JP7572833B2 - Robots and Programs - Google Patents

Description

The present invention relates to a robot and a program.

The following patent document 1 discloses a technology for forming a mesh network with multiple communication nodes.

JP 2017-169019 A

In Patent Document 1, sensor nodes placed in specific locations are used as communication nodes that form a mesh network. In this case, the data measured by each sensor node is data that can be measured at the location where each sensor node is placed. Therefore, it is not possible to measure and collect data at locations where sensor nodes are not placed.

The present invention has been made to solve the above-mentioned problems, and one of its objectives is to provide a robot that can dynamically form a mesh network.

A robot according to one aspect of the present invention includes a communication unit capable of wireless communication with a plurality of unfixed robots forming a mesh network, and a movement control unit that moves the robot to a position that functions as a node that constitutes the mesh network, based on area information about the area in which the mesh network is to be constructed and position information about the robot.

According to this aspect, a robot can autonomously move to a position where it can function as a node that constitutes the mesh network, based on the position information of multiple robots placed in the area where the mesh network is to be constructed. Therefore, it is possible to fluidly form a mesh network while autonomously moving the robot.

In the above aspect, the movement control unit may move the robot so that the robot is located within the area and the distance between the robot and other robots located in the vicinity falls within a predetermined range. According to this aspect, it is possible to fluidly form a mesh network while autonomously moving each robot located within the same area to a position where the distance between each robot falls within a predetermined range.

In the above aspect, when the data transmission capacity of the other robot selected as part of the communication path is insufficient, the movement control unit may move the robot to a position that forms a path to duplicate the path that passes through the other robot that has insufficient data transmission capacity. According to this aspect, even if a robot that has insufficient data transmission capacity occurs among the robots that form the communication path, it is possible to duplicate the path that passes through that robot, making it possible to provide a stable communication environment.

In the above aspect, the movement control unit may determine whether or not the data transmission capacity of the other robots selected as part of the communication path is insufficient based on transmission capacity information regarding the data transmission capacity of each robot, and if it determines that the data transmission capacity is insufficient, may move the robot to a position that forms the path for duplication. According to this aspect, it is possible to determine whether or not the data transmission capacity is insufficient based on the transmission capacity information, and to duplicate the path that passes through the robot that has insufficient data transmission capacity in accordance with the determination result.

A program according to another aspect of the present invention causes a computer to function as a communication unit capable of wireless communication with a plurality of unfixed robots forming a mesh network, and a movement control unit that moves the robot to a position where it functions as a node that constitutes the mesh network, based on area information on the area in which the mesh network is constructed, and position information on the robot.

According to this aspect, a robot can autonomously move to a position where it can function as a node that constitutes the mesh network, based on the position information of multiple robots placed in the area where the mesh network is to be constructed. Therefore, it is possible to fluidly form a mesh network while autonomously moving the robot.

The present invention makes it possible to provide a robot and program that can dynamically form a mesh network.

FIG. 1 is a diagram illustrating a configuration of a system including a robot according to an embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the robot according to the embodiment. FIG. 1 is a schematic diagram for explaining a mesh network formed by robots. FIG. 1 is a schematic diagram for explaining a mesh network formed by robots. FIG. 1 is a schematic diagram for explaining a mesh network formed by robots. FIG. 2 is a block diagram illustrating a hardware configuration of the robot according to the embodiment. FIG. 2 is a block diagram illustrating a hardware configuration of a server device.

One embodiment of the present invention will be described below. Note that the following embodiment is an example for explaining the present invention, and is not intended to limit the present invention to that embodiment. Furthermore, the present invention can be modified in various ways without departing from the gist of the invention. Furthermore, a person skilled in the art can adopt an embodiment in which each element described below is replaced with an equivalent, and such an embodiment is also within the scope of the present invention.

[System Configuration]
An exemplary configuration of a system including a robot according to an embodiment will be described with reference to Fig. 1. In this embodiment, the system 1 can perform processes such as searching for an available robot 4 and making a reservation for using the robot 4.

As shown in FIG. 1, the system 1 includes a server device 2, one or more terminal devices 3, and multiple robots 4. Each device or robot is configured to be able to communicate with the other devices or robots wirelessly or via wires (or both). Each terminal device 3 may have the same configuration or different configurations. Each robot 4 may have the same configuration or different configurations. Below, an overview of each device and robot is described.

The server device 2 is, for example, a device that manages the robots 4 that form a mesh network. The server device 2 is configured with an information processing device such as a server computer. The server device 2 may be configured with one information processing device, or may be configured with multiple information processing devices (for example, cloud computing or edge computing).

The terminal device 3 is an information processing device used by a user to operate the robot 4 and to reserve the robot 4. The terminal device 3 is, for example, a general-purpose or dedicated information processing device such as a smartphone, a tablet terminal, a PDA (Personal Digital Assistant), a personal computer, a head-mounted display, or an operating system for a specific purpose.

The robot 4 is an unfixed robot. "Unfixed" includes, for example, cases where the robot 4 is a mobile type having a drive unit for movement such as wheels, and a wearable type that can be worn by a person and has a drive unit for operating a manipulator, etc.

Mobile robots include, for example, robots that run on one, two or multiple wheels, robots that run on caterpillar tracks, robots that run on rails, robots that move by hopping, robots that walk on two legs, four legs or multiple legs, robots that navigate on or underwater using propellers, and robots that fly using propellers or the like.

Examples of wearable robots include those published in MHD Yamen Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM SIGGRAPH 2018 Emerging Technologies Article No. 7.

Robot 4 also includes the following: vehicles and heavy machinery capable of automatic or semi-automatic driving, drones, airplanes, robots equipped with cameras that are installed in sports stadiums and can move on rails, and satellite-type robots launched into outer space that can control their attitude and the direction of the camera's photography. Robot 4 may also be a so-called telepresence robot or avatar robot.

The user operates the robot 4 (for example, moving the robot 4 or operating the camera mounted on the robot 4) via the terminal device 3. A signal for operating the robot 4 is transmitted from the terminal device 3 to the robot 4 via the server device 2 or other devices. The signal for operating the robot 4 may be transmitted directly from the terminal device 3 to the robot 4. The robot 4 operates according to the received signal, and transmits data acquired or detected by the robot 4 regarding the location of the robot 4, such as image data and audio data acquired through the camera, microphone, and other devices mounted on the robot 4, to the terminal device 3. This allows the user to experience, via the terminal device 3 and the robot 4, as if they were in the location of the robot 4. The data transmitted from the robot 4 may be transmitted to the terminal device 3 via the server device 2 or other devices, or may be transmitted directly to the terminal device 3.

[Mesh network]
In this embodiment, a case will be described in which a plurality of robots 4 are arranged in a specific area, and the plurality of robots 4 arranged in the specific area form a mesh network. A mesh network is a communication network in which a plurality of communication nodes form a mesh-like transmission path. A specific description will be given with reference to FIG. 2.

Figure 2 shows an example in which 11 robots 4 are placed in an area A, and a mesh network is formed by these 11 robots 4. The size of area A and the number of robots 4 placed in area A can be set arbitrarily.

In FIG. 2, a user U uses a terminal device 3 to remotely control a robot 4e with a robot ID of "A11." The robot 4e that the user U remotely controls is selected, for example, as follows.

First, the user U operates the terminal device 3 to specify a desired location or position within the area A and search for a robot 4 to be remotely operated. Next, the server device 2 selects the robot 4e that is placed at the location or position specified by the user U as the robot 4 to be remotely operated by the user U.

In FIG. 2, a route passing through robots 4a, 4b, 4c, and 4d on the mesh network is selected as the communication route between the terminal device 3 and robot 4e. Therefore, the terminal device 3 communicates with robot 4e via robots 4a, 4b, 4c, and 4d on the mesh network. The communication route on the mesh network is selected, for example, as follows.

First, the server device 2 acquires the position information of each robot 4 on the mesh network that may be present between the terminal device 3 and the robot 4e and the status information of each robot 4. The status information includes, for example, the startup status of the robot 4, the charging status of the robot 4, the communication status of the robot 4, and the usage status of the robot 4. Details of the position information of the robot 4 and the status information of the robot 4 will be described later.

Then, the server device 2 selects an optimal route as a communication route on the mesh network based on the acquired position information and status information of each robot 4. For example, the optimal route can be selected by appropriately combining the following criteria (1) to (6). At that time, the priority can be calculated by weighting each criterion, and the route with the highest priority can be selected.

(1) Based on the position information of the robot 4, a robot that forms the shortest route is preferentially selected.
(2) Based on the activation status of the robot 4, the robot that is currently activated is preferentially selected.
(3) Based on the charging status of the robot 4, a robot with a large remaining battery capacity is preferentially selected.
(4) Based on the communication status of the robot 4, a robot with a higher radio wave intensity from its communication section is preferentially selected.
(5) Based on the usage status of the robot 4, a robot that has recently been charged or maintained is preferentially selected.
(6) Based on the usage status of the robot 4, a robot whose failure flag is OFF is preferentially selected.

Here, each robot 4 and server device 2 stores and manages, for example, area information, robot information, robot position information, robot status information, and robot transmission capability information in their respective storage devices (storage units).

The area information is information about the area in which the mesh network is to be constructed. The area information includes, for example, an area ID that identifies the area, map information including the area, information indicating the range of the area, and the number of robots 4 that can be deployed in the area.

The robot information is information about each robot 4. The robot information includes, for example, a robot ID that identifies the robot 4, information about the communication range of the robot 4, information about the capabilities of the robot 4, and information about the camera performance of the robot 4.

The robot position information is information relating to the position of each robot 4. The robot position information includes, for example, a robot ID, an area ID of the area in which the robot 4 is located, and the current position of the robot 4. The current position of the robot 4 can be measured, for example, by a GPS (Global Positioning System) function installed in the robot 4.

The robot status information is information relating to the status of each robot 4. The robot status information includes, for example, a robot ID, information relating to the startup status of the robot 4, information relating to the charging status of the robot 4, information relating to the communication status of the robot 4, and information relating to the usage status of the robot 4.

The robot transmission capacity information is information related to the data transmission capacity of each robot 4. The transmission capacity information includes, for example, the robot ID, the robot IDs of other robots 4, and the throughput, transmission speed, and communication bandwidth based on the communication with the other robots 4.

The data included in the area information, robot information, robot position information, robot status information and robot transmission capacity information is set for each robot 4 or sequentially measured by each robot 4, stored in a storage device, and then transmitted to the server device 2. The server device 2 accumulates and manages the area information, robot information, robot position information, robot status information and robot transmission capacity information based on the data received from each robot 4. The server device 2 periodically transmits to each robot 4 placed in the same area the data acquired from other robots 4 placed in the same area. Each robot 4 updates the area information, robot information, robot position information, robot status information and robot transmission capacity information based on the data received from the server device 2.

The data configuration of each piece of information stored in each robot 4 and server device 2 and the combination of each piece of data are not limited to the above, and can be set arbitrarily according to operation.

[Functional configuration of the robot]
The functional configuration of the robot 4 will be described with reference to Fig. 3. These functions are realized by a processor (controller) of the robot 4 reading and executing a computer program stored in a storage device (storage unit). The hardware configuration of the robot 4 will be described later.

As shown in FIG. 3, the robot 4 has, as its functional configuration, for example, a communication unit 41, a movement control unit 42, and a database 43. The functions possessed by the robot 4 are not limited to these, and the robot 4 may have functions that a computer generally has, as well as other functions.

The database 43 stores various data, such as data required for processing executed by the robot 4, and data generated or set by the processing. The various data includes the above-mentioned area information, robot information, robot position information, robot status information, and robot transmission capability information, as well as, for example, user information related to the user who uses the robot 4.

The communication unit 41, for example, wirelessly communicates with a plurality of robots 4 forming a mesh network. The communication unit 41 may communicate directly with the robots 4, or may communicate with the robots 4 via the server device 2 or another device. The communication with the server device 2 or another device may involve wired communication in addition to wireless communication.

The movement control unit 42 moves the robot to a position that functions as a node that constitutes a mesh network, for example, based on area information and robot position information. The area information and robot position information can be obtained from the database 43.

For example, the movement control unit 42 moves the host robot so that the distance between the host robot and other robots located in the same area and around the host robot falls within a predetermined range. A specific explanation will be given with reference to FIG. 4.

As shown in FIG. 4, robot 4c with a robot ID of "A5" is located a short distance away from other robots 4b, 4d, and 4g located in the same area A and in the vicinity. In this case, the movement control unit 42 of robot 4c moves robot 4c so that the distances to the other robots 4b, 4d, and 4g are each within a predetermined range.

The area of the robot 4c can be identified by, for example, referring to the area information in the database 43 using the robot ID of the robot 4c, "A5". The position of the robot 4c can be identified by, for example, referring to the robot position information in the database 43 using the robot ID of the robot 4c, "A5". The positions of the other robots 4b, 4d, 4g located in the vicinity of the robot 4c can be identified by, for example, referring to the robot position information in the database 43 using the area ID of area A.

The predetermined range may be set to the same range for each robot 4, or a different range may be set for each robot 4. The predetermined range may also be set to the range within which each robot 4 can communicate. In this case, a different range may be set within the communication range of each robot 4.

By setting a specific range as the communication range of each robot 4, it becomes possible for each robot 4 placed in the same area to move autonomously and function reliably as a node that constitutes a mesh network.

The location of the robot 4 may change depending on, for example, how the user uses it, so the robot 4 is not necessarily always in a fixed location. Therefore, this function is useful as it allows the robot 4, which has moved from one location to another, to autonomously move to a position that will form a mesh network. Furthermore, by each robot 4 that forms a mesh network having this function, it becomes possible to form the mesh network fluidly.

The other robots 4 located within and around the same area A are not limited to the robots 4b, 4d, and 4g described above, and can be selected arbitrarily. For example, in addition to the robots 4b, 4d, and 4g described above, robots 4f and 4h may also be added.

Returning to the explanation of FIG. 3, when the data transmission capacity of another robot 4 selected as part of the communication path between the terminal device 3 and the robot 4 is insufficient, the movement control unit 42 moves the robot 4 to a position that forms a path to duplicate the path passing through the other robot 4 with insufficient data transmission capacity. A specific explanation will be given with reference to FIG. 5.

As shown in FIG. 5, the communication path between the terminal device 3 and robot 4e is duplicated by a path connecting robot 4a to robot 4e via robots 4b, 4c, and 4d, and a path connecting robot 4a to robot 4e via robots 4f, 4g, and 4h. Here, robots 4f, 4g, and 4h move from their fixed reference positions to positions close to robots 4b, 4c, and 4d, thus duplication of the communication path.

In this case, first, the movement control units 42 of the robots 4f, 4g, and 4h determine whether the data transmission capacity of any of the robots 4a to 4e that form the communication path between the terminal device 3 and the robot 4e is insufficient. The data transmission capacity of the robots 4a to 4e can be identified by referring to the robot transmission capacity information in the database 43 using the robot IDs of the robots 4a to 4e.

Whether or not the data transmission capacity is insufficient can be determined, for example, by setting a predetermined lower limit, and determining that the data transmission capacity is insufficient if the data transmission capacity falls below the lower limit. The predetermined lower limit can be set as appropriate based on the network transmission standards, etc.

It is desirable to determine whether or not data transmission capacity is insufficient continuously or intermittently from the time a communication path between the terminal device 3 and the robot 4e is established until the time it is disconnected.

Next, when the movement control units 42 of the robots 4f, 4g, and 4h determine that the data transmission capabilities of the robots 4b, 4c, and 4d are insufficient, they move the robots 4f, 4g, and 4h to positions close to the robots 4b, 4c, and 4d, respectively, thereby duplicating the communication paths as shown in FIG. 5.

In FIG. 5, robots 4f, 4g, and 4h are moved to duplicate the communication path, but the duplicated path is not limited to this. For example, if it is determined that the data transmission capacity of robot 4c is insufficient, robot 4g may be moved to a position close to robot 4c to duplicate the communication path. In this case, the communication path between robot 4b and robot 4d is duplicated by two paths, one that goes through robot 4c and one that goes through robot 4g.

By having this function, even if, for example, a robot 4 that forms a communication path has a shortage of communication bandwidth, the path that passes through that robot 4 can be duplicated, making it possible to provide a stable communication environment.

[effect]
As described above, the robot 4 according to this embodiment can autonomously move to a position where it can function as a node that constitutes the mesh network, based on the position information of multiple robots arranged in an area where the mesh network is to be constructed. Therefore, it is possible to dynamically form the mesh network while autonomously moving the robot 4.

In addition, the robot 4 according to this embodiment can move its own robot so that the distance between itself and other robots located in the same area and around itself falls within a predetermined range. Therefore, it is possible to form a mesh network by autonomously moving each robot 4 arranged in the same area to a position where the distance between each robot falls within a predetermined range.

Furthermore, according to the robot 4 of this embodiment, even if the data transmission capacity of another robot selected as part of the communication route is insufficient, the robot can move to a position that forms a route to duplicate the route that passes through the other robot with insufficient data transmission capacity. Therefore, it is possible to provide a stable communication environment in the robot mesh network.

[Computer hardware configuration]
An exemplary hardware configuration of a computer (information processing device) and other main components mounted on the robot 4 in this embodiment will be described with reference to Fig. 6. The robot 4 includes, as the hardware configuration, a processor 401, a RAM (Random Access Memory) 402, a ROM (Read only Memory) 403, a communication unit 404, an input unit 405, a display unit 406, a drive unit 407, and a camera 408. The configuration shown in Fig. 6 is an example, and the robot 4 may not include some of these components, or may include other components. For example, the robot 4 may include a speaker, a microphone, and various sensors.

The processor 401 is the calculation unit of the robot 4, and is, for example, a CPU (Central Processing Unit). The processor 401 is a control unit that controls the execution of programs stored in the RAM 402 or ROM 403 and calculates and processes data. The processor 401 realizes the functions of the robot 4 described in the above embodiment by cooperating with other components of the robot 4 and the programs.

The processor 401 also executes, for example, a program (communication program) that controls communication via the robot. The processor 401 receives various data from the input unit 405 and the communication unit 404, and displays the results of calculations on the data on the display unit 406 or stores them in the RAM 402.

The communication program may be provided by being stored in a computer-readable storage medium such as RAM 402 or ROM 403, or may be provided via a communication network connected by the communication unit 404. In the robot 4, the processor 401 executes the communication program to realize various operations for controlling the robot 4. Note that these physical configurations are merely examples, and do not necessarily have to be independent configurations. For example, the robot 4 may be equipped with an LSI (Large-Scale Integration) in which the processor 401 is integrated with the RAM 402 and ROM 403.

RAM 402 and ROM 403 are storage units that store data required for various processes and data on the results of the processes. In addition to RAM 402 and ROM 403, robot 4 may also be equipped with a large-capacity storage unit such as a hard disk drive (HDD).

The communication unit 404 is a device for performing data communication with an external device via a network, either wired or wirelessly.

The input unit 405 is a device for inputting data from outside the robot 4. The input unit 405 may include, for example, a keyboard and a touch panel for accepting data input from a user. The input unit 405 may also include a microphone for voice input.

The display unit 406 is a device for displaying various types of information. The display unit 406 visually displays the results of calculations performed by the processor 401, and may be configured, for example, as an LCD (Liquid Crystal Display). The display unit 406 may display images captured by the camera 408 of the robot 4.

The driving unit 407 includes a remotely controlled actuator, and includes a moving part such as wheels, a manipulator, etc. If the robot 4 is a mobile robot, the driving unit 407 includes at least a moving part such as wheels, but may also include a manipulator. If the robot 4 is a wearable robot, the driving unit 407 includes at least a manipulator.

The camera 408 includes an imaging element that captures still images or videos, and transmits the captured still images or videos to an external device via the communication unit 404.

With reference to FIG. 7, an exemplary hardware configuration of a computer (information processing device) for implementing the server device 2 and terminal device 3 in this embodiment will be described. Here, the hardware configuration of the server device 2 will be described, but since the hardware configuration of the terminal device 3 is similar, its description will be omitted.

As shown in FIG. 7, the server device 2 includes, as its hardware configuration, a processor 201, a memory 202, a storage device 203, a communication unit 204, an input unit 205, and a display unit 206. The server device 2 may not include some of these components. In addition to these components, the server device 2 may also include other components that are generally included in a general-purpose computer or a dedicated computer.

The processor 201 is, for example, a CPU. The processor 201 is a control unit that controls various processes in the server device 2 by executing a program stored in the memory 202. The processor 201 realizes the functions of the server device 2 in cooperation with the program and other components of the server device 2.

The memory 202 is a storage medium such as a RAM. The program code of the program executed by the processor 201 and data required for executing the program are temporarily read from the storage device 203 or the like or are stored in advance in the memory 202.

The storage device 203 is a non-volatile storage medium such as a hard disk drive. The storage device 203 stores an operating system, various programs, data, etc.

The communication unit 204 is a device for performing data communication via a network, either wired or wirelessly, with devices external to the server device 2. The communication unit 204 may be removably connected to the server device 2. In that case, the communication unit 204 is connected to the server device 2 via an interface such as a USB (Universal Serial Bus).

The input unit 205 is a device for receiving input from a user and a device for inputting data from outside the server device 2. Specific examples of the input unit 205 include a keyboard, a mouse, a touch panel, a joystick, various sensors, a wearable device, and a drive device for reading data stored in various storage media. The input unit 205 may be removably connected to the server device 2. In that case, the input unit 205 is connected to the server device 2 via an interface such as a USB.

The display unit 206 is a device for displaying various types of information. Specific examples of the display unit 206 include, for example, a liquid crystal display, an organic EL display, and a display of a wearable device. The display unit 206 may be removably connected to the outside of the server device 2. In that case, the display unit 206 is connected to the server device 2 via, for example, a display cable. In addition, when a touch panel is used as the input unit 205, the display unit 206 can be configured as an integral part of the input unit 205.

[Modification]
The program for implementing the system 1 (or the server device 2, the terminal device 3, or the robot 4) in this embodiment can be recorded on various recording media such as optical disks such as CD-ROMs, magnetic disks, semiconductor memories, etc. Also, the above-mentioned program can be downloaded through a recording medium or via a communication network, etc., and installed or loaded into a computer.

1...system, 2...server device, 3...terminal device, 4...robot, 41...communication unit, 42...movement control unit, 43...database, 201...processor, 202...memory, 203...storage device, 204...communication unit, 205...input unit, 206...display unit, 401...processor, 402...RAM, 403...ROM, 404...communication unit, 405...input unit, 406...display unit, 407...drive unit, 408...camera

Claims (3)

A communication unit capable of wirelessly communicating with a plurality of unfixed robots forming a mesh network;
a movement control unit that moves the robot to a position where the robot functions as a node that constitutes the mesh network, based on area information on an area where the mesh network is to be constructed and position information of the robot;
Equipped with
the movement control unit determines whether or not the data transmission capacity of the other robots selected as part of the communication path is insufficient based on transmission capacity information regarding the data transmission capacity of each of the robots, and when it is determined that the data transmission capacity is insufficient, moves the own robot to a position close to the other robot having insufficient data transmission capacity, thereby forming a route for duplicating the route passing through the other robot having insufficient data transmission capacity;
robot. the movement control unit moves the robot so that the distance between the robot and other robots located in the area falls within a predetermined range;
The robot according to claim 1. Computer,
a communication unit capable of wirelessly communicating with a plurality of unfixed robots forming a mesh network;
a movement control unit that moves the robot to a position where the robot functions as a node that constitutes the mesh network, based on area information on an area where the mesh network is to be constructed and position information of the robot;
Function as a
the movement control unit determines whether or not the data transmission capacity of the other robots selected as part of the communication path is insufficient based on transmission capacity information regarding the data transmission capacity of each of the robots, and when it is determined that the data transmission capacity is insufficient, moves the own robot to a position close to the other robot having insufficient data transmission capacity, thereby forming a route for duplicating the route passing through the other robot having insufficient data transmission capacity;
program.