JP6671928B2 - Robot motion control data generation system and motion control data generation method - Google Patents

Description

  The present invention relates to a motion control data generation system and a motion control data generation method for a robot.

  In recent years, robots that communicate with users through conversation, games, gymnastics, exercise, and the like have been developed. Some robots of this type allow a user to customize the operation of the robot or create a new application. When the user customizes the operation of the robot or creates a new application, it is desirable that the operation can be performed by a simple method that does not require specialized knowledge.

  Patent Literature 1 describes a method in which a user directly moves a hand, a leg, a neck, or the like of a robot with a hand to teach the movement to the robot. In Patent Literature 1, when a user moves one joint, control is performed such that the operation of the other joint falls within a predetermined movable range.

  Patent Literature 2 discloses a method in which a user edits a motion of a robot using a robot motion editing system.

  The robot has a plurality of electric motors for moving movable parts such as limbs and neck, and these motors generate heat in accordance with the operation of the robot. Therefore, in order to prevent overheating of the motor, a technique of monitoring heat generation of the motor during robot operation and adjusting operation parameters of the motor based on the monitoring result is also known (Patent Document 3).

  As another conventional technique, there is known a technique in which a motor driving current is suppressed when an angular velocity of rotation of a joint exceeds a predetermined value, and a transition is made to a stable posture when an average value of the motor driving current exceeds a threshold value ( Patent Document 4).

Japanese Patent No. 5464406 JP 2007-125645 A JP-A-9-91025 Japanese Patent No. 4135090

  In Patent Literature 1, since each joint is controlled so as to be within the movable range, the user manually registers an unnatural posture such as bending the hip joint upward by 90 degrees while the knee of the robot is extended. Can be suppressed. However, in Patent Literature 1, since the movements of the plurality of joints cannot be synchronized, the start and end timings of the movement of the movable unit connected to the joints do not match. Therefore, in Patent Literature 1, there is a problem that unevenness occurs in the entire operation or an unnatural operation is included.

  In Patent Literature 2, motion data is processed so that the angles, angular velocities, and angular accelerations of individual joints maintain continuity. However, as in Patent Literature 1, there is no description about synchronizing the movements of a plurality of joints. No disclosure or suggestion. Therefore, in Patent Literature 2, there is a problem that even if the motion of each joint is smooth, the motion as a whole becomes uneven or an unnatural motion is included.

  In Patent Documents 3 and 4, a state when the robot is actually moved is detected, and heat generation is suppressed according to the detection result. Accordingly, Patent Documents 3 and 4 have a disadvantage that when a new operation is registered in the robot, it cannot be determined whether or not the new operation causes overheating of the motor unless the new operation is actually performed by the robot. is there. In this case, the user needs to repeat a process of changing a part of the operation, causing the robot to operate again, and confirming the result, which is inconvenient.

  The present invention has been made in view of the above problems, and has as its object to input motion data by a user's operation on a joint, and to synchronize the timing of a plurality of motion data to achieve a natural motion. The object of the present invention is to provide a robot operation control data generation system and an operation control data generation method that can realize the above.

  An operation control data generation system for a robot according to one aspect of the present invention is an operation control data generation system that generates operation control data for controlling the operation of a robot having a plurality of joints, and includes: By detecting a user operation on the selected predetermined joint, an operation data obtaining unit that obtains operation data indicating the operation of the predetermined joint, and analyzing operation data of a plurality of predetermined joints, A synchronization processing unit that synchronizes the timings of the plurality of operation data, and an operation control data generation unit that generates and registers operation control data for reproducing the operation of the joint based on the plurality of operation data that has been subjected to the synchronization processing. , Is provided.

  An inflection point detection unit that detects an inflection point indicating a point at which the motion state of the rotation axis of the predetermined joint changes beyond a predetermined value by analyzing the operation data acquired by the operation data acquisition unit may be provided. The synchronization processing unit may synchronize the timings of a plurality of inflection points detected by the inflection point detection unit.

  The inflection point detection unit can be any one of a plurality of inflection points existing in a predetermined time range as a reference inflection point, and other inflection points can be a dependent inflection point, the synchronization processing unit, The timing of the dependent inflection point may be synchronized with the timing of the reference inflection point.

  Priorities are set in advance for the rotation axes of the joints, and the inflection point detection unit detects the inflection point with the highest priority set for the corresponding rotation axis as a reference inflection point, and other inflection points. Inflection points can also be detected as dependent inflection points.

  The inflection points include a reference inflection point serving as a synchronization reference, a dependent inflection point synchronized with the reference inflection point, and an independent inflection point not synchronized with any of the inflection points. The type of the pole may be changed to any one of the reference inflection point, the dependent inflection point, and the independent inflection point.

  The inflection point detection unit may be capable of changing data on the inflection point.

  The motion data acquiring unit is configured to reproduce another motion corresponding to the motion control data registered by the motion control data generating unit on the other predetermined joint selected from the plurality of joints. By detecting the user operation, other operation data indicating the operation of the other predetermined joint is acquired, and the synchronization processing unit obtains the operation data of the plurality of predetermined joints and other operation data of the other predetermined joint. By analyzing the operation data, the timings of the plurality of operation data and other operation data are synchronized, and the operation control data generation unit performs a new operation based on the plurality of operation data and the other operation data subjected to the synchronization processing. Control data can also be generated and registered.

  The operation data acquisition unit may notify the user of the start of the operation data acquisition by a countdown method.

  The operation data acquisition unit is provided in a robot control unit located in the main body of the robot, and the inflection point detection unit, the synchronization processing unit, and the operation control data generation unit are provided in a terminal device capable of communicating with the robot control unit. You may.

  A calorific value estimating unit for estimating a calorific value when the motion control data is performed before the robot operates according to the motion control data;

  When it is determined that the heat generation amount exceeds a predetermined threshold value, a heat generation suppression unit that executes a predetermined heat generation suppression process for suppressing the heat generation amount may be further provided.

  The predetermined heat generation suppressing process may be a process of changing the operation control data so that the heat generation amount is equal to or less than a predetermined threshold.

  The predetermined heat generation suppression process may be a process of giving advice to the user on the suppression of the heat generation amount.

  Each time the inflection point detection unit detects the inflection point, the heat generation amount estimation unit estimates the heat generation amount when the operation control data up to the inflection point is performed, and the heat generation suppression unit detects the inflection point every time the inflection point is detected. When it is determined that the estimated heat generation amount exceeds a predetermined threshold, a predetermined heat generation suppression process can be executed.

  The predetermined heat generation suppression process may be a process of displaying the influence on the heat generation amount for each operation included in the operation control data, thereby providing advice to the user on the suppression of the heat generation amount.

  A motion control data generation method for a robot according to another aspect of the present invention is a motion control data generation method for generating motion control data for controlling the motion of a robot having a plurality of joints by a computer, wherein the computer includes a plurality of motion control data. By detecting a user operation on a predetermined joint selected from the joints, operation data indicating the operation of the predetermined joint is acquired, and by analyzing the acquired operation data, the rotation of the predetermined joint is detected. Detects an inflection point indicating a point where the motion state of the moving axis changes beyond a predetermined value, synchronizes the timings of the detected inflection points, and, based on a plurality of synchronized operation data, as a joint operation. Generate and register operation control data for reproduction.

FIG. 1 is a system configuration diagram showing an entire operation control data generation system of a robot. FIG. 3 is an explanatory diagram illustrating an example of the arrangement of joints of a robot. FIG. 2 is a perspective view showing a detailed configuration of a joint part of the robot. 6 is a timing chart in a case where a user manually registers a motion by manually operating a robot, and shows a state before a synchronization process. 5 is a timing chart when the operation of FIG. 4 is synchronously processed. 7 is a timing chart showing operation data before and after the synchronization processing in a row. FIG. 3 is a configuration diagram of a table for setting a priority order to a rotation axis of a joint. 9 is a flowchart illustrating processing for generating operation data. 9 is a flowchart illustrating details of processing for generating operation control data in FIG. 8. 9 is a flowchart illustrating processing for generating operation data according to the second embodiment. 6 is a timing chart showing how the type of an inflection point is changed. 13 is a flowchart illustrating a process for generating operation data according to the third embodiment. 13 is a flowchart illustrating details of a timing chart editing process in FIG. 12. Example screen for setting inflection point parameters. 13 is a flowchart illustrating a process for generating operation data according to the fourth embodiment. 7 is a timing chart when new operation data is input during operation reproduction. FIG. 15 is a system configuration diagram of an operation control data generation system according to a fifth embodiment. 5 is a graph showing a change over time in a calorific value of a joint. 9 is a flowchart illustrating a process of estimating a calorific value and generating an operation to suppress the calorific value. 15 is a flowchart illustrating processing for generating operation data according to the sixth embodiment. 17 is a flowchart showing a process for generating operation data according to the seventh embodiment. 20 is a flowchart showing a process for generating operation data according to the eighth embodiment.

  In the present embodiment, as will be described in detail below, motion data that indicates motion of a predetermined joint by detecting a user operation on a predetermined joint selected from among the plurality of joints 16 is acquired. An acquisition unit 109, a synchronization processing unit 208 that analyzes the operation data of a plurality of predetermined joints to synchronize the timings of the plurality of operation data, and a joint processing unit based on the plurality of synchronized operation data. An operation control data generation unit 209 for generating and registering operation control data for reproducing as an operation.

  FIG. 1 shows the overall configuration of a robot motion control data generation system. The operation control data generation system includes a robot 1 and a terminal 2 communicably connected to the robot 1.

  The robot 1 is configured as a so-called communication robot that can communicate with a user. The robot 1 can, for example, interact with a user or exercise at a general home, office, various commercial facilities, hospitals, nursing homes, nurseries, kindergartens, schools, and the like. Hereinafter, a person who communicates with the robot 1 and a person who registers motion data of the robot 1 will be referred to as a user without distinction. Further, the operation that the user attempts to register with the robot 1 is a combination of a plurality of single operations. The data indicating the single operation is referred to as operation data, but the data indicating the entire series of operations may also be referred to as operation data. Then, by setting the value of a parameter for controlling the motor 118 in the operation data, operation control data for actually operating the robot 1 is obtained.

  The robot 1 includes one or a plurality of applications (services). The application is, for example, a quiz, a game, gymnastics, dance, or the like. The user can change some or all of the existing robot operations included in the application, or register new robot operations in the application.

  The robot 1 includes a robot control unit 10 and a robot main body 11. The robot control unit 10 controls the robot body 11, and details thereof will be described later. The robot main body 11 includes, for example, a torso 12, both feet 13R and 13L, both hands 14R and 14L, and a head 15.

  The “hand” in this embodiment is used to include all or part of the upper arm, elbow, forearm, hand, and finger. That is, the movable part projecting outward from both upper sides of the body 12 is referred to as a “hand”. The “foot” in the present embodiment is used to include all or a part of a thigh, a knee, a shin, a foot, and a finger. That is, the movable part projecting downward from the lower part of the body 12 is referred to as a “foot”. When the robot 1 takes a shape other than a humanoid, all the movable parts protruding from the trunk may be called feet or petals.

  Referring to the joint arrangement diagram of FIG. The robot 1 has a plurality of joints 16 and is provided with one or more electric motors M, respectively. The detailed configuration of each joint 16 will be described later with reference to FIG.

  The right foot 13R is provided with, for example, an ankle joint 16 (1R), a knee joint 16 (2R), and a hip joint 16 (3R). Similarly, the left leg 13L is also provided with an ankle joint 16 (1L), a knee joint 16 (2L), and a hip joint 16 (3L). The right hand 14R is provided with, for example, a shoulder joint 16 (4R) and an elbow joint 16 (5R). Similarly, the left hand 14L is also provided with a shoulder joint 16 (4L) and an elbow joint 16 (5L). Between the torso 12 and the head 15, a neck joint 16 (6) is provided.

  If not particularly distinguished, it is referred to as a joint 16. Each joint 16 can rotate in a predetermined angle range.

  FIG. 3 shows the motor arrangement of the joint. FIG. 3 shows the robot 1 in a reference posture (for example, an upright posture). The rotation axis of the electric motor M in the reference posture is shown on the lower side of FIG. The electric motor M is provided with a code (1R, 2L, etc.) for specifying the corresponding joint 16. The joint 16 (1R) of the right ankle includes motors M (1R) X and M (1R) Y having different rotation axes. One motor M (1R) X rotates around the X axis in FIG. 3 as a rotation axis. This rotation about the X axis is called a roll. The other motor M (1R) Y rotates around the Y axis as a rotation axis. The rotation about the Y axis is called pitch. The rotation about the Z axis is called yaw. The left ankle joint 16 (1L) also includes motors M (1L) X and M (1L) Y having different rotation axes. The last alphabets X, Y, and Z of the motor M indicate the rotation axes X, Y, and Z, and a description thereof will be omitted below.

  The right knee joint 16 (2R) includes a motor M (2R) Y. Similarly, the left knee joint 16 (2L) also includes a motor M (2L) Y. That is, the knee joints 16 (2R) and 16 (2L) rotate only in the pitch direction about the Y axis.

  The right hip joint 16 (3R) includes three motors M (3R) X, M (3R) Y, and M (3R) Z. Similarly, the left hip joint 16 (3L) also includes three motors M (3L) X, M (3L) Y, and M (3L) Z.

  The right shoulder joint 16 (4R) includes two motors M (4R) X and M (4R) Y. The left shoulder joint 16 (4L) also includes two motors M (4L) X and M (4L) Y. The right elbow joint 16 (5R) includes one motor M (5R) X. The left elbow joint 16 (5L) also includes one joint 16 (5L) X. The neck joint 16 (6) has two motors M (6) Y and M (6) Z. The motor M (6) Z rotates around the Z axis.

  The rotation direction of the motor M of the joint 16 is different from the operation direction of the part (shoulder, elbow, ankle, etc.) where the joint 16 is provided. For example, in the case of applause, the arms 14R and 14L are moved by rotating the pitch axis motors M (4R) Y and M (4L) Y of the shoulder joints 16 (4R) and 16 (4L) in the pitch direction. The robot 1 is lifted in the horizontal direction toward the front. In this state, the roll axis motors M (4R) X, M (4L) X of the shoulder joints 16 (4R), 16 (4L) and the roll axis motors M (5R) of the elbow joints 16 (5R), 16 (5L) are further provided. ) X, M (5L) X is rotated in the roll direction. As a result, the arms 14R and 14L of the robot 1 express a motion as if clapping.

  In this manner, the operation of applauding the robot 1 is performed by the user by rotating the shoulder joints 16 (4L) and 16 (4R) and the elbow joints 16 (5R) and 16 (5L) in the yaw direction. Looks like. However, the actual movement of the rotating shaft of the motor M that supports the operation behind is as described above. In this embodiment, basically, the movement of the joint 16 will be described as the movement of the rotation axis of the motor M. However, the configuration and operation of the joint 16 are not limited to the examples shown in FIGS. 2 and 3 and various configurations can be adopted. Depending on the number and arrangement of the motors M forming the joint 16, the movement of the entire joint and the rotation direction of each motor forming the joint differ.

  In addition, the robot 1 is formed in a human shape so that the user can be familiar with the robot, but is not limited thereto, and may be formed in an animal shape having a joint such as a dog, cat, elephant, bear, horse, sea otter, and the like. Alternatively, it may be formed in a shape like a flower having a plurality of movable parts. Further, the robot 1 can have the joints 16 arranged like a human, but can also have the joints 16 in a simplified arrangement as shown in FIG. The robot 1 does not need to include all the joints 16 illustrated in FIG. 2, but may include any of a plurality of joints 16.

  Return to FIG. The robot control unit 10 is provided, for example, in the robot body 11. Further, the robot 1 is provided with a camera 114, a microphone 113, and the like, which will be described later.

  The robot control unit 10 includes, for example, a microprocessor (hereinafter referred to as a CPU) 101, a memory 102, a solid state drive (SSD) 103, a voice recognition unit 104, an image recognition unit 105, a voice output unit 106, a sensor control unit 107, and an LED array drive. A unit 108, an operation data sampling unit 109, an actuator control unit 110, an actuator communication unit 111, a communication unit 112, a power supply device (not shown), and the like are provided.

  The CPU 101 reads and executes computer programs and operation control data stored in the memory 102 or the SSD 103 to execute applications such as quizzes, dances, and gymnastics. In this embodiment, the SSD 103 is used as the auxiliary storage device, but a hard disk drive may be used instead.

  The voice recognition unit 104 analyzes sound data acquired from one or more microphones 113 provided in the robot main body 11, and recognizes surrounding sounds. The image recognizing unit 105 analyzes image data acquired from one or a plurality of cameras 114 provided in the robot main body 11 to recognize an image around the robot 1. The voice output unit 106 outputs a response corresponding to the recognition result of the voice recognition unit 104 or the image recognition unit 105 as voice from a speaker 115 provided in the robot body 11.

  The sensor control unit 107 receives and processes signals from one or a plurality of sensors 116 provided in the robot main body 11. Examples of the sensor 116 include a rotation angle sensor, a distance sensor, a pressure sensor, a gyro sensor, an acceleration sensor, and an obstacle detection sensor.

  Note that all of the sensor 116, the microphone 113, the camera 114, the speaker 115, and the like do not need to be mounted inside the robot body 11, and may be provided outside the robot body 11. For example, the robot control unit 10 can receive and use a signal from a temperature sensor that detects the room temperature of a nursing facility via wireless communication. The robot controller 10 can also use the cameras, microphones, and the like by wirelessly connecting to cameras, microphones, and speakers installed in the facility.

  The LED array driving unit 108 drives one or a plurality of LED arrays 117 provided in the robot main body 11. The robot control unit 10 notifies the user of information and the state by driving the lighting state of the LED array 117.

  The operation data sampling unit 109 is an example of an “operation data acquisition unit”. The operation data sampling unit 109 detects the amount of drive of the actuator 118 when the user manually operates based on a detection signal from a rotation angle sensor or the like. The operation data sampling unit 109 stores the detected operation data in either the memory 102 or the SSD 103.

  Here, the operation data is data indicating the operation of the robot 1 that is input by the user directly operating the limbs and neck of the robot body 11 manually. For example, data indicating one or more actions such as raising and lowering both hands a predetermined number of times and then clapping a predetermined number of times is movement data. Operation control data for actually driving the actuator 118 is created based on the operation data. The CPU 1 reads the operation control data and drives a predetermined actuator at a predetermined timing, whereby the robot 1 operates as intended by the user.

  The actuator control unit 110 is connected to the plurality of actuators 118 via the actuator communication unit 111, and controls each of the actuators 118. An example of the actuator 118 is an electric motor such as a DC servo motor. However, the present invention is not limited to this. For example, an ultrasonic motor, a piezoelectric actuator, a solenoid, or the like may be used as the actuator. Hereinafter, the actuator 118 will be described using a servomotor as an example. Therefore, reference numeral 118 may be used for the servomotor.

  The communication unit 112 is a circuit for the robot control unit 10 to perform bidirectional communication with the terminal 2 via the communication path 3. The communication path 3 may be wired or wireless. The communication path 3 may be connected to a program distribution server (not shown) via a communication network such as the Internet.

  A configuration example of the terminal 2 will be described. The terminal 2 is a device for creating operation control data for operating the robot 1 as intended by the user and registering the operation control data with the robot 1. Therefore, the terminal 2 can also be called an “operation control data generation device”.

  The terminal 2 may be configured as, for example, a personal computer such as a notebook PC or a tablet PC, or may be configured as a mobile phone or a portable information terminal.

  The terminal 2 includes, for example, a CPU 201, a memory 202, an SSD 203, a display unit 204, an operation unit 205, a communication unit 206, an inflection point detection processing unit 207, an inflection point synchronization processing unit 208, and a control parameter generation processing unit 209.

  The CPU 201 implements the functions 207, 208, and 209 by reading and executing computer programs stored in the memory 202 and the SSD 203. Instead of the SSD 203, a hard disk drive or the like may be used as an auxiliary storage device.

  The display unit 204 provides information to the user via a display device such as an LED display and an organic EL display. The operation unit 205 receives an instruction from a user through a keyboard, a pointing device such as a mouse, or a touch panel. The display unit 204 and the operation unit 205 can be apparently integrated like a tablet PC.

  The communication unit 206 performs bidirectional communication with the communication unit 112 of the robot control unit 10 via the communication path 3. The inflection point detection processing unit 207 detects an inflection point from the operation data acquired by the operation data sampling unit 109. The inflection point synchronization processing unit 208 synchronizes a plurality of inflection points having a predetermined relationship. The control parameter generation processing unit 209 generates operation control data by setting parameters for driving the actuator 118.

  The operation control data created by the terminal 2 is sent to the robot control unit 10 via the communication unit 206, the communication path 3, and the communication unit 112, and is stored in the memory 102 or the SSD 103.

  FIG. 4 is a timing chart showing operation data before synchronizing the inflection points. The vertical axis indicates an angle, and the horizontal axis indicates time. In the present embodiment, as an example of the operation in which the user registers with the robot 1, "raise three times after raising both hands and clapping three times" is given.

  The inflection point is a point at which the motion state of the rotation axis of the joint 16 changes beyond a predetermined value. The inflection points can be classified into, for example, a point where the angle increase starts, a point where the angle increase ends, a point where the angle decrease starts, and a point where the angle decrease ends.

  In the example of FIG. 4, the points at which the angle increase starts (a1, a5, a9, b1, b5, b9, c1, c5, c9, d1, d5, d9, e1, e5, e9, f1, f5, f9), The point where the angle increase ends (a2, a6, a10, b2, b6, b10, c2, c6, c10, d2, d6, d10, e2, e6, e10, f2, f6, f10), and the point where the angle decrease starts (A3, a7, a11, b3, b7, b11, c3, c7, c11, d3, d7, d11, e3, e7, e11, f3, f7, f11), the point at which the angle reduction ends (a4, a8, a12) , B4, b8, b12, c4, c8, c12, d4, d8, d12, e4, e8, e12, f4, f8, f12).

  The point where the angle increase starts and the point where the angle decrease starts can also be defined as "the point where the angle change starts". Similarly, the point at which the angle increase ends and the point at which the angle decrease ends can be defined as "the point at which the angle change ends". Although omitted in FIG. 4, the straight line of the graph showing the angle change is not actually a straight line, and the angle change rate is not constant. In order to prevent such a noise-like behavior from being detected as an inflection point, in the present embodiment, the point at which the motion state of the rotation axis of the joint 16 (change in the angle of the rotation axis of the motor M) exceeds a predetermined value is changed. Is detected as an inflection point. The predetermined value is set so as to detect a point at which the motion state of the rotation axis of the joint 16 greatly changes, and not to detect a noise-like behavior. The same predetermined value may be applied to all the joints 16, or a different predetermined value may be applied to one or more joints. Further, the predetermined value may be a fixed value or a value dynamically set according to the accumulated operation time of the robot 1 or the like.

  FIG. 4 shows an operation in which both hands are raised and lowered first and three times of the hurray movement are performed, and then both hands are clapped three times. A method in which the user registers this operation in the robot 1 will also be described with reference to FIG.

  First, the user grips both hands 14R and 14L of the robot 1 and greatly raises and lowers it in order to register the operation of the forever. By this user operation, the right shoulder joint 16 (4R) and the left shoulder joint 16 (4L) largely rotate in the pitch direction, and the rotation axes of the motors M (4R) Y and M (4L) Y rotate. I do. The rotation angle change per unit time of the shoulder joints 16 (4R) and 16 (4L) is determined by a rotation angle sensor such as a rotary encoder provided on the rotation shaft of the motors M (4R) Y and M (4L). Is detected by The detection signal of the rotation angle sensor is sampled by the operation data sampling unit 109 and stored.

  Subsequently, in order to register the motion of applause, the user swings right and left in front of the robot 1 while holding both hands 14R and 14L of the robot 1 and lightly touches both hands 14R and 14L in front of the robot 1. As a result of this user operation, the right shoulder joint 16 (4R) and the right elbow joint 16 (5R) largely rotate in the yaw direction, and the rotation axes of the motors M (4R) X and M (5R) X. Rotates. The left shoulder joint 16 (4L) and the left elbow joint 16 (5L) also rotate greatly in the yaw direction, and the rotation axes of the motors M (4L) X and M (5L) X rotate. In this manner, the rotation angle change per unit time of the shoulder joints 16 (4R) and 16 (4L) and the elbow joints 16 (5R) and 16 (5L) is detected by the rotation angle sensor. You. The operation data sampling unit 109 samples and stores the detection signal from the rotation angle sensor.

  As described above, the user registers the motion by directly gripping the hands 14R and 14L of the robot 1 and rotating the robot 1 by a desired amount in a desired direction. However, since it is a manual operation, the movement is inevitably uneven, and the movement tends to be awkward.

  For example, in the example of FIG. 4, the points a1 and d1, the points a2 and d2, the points a5 and d5, the points a6 and d6, the points a7 and d7, the points a8 and d8, the points a9 and d9, and the points The timing of a10 and point d10, the timing of point a11 and point d11 do not match. Therefore, if motion control data is created from the motion data and the robot 1 executes the motion control data, the hands 14R and 14L of the robot 1 will move up and down separately from side to side, resulting in an unnatural life.

  Similarly, paying attention to the part of the motion of applause, the timing of the movement of the right hand and that of the left hand do not match, resulting in awkward and unnatural clapping. Therefore, in the present embodiment, the timing is matched by synchronizing the inflection points close to each other so that a natural movement is obtained.

  FIG. 5 is a timing chart showing operation data after the inflection point is synchronized. The sign of the inflection point after the synchronization process is changed to uppercase and displayed. In the present embodiment, the timings of a plurality of inflection points existing within a predetermined time range are synchronized to synchronize the timings of the plurality of inflection points.

  Various methods can be adopted as a method of determining the reference time point for matching the timing. In the present embodiment, among a plurality of inflection points existing in a predetermined time range, the inflection point having a higher priority is set as a reference inflection point, the other inflection points are set as dependent inflection points, and each of the dependent inflection points is set at the timing of the reference inflection point. Match the timing of the poles. Priorities are set in advance for each rotation axis of the joint 16, and the inflection point regarding the rotation axis of the joint 16 having the highest priority is treated as a reference inflection point. Not limited to the method of matching the timing of the dependent inflection point with the timing of the reference inflection point, for example, a method of synchronizing based on the average value of the timing of each inflection point may be considered.

  In the example of FIG. 5, the points A1 to A12 are the reference inflection points in the time range in which the operation of the lively movement is performed, and the points B2 to B12 are the reference inflection points in the time range in which the applause operation is performed. The reference inflection points are indicated by squares, and the dependent inflection points are indicated by circles.

  In FIG. 5, the inflection points B1, C1, E1, and F1, which are the start points of applause, belong to the same predetermined time range as the inflection point A12, which is the end point of the livelihood, and have priority over the inflection point A12. Rank is low. Therefore, the timing of the dependent inflection points B1, C1, E1, and F1, which are the start times of applause, coincides with the timing of the reference inflection point A12, which is the end point of the livelihood.

  In the example of FIG. 5, as a result of executing the synchronization processing, the points A1 and D1, the points A2 and D2, the points A3 and D3, the points A4 and D4, the points A5 and D5, the points A6 and D6, and the points The timings of A7 and D7, A8 and D8, A9 and D9, A10 and D10, A11 and D11, A12 and D12 coincide with each other. Therefore, when motion control data is created from this motion data and is executed by the robot 1, both hands 14R and 14L of the robot 1 move up and down together, resulting in a beautiful and natural grace.

  Paying attention to the clap movement, similarly, the points B1 and C1, E1, F1, the points B2 and C2, E2, F2, the points B3 and C3, E3, F3, the points B4 and C4, E4, F4, and the points The respective timings coincide with each other, such as B5 and points C5, E5 and F5, point B6 and points C6, E6 and F6, and point B7 and points C7, E7 and F7. Therefore, if the motion control data is created from the synchronized motion data and is executed by the robot 1, a natural applause can be obtained.

  Further, as described above, since the timings of the dependent inflection points B1, C1, E1, and F1, which are the start times of applause, coincide with the timing of the reference inflection point A12, which is the end point of the livelihood. Then, applause is performed immediately after hell.

  FIG. 6 is a timing chart showing a comparison between the operation data before the synchronization processing and the operation data after the synchronization processing. As described above, since the timing of each dependent inflection point matches the timing of the reference inflection point, it can be seen that a natural operation can be obtained.

  FIG. 7 is an explanatory diagram showing a priority table T10 for setting a priority order for each rotation axis of each joint 16. This priority order table T10 is stored in, for example, the memory 201 or the SSD 202 of the terminal 2. A reference inflection point is determined based on the priority.

  The priority order table T10 associates, for example, a priority order column C101, a region column C102, a joint name column C103, and a rotation direction column C104. The priority order column C101 indicates the order of priority. In FIG. 7, the upper order has a higher priority and the lower order has a lower priority. The part column C102 specifies the part where the joint 16 is provided. Examples of the part include a right foot, a left foot, a right hand, a left hand, and a neck.

  The joint name column C103 stores the name of the joint 16 belonging to the site. When the joint 16 has a plurality of rotation axes, a priority is set for each rotation direction. Therefore, a plurality of joints having the same name may appear in the joint name column C103. The rotation direction column C104 specifies a direction in which the joint 16 can rotate. The rotation direction includes pitch, roll, and yaw.

  The priority order table T10 is set so that the priority order of the legs located below the torso 12 is higher, and the priority order becomes lower toward the upper side of the torso 12. The reason is that the foot is an important factor that determines the posture of the robot 1, and if the movement of the foot becomes unstable, the balance of the robot 1 may be lost.

  Therefore, in this embodiment, the inflection point closer to the foot is set as the reference inflection point by increasing the priority in the rotation direction of the joint 16 closer to the foot. The inflection point of the hand or neck becomes the dependent inflection point and synchronizes with the reference inflection point closer to the foot. As a result, in the present embodiment, even when the inflection points existing within a predetermined time range are synchronized, it is possible to suppress the overall balance of the robot 1 from being disrupted and to obtain a natural operation. On the other hand, if the priority of the rotation axis of the joint 16 located on the upper side of the neck, the hand, or the like is made higher, the motion timing of the foot can be made to coincide with the motion timing of the hand, the posture of the hand. Becomes unstable.

  FIG. 8 shows a process for generating operation data. The user instructs start of motion generation from the operation unit 205 of the terminal 2. When receiving the motion generation start instruction from the user (S11: YES), the terminal 2 instructs the robot control unit 10 to generate motion data from the communication unit 206.

  When receiving the instruction from the terminal 2, the robot control unit 10 notifies the user of the start of the generation of the operation data by a countdown method using, for example, the LED array 117 or the speaker 115 (S12). When the user confirms the countdown such as “10, 9, 8, 7,...” Displayed or spoken by the robot 1, the user stands by before the robot 1 and prepares for input of motion data.

  When the countdown started in step S12 becomes 0 (S13: YES), the user can manually operate the limbs of the robot 1 directly to input desired operation data. The operation data sampling unit 109 of the robot control unit 10 samples and stores the turning angles of the limbs manually operated by the user (S14). Until the input of the operation data by the user's manual operation is completed (S15: NO), the operation data sampling unit 109 repeats step S14. The user can input desired motion data by rotating the limbs of the robot 1 within a range in which the limbs can be moved.

  When the input of the operation data is completed (S15: YES), the terminal 2 acquires the operation data held by the robot control unit 10 and generates the operation control data (S16). Details of the processing for generating the operation control data will be described with reference to FIG.

  If the user does not manually operate each part (limbs, neck, etc.) of the robot 1 for a certain period of time or more, it can be determined that the input of the motion data by the user has been completed. When the user instructs the end of the input of the operation data from the operation unit 205 of the terminal 2 or when the user declares the end of the input of the operation data and the voice recognition unit 104 of the robot 1 detects the word, May be determined to have been input.

  FIG. 9 is a flowchart showing details of step S16 in FIG. The inflection point detection processing unit 207 of the terminal 2 acquires operation data from the robot control unit 10 and detects an inflection point from the operation data (S21). Hereinafter, the subject of the processing will be described as the inflection point detection unit 207, but the terminal 2 may be the subject of the processing instead.

  The inflection point detection unit 207 refers to the priority order table T10 (S22). The inflection point detection unit 207 sets the inflection point corresponding to the rotation axis of the joint 16 having the highest priority set in the priority order table T10 as a reference inflection point among the inflection points (S23), and other inflection points. The pole is set as a dependent inflection point (S24). Specifically, when the operation data is divided into predetermined time ranges (time slots), one predetermined time range includes one reference inflection point and at least one (usually a plurality of) dependent inflection points.

  The inflection point synchronization processing unit 208 performs synchronization processing such that the timing of the reference inflection point and the timing of each dependent inflection point match (S25). Specifically, for each predetermined time range, the timing of the dependent inflection point belonging to the same time range is matched with the timing of the reference inflection point belonging to the time range.

  The control parameter generation processing unit 209 generates operation control data from the operation data by actually generating the control parameters for driving the actuator 118 to reproduce the operation data (S26). The generated operation control data is sent from the communication unit 206 to the robot control unit 10 and stored in the memory 102 or the SSD 103.

  The CPU 101 of the robot control unit 10 reads and executes operation control data according to an operation start instruction from the terminal 2. The CPU 101 controls each actuator 118 of the robot 1 at a predetermined timing. Thereby, the user can confirm the reproduction of the operation data input in step S14 of FIG.

  According to the present embodiment configured as described above, even when the user inputs the operation data by manually operating the limbs of the robot 1, the timings of the inflection points extracted from the operation data are automatically synchronized. Can be done. Therefore, according to the present embodiment, natural motion can be registered in the robot 1 while suppressing unevenness and unnaturalness existing in motion data input by the user.

  In the present embodiment, a priority order table T10 is prepared, the inflection point corresponding to the rotation axis of the joint 16 having the highest priority is set as a reference inflection point, the other inflection points are set as dependent inflection points, and the reference inflection point is set. At the timing of each dependent inflection point. Therefore, in this embodiment, the inflection points can be quickly synchronized with each other.

  In the present embodiment, the priority of the joint 16 belonging to a part (for example, a foot) having a high degree of involvement in stabilizing the posture of the robot 1 is set high. Therefore, even when the inflection points are synchronized with each other, the posture of the robot 1 is not changed. Can be suppressed from becoming unstable.

  A second embodiment will be described with reference to FIGS. Since each of the following embodiments including this embodiment corresponds to a modified example of the first embodiment, a description will be given focusing on differences from the first embodiment. In this embodiment, the user can change the type of the inflection point extracted from the operation data.

  FIG. 10 is a flowchart of the operation control data generation processing S16A according to the present embodiment. This processing is executed instead of step S16 described in FIG. Steps S31 to S34 of this processing correspond to steps S21 to S24 in FIG. 9, and steps S38 and S39 of this processing correspond to steps S25 and S26 in FIG.

  Therefore, steps S35 to S37 characteristic of this embodiment will be described. The inflection point detection unit 207 displays the timing chart of the operation data as shown in FIGS. 4 and 5 on the display unit 204 of the terminal 2 (S35). The user looks at the displayed timing chart and determines whether or not to change the type of the inflection point. When changing the type of the inflection point, the user inputs information for specifying the inflection point to be changed and information for specifying the type of the change destination from the operation unit 205 to the terminal 2 (S36: YES).

  Upon receiving the change instruction from the user, the inflection point detection unit 207 changes the type of the inflection point specified by the user to the type specified by the user (S37), and returns to step S35.

  In this embodiment, three types of inflection points are prepared: a reference inflection point, a dependent inflection point, and an independent inflection point. The independent inflection point is an inflection point independent of both the reference inflection point and the dependent inflection point, and is not synchronized. For example, the user can change the type of the dependent inflection point to the independent inflection point or the type of the independent inflection point to the dependent inflection point.

  When the type of a certain inflection point is changed from the dependent inflection point to the independent inflection point, the inflection point has the timing as input by the manual operation of the user, and is not synchronized with the reference inflection point.

  Furthermore, in the present embodiment, not only the case where the dependent inflection point is changed to the independent inflection point, but also the reference inflection point is changed to either the dependent inflection point or the independent inflection point, or the dependent inflection point is changed to the reference inflection point You can also do. For example, each time the user clicks any one of the inflection points shown in the timing chart with the operation unit 205, the type of the inflection point is... → reference inflection point → dependent inflection point → Independent inflection points → reference inflection points... Circulate and change.

  If one reference inflection point is required for a time slot (predetermined time range), when changing an existing reference inflection point to a dependent or independent inflection point, the user must select a dependent or inflection point in the same time slot. What is necessary is just to change an independent inflection point into a reference inflection point. Alternatively, the inflection point detection unit 207 can automatically set one reference inflection point.

  The present embodiment configured as described above has the same operation and effect as the first embodiment. Further, in this embodiment, the type of the inflection point can be changed, so that the convenience for the user is improved. Specifically, the user can change the dependent inflection point to either the independent or reference inflection point, or change the reference inflection point to either the dependent or independent inflection point. Can be performed by the robot 1 as desired.

  With reference to the timing charts of FIGS. 5 and 11, for example, a case will be described in which the user intends to perform an applause operation after a short interval after a long life. As shown in FIG. 5, the inflection points B1, C1, E1, and F1 at which applause starts belong to the same time slot as the inflection point A12 at which the life-span operation ends, and the priority order is low. It is detected as an extreme point and is synchronized with the reference inflection point A12. Therefore, in the case of FIG. 5, applause is performed immediately after the hang-up. However, the operation is not an operation intended by the user.

  Therefore, as shown in FIG. 11, in the present embodiment, the user changes the type of the inflection point B1 having the highest priority among the inflection points B1, C1, E1, and F1 at which applause starts from the dependent inflection point to the reference inflection point. Change to a pole. Alternatively, when the user instructs a change to any one of the inflection points B1, C1, E1, and F1, the inflection point detection unit 207 causes the inflection point B1, C1, E1, and F1 to have the highest priority. Is selected and its type is changed to the reference inflection point. When the inflection point B1 changes to the reference inflection point, each of the dependent inflection points C1, E1, and F1 within a predetermined time range thereafter synchronizes with the reference inflection point B1.

  As described above, in the present embodiment, since the user can change the type of the inflection point, it is possible to easily perform the operation intended by the user, for example, by providing a time interval between the end of hurray and the start of applause. Can be realized. As a result, according to the present embodiment, the usability of the user is improved, and the expressiveness of the operation of the robot 1 is enhanced, thereby attracting the user's interest.

  A third embodiment will be described with reference to FIGS. In the present embodiment, the operation time and the operation amount (rotation angle) can be changed based on the operation data input by the user by manual operation while maintaining the operation sequence.

  FIG. 12 is a flowchart of the operation control data generation processing S16B of the present embodiment. This processing is executed instead of step S16 described in FIG. Steps S41 to S44 of this process correspond to steps S21 to S24 in FIG. 9, and steps S48 and S49 of this process correspond to steps S25 and S26 in FIG.

  Therefore, steps S45 to S47 characteristic of this embodiment will be described. The inflection point detection unit 207 displays the timing chart of the operation data manually input by the user on the display unit 204 of the terminal 2 (S45). The user determines whether to edit the displayed timing chart. When the user desires to edit the timing chart, the user inputs an instruction to call the editing screen to the terminal 2 (S46: YES). Upon receiving the editing instruction from the user, the inflection point detecting unit 207 of the terminal 2 shifts to the editing process (S47). If the user does not edit the timing chart (S46: NO), the process proceeds to step S48.

  FIG. 13 is a flowchart showing the editing processing (S47) of the timing chart in FIG.

  First, the inflection point detection unit 207 determines whether or not to end the editing (S51). If the user has instructed to end the editing (S51: YES), the process returns to the processing in FIG. When the editing is continued (S51: NO), the inflection point detection unit 207 determines whether the user has specified the inflection point to be edited (S52). The user selects an arbitrary inflection point desired to be edited from the inflection point group included in the timing chart displayed on the display unit 204. The selection is input to the terminal 2 via the operation unit 205.

  When the user specifies the inflection point to be edited (S52: YES), a parameter setting screen G10 for editing the timing chart is displayed on the display unit 204 (S53). An example of the parameter setting screen G10 will be described later with reference to FIG. The inflection point detection unit 207 acquires the parameter input by the user to the parameter setting screen G10, updates the parameter of the inflection point to be edited to a value specified by the user, and stores the updated value (S54).

  FIG. 14 shows a screen G10 for changing the parameter setting of the inflection point. For example, when the user clicks on any inflection point in the timing chart, a screen G10 for displaying current information on parameters related to the inflection point and changing the current information is displayed. The parameter of the inflection point is an example of “data on the inflection point”.

  At least one inflection point parameter is displayed on the screen G10. The user can change at least one value of the displayed parameters. The screen G10 may include a parameter that prohibits user change. The screen G10 can display the current value of the parameter and the corrected value in comparison.

  FIG. 14 shows the sixth inflection point of the motor M (4R) Y of the right shoulder joint. In this example, "time" which is the position on the time axis of the inflection point, "interval" which is the time difference between the inflection point immediately before, and "position" which indicates the rotation angle are displayed.

  The user can set a correction value of the parameter by selecting a desired value from the values registered in the pull-down menu. Instead, the user may directly input an arbitrary numerical value to the screen G10.

  The user can select an inflection point different from the inflection point displayed on the screen G10 from the inflection point designation screen G11, or can change the editing object by clicking the inflection point on the timing chart. .

  The present embodiment configured as described above has the same operation and effect as the first embodiment. Further, in the present embodiment, the user can change all or a part of the parameters of an arbitrary inflection point while maintaining the sequence of the operation data (the order of appearance of the inflection points) manually input by the user. Therefore, according to the present embodiment, the user can easily correct the inflection point manually input, and the usability is improved. Further, according to the present embodiment, since the user can appropriately adjust the parameters according to his / her preference, the expressiveness of the operation of the robot 1 is also improved.

  A fourth embodiment will be described with reference to FIGS. In this embodiment, the user can manually input the operation data in a plurality of times.

  FIG. 15 is a flowchart illustrating a process of generating operation data. This processing includes the same steps S11 to S16 as the processing described in FIG. Further, in this embodiment, after the countdown becomes 0 in step S13 (S13: YES), a new step S17 is executed, and then steps S14 to S16 are executed.

  In a new step S17, the registered motion data (motion control data) is executed by the robot 1, and the reproduction of the motion is started. After the reproduction of the registered motion is started, the user adds new motion data by directly operating the robot 1 manually (S14, S15). Thus, for example, after the user inputs the first operation data in the first manual operation, the user may additionally input the second operation data in the second manual operation while reproducing the first operation data. Can be. As long as there is no restriction such as heat generation and remaining memory, the user can add and register operation data as needed.

  FIG. 16 shows a timing chart when new operation data is additionally input to the existing operation data. In FIG. 16, an operation of “applause after all ages” is already registered, and an operation of “moving the head up and down and then swinging left and right” is added.

  The user swings the head 15 of the robot 1 up and down or left and right as shown in FIG. Thereafter, the inflection point detection unit 207 detects the reference inflection point and the dependent inflection point in consideration of both the existing operation data and the newly added operation data. Then, a process of synchronizing the inflection points is performed for each predetermined time range, control parameters are set, and operation control data is created.

  The present embodiment configured as described above has the same operation and effect as the first embodiment. Further, in the present embodiment, the user can input the motion data a plurality of times, so that a complicated motion can be registered in the robot 1. Therefore, the usability of the user and the expressiveness of the operation of the robot 1 are improved.

  In particular, since the user inputs the operation data by directly operating the robot 1 manually, it is difficult to input a complicated operation at a time as compared with a method of inputting the operation data from a personal computer or the like. However, according to the present embodiment, new motion data can be input while reproducing the registered motion data, so that even a complicated motion can be input to the robot 1.

  A fifth embodiment will be described with reference to FIGS. In the present embodiment, before the robot 1 reproduces the operation data input by the user through the manual operation, the heat generation amount (motor temperature) is estimated by the operation control data generated from the operation data. Then, in this embodiment, when it is determined that the estimated heating value exceeds a predetermined threshold, a process for suppressing the heating value is executed.

  FIG. 17 is a system configuration diagram according to the present embodiment. The terminal 2A of the present embodiment includes the same configurations 201 to 209 as the terminal 2 described in FIG. 1, and further includes a heat generation amount estimating unit 210 and a heat generation suppressing unit 211. In FIG. 17, the control parameter generation processing unit 209 is abbreviated as the parameter generation processing unit 209 due to space limitations.

  FIG. 18 is a graph showing a state in which the amount of heat generated changes in accordance with the operation control data, focusing on the motor (ie, the actuator 118) that is the drive source of a certain joint unit 16. The vertical axis in FIG. 18 indicates the heat value (motor temperature), and the horizontal axis indicates time.

  First, a method of estimating the calorific value will be described. In order to operate the robot 1, it is necessary to set predetermined parameters for each of the motors 118 of the joint 16 to be operated. The predetermined parameters include, for example, a target position (target angle) and a servo movement time to the target position.

The heat value Pp of a single operation can be estimated from the product of the operation angle Δθ to the target position and the reciprocal of the movement time ΔT1, as shown in the following Expression 1. In Equation 1, k1 is a coefficient.
Pp = k1 × Δθ / ΔT1 (Equation 1)

If there is a pause period ΔT2 between the single operation and the single operation, the motor 118 is cooled during the pause period, and the temperature decreases. The amount of heat Pm reduced by cooling during the suspension period can be obtained from the following equation 2. In Equation 2, k2 is a coefficient.
Pm = k2 × ΔT2 (Equation 2)

Accordingly, the heat quantity P generated in a series of operations for each motor 118 is obtained by integrating the heat value Pp in each single operation included in the series of operations, and calculating the heat quantity Pm due to the cooling effect, as shown in Equation 3 below. Can be obtained by subtracting
P = ΣPpi-ΣPmj (Equation 3)

  FIG. 18A illustrates a state in which the amount of heat generated by the motor 118 of a certain joint 16 changes in a series of operations. The initial heat generation amount p1 of the target motor 118 is substantially equal to the room temperature, but gradually increases as the motor 118 operates (p1 → p2 → p3 → p4 → p5). Since the motor 118 is provided inside the robot 1, the heat is likely to be trapped although it differs depending on the arrangement structure and the like.

  When the pause period ΔT2 comes, the amount of heat generation decreases because the motor 118 is naturally cooled (p5 → p6). Thereafter, when the operation of the motor 118 is restarted, the motor 118 generates heat, and the amount of heat increases (p6 → p7 → p8 → p9 → p10).

  However, the heat generation amount p10 (motor temperature) at the time when a series of operations is completed exceeds a predetermined threshold value Pth. The predetermined threshold value Pth is set to a value that does not exceed the maximum rated temperature of the servo motor 118, for example.

  If the amount of heat generated by the motor 118 exceeds the threshold value Pth, the motor 118 may be overheated and performance may be reduced. Therefore, in the present embodiment, at least one of the target position and the moving time among the parameters set for the motor 118 is changed to suppress the heat generation amount of the motor 118 as shown in FIG. .

  Changing only one or both of the target position and the movement time hardly causes a change in the entire flow of a series of operations (operation sequence) itself. Therefore, it is considered that the user does not notice a slight change in the operation of the robot 1 at all, or even if he does, allows the change.

  In FIG. 18B, the pause period ΔT2b is set to be slightly longer than the pause period ΔT2 before correction, and further, the heat generation is suppressed by reducing the target position of a certain single operation (p8).

  FIG. 19 is a flowchart of the operation generation processing according to the present embodiment. This processing includes steps S11 to S16 of the processing described in FIG.

  Further, in the present process, after the operation control data is generated (S16), the operation control data is analyzed to estimate the heat generation amount of the motor 118 of each joint 16 (S61). In this process, it is determined whether or not the estimated heating value exceeds the threshold value PTh (S62). If it is determined that the estimated heating value exceeds the threshold value PTh (S62: YES), the operation control data generated in step S16 is partially changed. (S63). Steps S61 to S63 are an example of the heat generation suppressing process S60. When the estimated heating value is equal to or smaller than the threshold value PTh (S62: NO), the process ends without changing the operation control data.

  In step S63, for example, the parameters (the target position and the moving time) of the operation control data are appropriately corrected so that the estimated heat generation amount is equal to or less than the threshold value PTh for each of the motors 118 of the individual joint portions 16.

  The present embodiment configured as described above has the same operation and effect as the first embodiment. Further, in this embodiment, before the motion control data is actually reproduced by the robot 1, the heat value based on the motion control data is estimated for each motor 118 of the joint, and if the estimated heat value exceeds the threshold value PTh, Correct automatically. Therefore, according to the present embodiment, it is possible to suppress the performance of the motor 118 from deteriorating due to an overheated state or to stop the operation, thereby improving the usability and reliability.

  It is considered that a general user inputs operation data without regard to the temperature characteristics of the motor performance, the thermal conditions of the robot 1, and the like. However, even in this case, the user can normally operate the robot 1, Friendly and reliable.

  A sixth embodiment will be described with reference to FIG. This embodiment is a combination of the fourth embodiment (FIG. 15) and the fifth embodiment (FIG. 19).

  FIG. 20 is a flowchart of the operation data generation processing according to the present embodiment. In this processing, after steps S11 to S17 described in FIG. 15, steps S61 to S63 described in FIG. 19 are executed.

  In the present embodiment, new operation data can be added (S14, S15) while executing the registered operation control data to reproduce the operation data (S11 to S17), and further, from the registered operation data and the added operation data, The heat generation amount of the generated operation control data is estimated, and if necessary, the operation control data is changed to suppress the heat generation amount (S61 to S63). The present embodiment thus configured also has the same operation and effect as the fifth embodiment.

  A seventh embodiment will be described with reference to FIG. In this embodiment, the user is advised to change the operation data as the heat generation suppressing process.

  FIG. 21 is a flowchart of the operation data generation processing according to the present embodiment. In this process, after executing steps S11 to S16 described in FIG. 15, the heat generation amount of the operation control data is estimated (S61), and if it is determined that the estimated heat generation amount exceeds the threshold value PTh (S62: YES), The user is advised to change the operation data (S64). This advice is given by displaying a message on the display unit 204, for example, that the operation data that has just been input may not operate properly due to heat. It is recommended that the operation data be input again.

  When the user instructs re-input of the operation data via the operation unit 205 (S65: YES), the process returns to step S12, and the countdown is started.

  The present embodiment thus configured also has the same operation and effect as the fifth embodiment. Further, in the present embodiment, since the operation control data is not automatically changed, but is merely advised, the intention of the user can be respected as compared with the fifth embodiment.

  An eighth embodiment will be described with reference to FIG. In the present embodiment, each time the user inputs a single action, the amount of heat generated thereby is estimated, and it is determined whether or not the accumulated heat amount (motor temperature) exceeds the threshold value PTh, and advice is given to the user when necessary.

  FIG. 22 is a flowchart of the operation data generation processing according to the present embodiment. When receiving the operation generation start instruction from the user (S11: YES), the terminal 2 instructs the robot control unit 10 to generate the operation data from the communication unit 206.

  When receiving the instruction from the terminal 2, the robot control unit 10 notifies the user of the start of the generation of the operation data by a countdown method (S12). When the countdown becomes 0 (S13: YES), the operation data sampling unit 109 samples and stores the turning angles of the limbs manually operated by the user (S14).

  The inflection point detection unit 207 acquires the operation data stored by the operation data sampling unit 109 and determines whether there is an inflection point (S18). When an inflection point is detected (S18: YES), the control parameter generation processing unit 209 sets parameters and generates operation control data (S16).

  The heat generation amount estimation unit 210 estimates the heat generation amount from the operation control data up to the inflection point (S61), and the heat generation suppression unit 211 determines whether the estimated heat generation amount exceeds the threshold value PTh (S62). When the estimated heat value is equal to or smaller than the threshold value PTh (S62: NO), the terminal 2 determines whether or not to end the input of the operation data (S66). If the input of the operation data by the user's manual operation has not been completed (S66: NO), the process returns to step S12. When the input of the operation data is finished (S66: YES), the present process is finished.

  When the estimated heat generation amount exceeds the threshold value PTh (S62: YES), the heat generation suppression unit 211 advises the user to change the operation data (S64). The terminal 2 returns to Step S12 when the user desires re-input of the operation data according to the advice (S65: YES). When it is not desired to input the operation data again (S65: NO), this processing is ended.

  The present embodiment thus configured also has the same operation and effect as the fifth embodiment. Further, in the present embodiment, each time an inflection point is detected, it is determined whether or not the heat generation amount exceeds a threshold, and advice is given to the user. Therefore, according to the present embodiment, before the user inputs the entire operation data, the heat generation amount can be determined step by step for each single operation, and the operation data can be corrected early. As a result, usability is improved as compared with the case where advice is given after the entire operation data is input.

  In addition, if the graph as shown in FIG. 18 is presented to the user in step S64 of FIG. 22, the calorific value can be estimated for each single operation input by the user and provided to the user. Each time the user inputs a single action, the user can easily visually check the change in the amount of generated heat.

  Furthermore, after giving advice to the user, the operation control data may be automatically corrected if the user desires.

  Note that the present invention is not limited to the above embodiment. A person skilled in the art can make various additions and changes without departing from the scope of the present invention. The terminal 2 may be a personal computer or the like installed at a location remote from the robot 1 or a tablet PC attached to the robot 1.

  1: robot, 2: terminal, 10: robot control unit, 16: joint unit, 109: motion data sampling unit, 207: inflection point detection unit, 208: inflection point synchronization processing unit, 209: control parameter generation processing unit, 210 : Heat generation amount estimation unit, 211: heat generation suppression unit

Claims (13)

An operation control data generation system that generates operation control data for controlling the operation of a robot having a plurality of joints,
By detecting a user operation on a predetermined joint selected from among the plurality of joints, an operation data obtaining unit that obtains operation data indicating an operation of the predetermined joint,
A synchronization processing unit that synchronizes timings of the plurality of motion data by analyzing motion data of the plurality of predetermined joints;
An operation control data generation unit that generates and registers operation control data for reproducing the operation of the joint based on the plurality of operation data that has been subjected to the synchronization processing;
By analyzing the obtained operation data of the operation data acquisition unit, and a inflection point detecting unit for motion state of rotation axis of the predetermined joint section detects inflection point indicating a point of change exceeds a predetermined value Equipped,
The synchronization processing unit synchronizes the timing of a plurality of inflection points detected by the inflection point detection unit ,
Robot motion control data generating system. The inflection point detection unit, any one of a plurality of inflection points existing in a predetermined time range as a reference inflection point, and other inflection points as dependent inflection points,
The synchronization processing unit synchronizes the timing of the dependent inflection point with the timing of the reference inflection point,
The robot operation control data generation system according to claim 1 . Priorities are set in advance for the rotation axes of the joints,
The inflection point detection unit detects the highest inflection point set to the corresponding rotation axis as the reference inflection point, and detects other inflection points as the dependent inflection points,
A robot operation control data generation system according to claim 2 . At the inflection point, there is the reference inflection point serving as a synchronization reference, the dependent inflection point synchronized with the reference inflection point, and an independent inflection point not synchronized with any inflection point,
The inflection point detection unit, the type of the detected inflection point, the reference inflection point, the dependent inflection point, or can be changed to any of the independent inflection point,
The robot operation control data generation system according to claim 3 . The inflection point detection unit is capable of changing data on the inflection point,
An operation control data generation system for a robot according to claim 4 . The motion data acquisition unit is configured to reproduce another motion corresponding to the motion control data registered by the motion control data generation unit on the robot, and select another predetermined joint selected from the plurality of joints. By detecting another user operation on the unit, to obtain other operation data indicating the operation of the other predetermined joint unit,
The synchronization processing unit synchronizes the timings of the plurality of pieces of motion data and the other pieces of motion data by analyzing the motion data of the plurality of predetermined joints and other motion data of the other predetermined joints. Let
The operation control data generating unit is configured to generate and register new operation control data based on the plurality of operation data and the other operation data subjected to the synchronization processing,
Robot motion control data generating system according to any one of claims 1-5. The operation data obtaining unit notifies the user of the start of obtaining the operation data by a countdown method,
An operation control data generation system for a robot according to any one of claims 1 to 6 . A calorific value when the operation control data is performed, a calorific value estimating unit for estimating before the robot operates according to the operation control data;
When the heat generation amount is determined to exceed a predetermined threshold, further comprising a heat generation suppression unit that performs a predetermined heat generation suppression process for suppressing the heat generation amount,
An operation control data generation system for a robot according to any one of claims 1 to 7 . The predetermined heat generation suppressing process is a process of changing the operation control data so that the heat generation amount is equal to or less than the predetermined threshold.
An operation control data generation system for a robot according to claim 8 . The predetermined heat generation suppression process is a process of advising a user to suppress the heat generation amount,
An operation control data generation system for a robot according to claim 8 . Each time the inflection point detection unit detects the inflection point, the heating value estimating unit estimates the heating value when the operation control data up to the inflection point is performed,
The heat generation suppressing unit executes the predetermined heat generation suppression process when determining that the estimated heat generation amount exceeds the predetermined threshold each time the inflection point is detected,
An operation control data generation system for a robot according to claim 8 . The predetermined heat generation suppression process is a process of displaying an influence on a heat generation amount for each operation included in the operation control data to advise a user on the suppression of the heat generation amount.
The robot operation control data generation system according to claim 10 . An operation control data generation method for generating, by a computer, operation control data for controlling the operation of a robot having a plurality of joints,
The computer is
By detecting a user operation on a predetermined joint selected from among the plurality of joints, acquiring operation data indicating an operation of the predetermined joint,
By analyzing the acquired motion data, an inflection point indicating a point at which the motion state of the rotation axis of the predetermined joint changes beyond a predetermined value is detected,
Synchronize the timing of the plurality of detected inflection points,
Based on the synchronized plurality of motion data, generate and register motion control data for reproducing the motion of the joint,
A method for generating robot operation control data.

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