that a file such as a script describing this operation is in the robot before the start in this embodiment, but may be distributed to each robot via the network at the start.

  Since the control operation is the same regardless of whether the motion of the robot is delayed or advanced, only the case where the motion is delayed will be described below.

  In FIG. 2, first, the delay state grasping unit 1 grasps a delay time from another robot or a reference time. For example, the delay status grasping unit 1 transmits the script processing status to the server 30 via the network, and the server 30 monitors the script processing status of each robot 11, 12, 13,. This can be realized by notifying each robot of the motion delay state and receiving the delay state by the delay state grasping unit 1. Alternatively, it can be realized by the delay status grasping unit 1 confirming the difference between the time when the start is instructed, the time described in the script, and the actual drive status of the servo motor. As described above, the means for providing the delay state grasping unit 1 with information for grasping the delay time may be arranged either outside or inside the robot.

  When the delay state grasping unit 1 grasps the delay state of the own device, the correction possibility determining unit 2 that receives this determines whether or not the delay is to be corrected. For this determination, for example, a correction threshold value is set in advance in the correction availability determination unit 2 such that correction execution is determined when the delay time exceeds 0.5 m / sec. This threshold value may be indicated by the part of each operation in the delay state grasping unit 1.

  When it is determined that the operation is to be corrected, the correction possibility determination unit 2 notifies the repair motion determination unit 3 to that effect. Upon receiving this notification, the repair motion determination unit 3 determines a motion to be reproduced when the operation is corrected. This operation will be described in detail with reference to FIG.

  In FIG. 3, the repair motion determination unit 3 searches for the next waiting point described in advance on the action script (step S1). The waiting point is time information determined in advance so that all the robots 11, 12, 13,. This is embedded in the action script, and is input when the action script is described in the editor. Alternatively, it may be automatically described when the robot faces the front. In that case, when a meeting point appears in a short time, it is described with a certain interval such as every other time. In this way, the repair motion determination unit 3 grasps the position related to the waiting point.

  Next, the repair motion determination unit 3 compares the current mechanical position (which may be the actual mechanical position or the position assumed on the script) with the limit performance of the mechanical motion that is held in advance. (Step S2) When the motion to be corrected exceeds the limit value of the mechanical performance, the next waiting point is searched (Steps S3 and S4). The repair motion determination unit 3 repeats this until it falls within the mechanical limit value. In step S2, when the movement is within the limit value of the mechanical performance, the repair motion determination unit 3 selects a motion that can be taken in consideration of the current mechanical position (step S5). For example, as shown in FIG. 4, when moving simply to a waiting point, or when an operation script is analyzed and the operation is a repetitive operation, the repetitive operation is performed as much as possible (discrimination of the repetitive operation). Can be entered in advance in the editor or pattern matching can be performed).

  If the movement is as shown in FIG. 4, when reducing the overall amplitude, increasing the overall speed, regarding a delay that may occur frequently, when replacing with a motion created in advance for delay countermeasures, Further, when the robot is moving too far, it may be stationary at the meeting point, move its head up and down to take a count, and if there is an arm, it may move with the arm. At this time, it is necessary to match the motion currently being operated, and the one within the range of mechanical performance is selected.

  The repair motion determination unit 3 considers the current mechanical position, gives several possible options for the motion, and evaluates them when some options are available (step S6). Options that can be taken include, for example, stopping / turning twice once / turning back halfway / counting / screaming without moving. In addition, as an evaluation selection process, rules can be generated, pattern matching with good motion can be performed by template matching, and the like. In any case, the above evaluation is performed based on pre-programmed rules. As a form of evaluation, for example, in the case of a movement that swings his / her head from side to side, omission of about once is not conspicuous. In the case of a large and long operation, an operation that improves the overall speed is rated highly. If mixed pattern motion is mixed up to the meeting point, the motion that is corrected at a point where the appearance does not deteriorate (such as increasing the speed at a long large motion point) is regarded as high evaluation. Alternatively, there is a method of performing pattern matching between a selected motion group and a normal motion to give a score.

  When the repair motion determination unit 3 evaluates the motion, the repair motion determination unit 3 determines the motion with the highest evaluation (step S7) and sends it to the corrected motion reproduction unit 4 (FIG. 2). The corrected motion playback unit 4 overwrites the received corrected motion on the existing operation script and plays back the corrected motion.

(Effect of Example)
According to the above embodiment, the following effects can be obtained.

  The first effect is that a normal cooperative operation can be realized in a robot system that provides a specific service by a plurality of robots by correcting the cooperative operation of a plurality of robots to a synchronized state.

  The second effect is that the repair motion determination unit determines the repair motion while selecting and evaluating the possible motions so that the robots not only operate normally in cooperation with each other, but also have a sense of incongruity for the viewer. Can be used to correct motion.

(Other examples)
The present invention is not limited to the above embodiments, and the following modes are possible.

  1. A monitoring device is provided as a monitoring means for monitoring the whole of a plurality of robots with one overhead camera, and for each robot from a monitoring result to grasp another robot or a delay (advance) time from a reference time. (Progress) The delay status grasping unit 1 of the corresponding robot may be notified via the server 30.

  2. Even if there is a delay for a group of three or more groups of movements when the standard of movement is not specified, such as a dance with no music, The movements of a small number of non-delayed robots are matched with the movements of many delayed robots. That is, the robot to be corrected by the majority vote may be selected on the server 30 side.

  Part or all of the above embodiments can also be described as follows. Note that the following supplementary notes do not limit the present invention.

[Appendix 1]
A robot control system that monitors a delay or a progress state of a motion of a robot and controls a plurality of robots to perform a cooperative operation in a group based on the monitoring result,
Each robot has a status grasping means for grasping the delay or progress status of its own motion using the monitoring result,
Correction possibility determination means for determining whether or not motion correction is possible from the delay or progress situation grasped by the situation grasping means;
When the correction is determined, repair motion determining means for determining a motion having the highest evaluation as a repair motion while selecting and evaluating a possible motion;
Corrected motion playback means for receiving the determined repair motion and playing back the corrected motion of the aircraft,
A robot control system comprising:

[Appendix 2]
The repair motion determining means compares the current mechanical position of the aircraft with the limit performance of the mechanical motion possessed in advance, and when the motion to be corrected is within the limit value of the mechanical performance. 2. The robot control system according to appendix 1, wherein a possible motion is selected.

[Appendix 3]
The repair motion determining means gives several possible options for the possible motion, evaluates the options based on a predetermined rule, and determines the motion with the highest evaluation as the repair motion. The robot control system according to appendix 2, characterized by:

[Appendix 4]
Each robot executes a motion by playing a file stored in a storage device and described in a script,
The situation grasping means grasps the delay or advance state of the motion of the own machine by confirming the difference between the time instructed to start, the time described in the script, and the actual driving situation. The robot control system according to any one of appendices 1 to 3.

[Appendix 5]
The plurality of robots have a configuration connected to a server via a network,
Each robot executes a motion by playing a file stored in a storage device and described in a script,
While the status grasping means transmits the script processing status to the server via the network, the server monitors the script processing status and notifies the status grasping means of the delay or progress status. 4. The robot control system according to any one of appendices 1 to 3, wherein the situation grasping means grasps the delay or advance state of the motion of the own machine.

[Appendix 6]
The plurality of robots have a configuration connected to a server via a network,
Each robot executes a motion by playing a file stored in a storage device and described in a script,
The whole of the plurality of robots is monitored by a camera, and includes a monitoring means for grasping a delay or advance time from another robot or a reference time for each robot from a monitoring result,
4. The robot control system according to any one of appendices 1 to 3, wherein the monitoring unit notifies the situation grasping unit of the corresponding robot of the delay or advance time via the server.

[Appendix 7]
A robot control method for monitoring a delay or a progress state of a motion of a robot and controlling a plurality of robots to perform a cooperative operation in a group based on the monitoring result,
Each robot has a situation grasping step for grasping the delay or advance state of its own motion based on the monitoring result,
A correction propriety determining step for determining whether or not motion correction is possible from the delay or the progress situation grasped in the situation grasping step;
When the correction is determined, a repair motion determination step for determining a motion having the highest evaluation as a repair motion while selecting and evaluating a possible motion;
A corrected motion playback step for playing back the corrected motion of the aircraft in response to the determined repair motion,
The robot control method characterized by performing.

[Appendix 8]
In the repair motion determination step, the current mechanical position of the aircraft is compared with the mechanical limit performance possessed in advance, and if the motion to be corrected is within the mechanical performance limit value, The robot control method according to appendix 7, wherein a motion to be obtained is selected.

[Appendix 9]
In the repair motion determination step, several possible options for the possible motion are given, and the options are evaluated based on a predetermined rule, and the highest rated motion is determined as the repair motion. The robot control method according to appendix 8, characterized by:

[Appendix 10]
Each robot executes a motion by playing a file stored in a storage device and described in a script,
In the situation grasping step, it is possible to grasp the delay or advance state of the own machine motion by confirming the difference between the time instructed to start, the time described in the script, and the actual driving situation. The robot control method according to any one of appendices 7 to 9.

[Appendix 11]
The plurality of robots have a configuration connected to a server via a network,
Each robot executes a motion by playing a file stored in a storage device and described in a script,
While the script processing status is transmitted to the server via the network in the status grasping step, the server monitors the script processing status and notifies the corresponding robot of the delay or progress status. 10. The robot control method according to any one of appendices 7 to 9, wherein the robot that has received the motion grasps the delay or progress of the motion of the own device.

  1. A robot system that performs dance, performance, etc. in a group with multiple service robots.

  2. A robot system that uses multiple service robots to interact with people in groups.

11, 12, 13 Robot 20 Access point 30 Server

Claims (8)

A robot control system that monitors a delay or a progress state of a motion of a robot and controls a plurality of robots to perform a cooperative operation in a group based on the monitoring result,
Each robot has a status grasping means for grasping the delay or progress status of its own motion using the monitoring result,
Correction possibility determination means for determining whether or not motion correction is possible from the delay or progress situation grasped by the situation grasping means;
When the correction is determined, repair motion determining means for determining a motion having the highest evaluation as a repair motion while selecting and evaluating a possible motion;
Corrected motion playback means for playing back the corrected motion of the aircraft based on the determined repair motion;
A robot control system comprising: The repair motion determining means compares the current mechanical position of the aircraft with the limit performance of the mechanical motion possessed in advance, and when the motion to be corrected is within the limit value of the mechanical performance. The method according to claim 1, wherein several possible options for the motion are issued and the options are evaluated based on a predetermined rule, and the motion with the highest evaluation is determined as a repair motion. Robot control system. Each robot executes a motion by playing a file stored in a storage device and described in a script,
The situation grasping means grasps the delay or advance state of the motion of the own machine by confirming the difference between the time instructed to start, the time described in the script, and the actual driving situation. The robot control system according to claim 1 or 2 . The plurality of robots have a configuration connected to a server via a network,
Each robot executes a motion by playing a file stored in a storage device and described in a script,
While the status grasping means transmits the script processing status to the server via the network, the server monitors the script processing status and notifies the status grasping means of the delay or progress status. The robot control system according to claim 1 or 2 , wherein the situation grasping means grasps the delay or advance state of the motion of the own machine. The plurality of robots have a configuration connected to a server via a network,
Each robot executes a motion by playing a file stored in a storage device and described in a script,
The whole of the plurality of robots is monitored by a camera, and includes a monitoring means for grasping a delay or advance time from another robot or a reference time for each robot from a monitoring result,
3. The robot control system according to claim 1, wherein a delay or advance time is notified from the monitoring unit to the situation grasping unit of the corresponding robot via the server. 4. A robot control method for monitoring a delay or a progress state of a motion of a robot and controlling a plurality of robots to perform a cooperative operation in a group based on the monitoring result,
Each robot has a situation grasping step for grasping the delay or advance state of its own motion based on the monitoring result,
A correction propriety determining step for determining whether or not motion correction is possible from the delay or the progress situation grasped in the situation grasping step;
When the correction is determined, a repair motion determination step for determining a motion having the highest evaluation as a repair motion while selecting and evaluating a possible motion;
A corrected motion playback step for playing back the corrected motion of the aircraft based on the determined repair motion;
The robot control method characterized by performing. In the repair motion determination step, the current mechanical position of the aircraft is compared with the limit performance of the mechanical motion possessed in advance, and the motion to be corrected is within the limit value of the mechanical performance. 7. The method according to claim 6 , wherein a plurality of possible options for the motion are issued, the options are evaluated based on a predetermined rule, and the motion with the highest evaluation is determined as a repair motion. Robot control method. Each robot executes a motion by playing a file stored in a storage device and described in a script,
In the situation grasping step, it is possible to grasp the delay or advance state of the own machine motion by confirming the difference between the time instructed to start, the time described in the script, and the actual driving situation. The robot control method according to claim 6 or 7 .

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