JP6910628B2 - A device that operates a robot, a method and a program that is executed in that device. - Google Patents

Description

The present invention relates to a device for operating a robot, a method and a program executed in the device.

Conventionally, various types of robots such as wheel-traveling robots, bipedal robots such as humanoid robots, quadrupedal robots such as dogs, footless robots such as snakes, and flying robots have been developed. (See Patent Document 1 and Patent Document 2). These robots are provided with a drive unit in which various actuators, various sensors, etc. are arranged, and drive various actuators according to the output of various sensors and a control program to perform a predetermined operation (for example, a traveling operation). It is configured to be able to do.

Japanese Unexamined Patent Publication No. 2004-41538 Japanese Unexamined Patent Publication No. 2008-80431

However, there has been no technology for commonly operating various robots (particularly, various robots of different types and configurations). For this reason, it has been difficult for a general operator other than an expert to operate various robots efficiently and easily.

The present invention is executed in a device that allows an operator to perform a common operation (for example, a common gesture) on various robots so that various robots can be operated in common. The purpose is to provide methods and programs.

In one aspect of the present invention, the device of the present invention is a device for operating a robot, the device includes a processor unit, a database unit is connected to the device, and the database unit is connected to the database unit. Related information for associating at least one operation by the operator with at least one operation command is stored, and at least one operation by the operator is defined to be common to at least one robot other than the robot. The at least one operation command, including the common operations performed, is pre-designed to operate the robot, and the processor unit is associated with identifying an operation performed by the operator. With reference to the information, it is configured to at least execute the conversion of the operation performed by the operator into the corresponding operation command and the provision of the operation command to the robot.

In one embodiment of the invention, at least one operation by the operator may be associated with the gesture of the operator.

In one embodiment of the invention, the relevant information includes an operation table showing a list of at least one operation by the operator and an operation command table showing a list of at least one operation command. And the operation command of the operation command table may be associated with each other.

In one embodiment of the present invention, the robot is composed of a wheel-traveling robot, a bipedal walking robot, a multi-legged walking robot having two or more legs, a footless walking robot, and a flying robot. It may be selected from the group.

In one aspect of the present invention, the method of the present invention is a method performed in a device that operates a robot, wherein the device includes a processor unit, and a database unit is connected to the device. The database unit stores related information for associating at least one operation by the operator with at least one operation command, and at least one operation by the operator is performed with at least one robot other than the robot. The at least one operational command, including a common operation defined to be common, was pre-designed to operate the robot, in which the processor unit was performed by the operator. Identifying the operation, the processor unit referring to the related information, converting the operation performed by the operator into the corresponding operation command, and the processor unit converting the operation command into the operation command. Includes providing to the robot.

In one aspect of the present invention, the program of the present invention is a program executed in a device that operates a robot, the device includes a processor unit, and a database unit is connected to the device. The database unit stores related information for associating at least one command by the operator with at least one operation command, and at least one operation by the operator is performed with at least one robot other than the robot. The at least one operation command, including a common operation defined to be common, is pre-designed to operate the robot, and the program identifies the operation performed by the operator. And, referring to the related information, the processor unit at least executes the conversion of the operation performed by the operator into the corresponding operation command and the provision of the operation command to the robot. Let me do it.

According to the present invention, a device that allows an operator to perform a common operation (for example, a common gesture) on various robots so that various robots can be operated in common, and execution in the device. It is possible to provide the methods and programs to be done.

The figure which shows a mode that an operator operates a robot 30 using a device 1. The figure which shows a mode that an operator operates a robot 50 using a device 1. The figure which shows a mode that an operator operates a robot 70 using a device 1. The figure which shows a mode that an operator operates robots 30, 50, and 70 at the same time using apparatus 1. The figure which shows an example of the structure of the apparatus 1 for realizing a new model. The figure which shows an example of the structure of the related information 10 stored in the database part 7. The figure which shows an example of the process executed in the apparatus 1.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1. 1. New model for operating the robot Applicants propose a new model for operating the robot. This new model allows operators to operate each robot in common by performing common operations (eg, common gestures) on each robot.

Hereinafter, a new model for operating the robot will be described with reference to FIGS. 1A to 1D. Here, it is assumed that which robot is the robot to be operated by the operator is determined in advance before the operator actually operates the robot. It does not matter how the robot to be operated is determined. For example, by holding the device 1 over the robot to be operated, the device 1 is made to recognize the robot to be operated, and by automatically detecting the robot existing in the wireless LAN environment around the device 1, the device 1 is to be operated. It is possible to determine the robot to be operated by various methods such as recognizing the robot.

FIG. 1A shows an operator operating the robot 30 using the device 1.

In the example shown in FIG. 1A, the robot 30 is shown as an example of the robot to be operated. The robot 30 is a four-legged dog-shaped robot. However, this is just one example. The present invention can be applied to any kind of robot. For example, the present invention is a robot selected from a group consisting of a wheel-traveling robot, a bipedal walking robot, a multi-legged walking robot having two or more legs, a footless walking robot, and a flying robot. It is possible to apply.

For example, the operation of "moving forward" by the operator is an example of an operation common to the robot 30, the robot 50 described later with reference to FIG. 1B, and the robot 70 described later with reference to FIG. 1C. This is because each of the robots 30, 50, and 70 can be operated by a common operation of "moving forward" regardless of the type and configuration of the robots 30, 50, and 70.

The present invention enables the robots 30, 50, and 70 to be operated in common by the operator performing an operation common to the robots 30, 50, and 70 (for example, an operation of "moving forward"). Is what you do.

For example, the operator performs the operation of "moving forward" by gesture. Such an operation can be expressed by, for example, a gesture in which the right hand and the left hand are alternately shaken, and the left foot and the right foot are alternately moved forward in conjunction with the gesture, but the present invention is not limited to this. The operator's gesture is detected by, for example, the motion capture 2 worn by the operator, and a signal indicating the detected gesture is input to the device 1.

The device 1 receives a signal indicating the detected gesture, and identifies that the operator has performed an operation of "moving forward" based on the received signal. Next, the device 1 converts the operation of "moving forward" by the operator into an operation command for operating the robot 30. Such conversion is performed, for example, with reference to the related information 10 (FIG. 3) described later.

The device 1 transmits an operation command for operating the robot 30 to the robot 30. Here, the mode of transmission of the operation command does not matter. For example, the operation command may be transmitted wirelessly or by wire.

As described above, according to the device 1, the robot 30 is provided with an operation command corresponding to the operation (for example, gesture) of "moving forward" by the operator. The robot 30 can operate so as to "move forward".

The configuration of the motion capture 2 is not limited to a specific hardware configuration. For example, the motion capture 2 may be an optical type using a plurality of cameras and markers, an inertial sensor type using a gyro sensor or the like, or a mechanical type using a potentiometer or the like. Further, the motion capture 2 may be worn on the head or the hand, but is preferably worn on the whole body when performing a gesture expressed by the whole body. Gestures expressed by the whole body are often similar to the movements of bipedal robots and quadrupedal robots. Therefore, the operator can operate the robot more intuitively by using the gesture expressed by the whole body.

FIG. 1B shows an operator operating the robot 50 using the device 1.

In the example shown in FIG. 1B, the robot 50 is shown as an example of the robot to be operated. The robot 50 is a bipedal humanoid robot. However, this is just one example. The present invention can be applied to any kind of robot.

Since the operation of the robot 50 by the operator is the same as the operation of the robot 30 by the operator, detailed description thereof will be omitted here.

According to the device 1, the robot 50 is provided with an operation command corresponding to the operation (for example, a gesture) of "moving forward" by the operator. The robot 50 can operate so as to "move forward".

FIG. 1C shows an operator operating the robot 70 using the device 1.

In the example shown in FIG. 1C, the robot 70 is shown as an example of the robot to be operated. The robot 70 is a flying robot. However, this is just one example. The present invention can be applied to any kind of robot.

Since the operation of the robot 70 by the operator is the same as the operation of the robot 30 by the operator, detailed description thereof will be omitted here.

According to the device 1, the robot 70 is provided with an operation command corresponding to the operation (for example, a gesture) of "moving forward" by the operator. The robot 70 can operate so as to "move forward".

In this way, even if the types and configurations of the robots 30, 50, and 70 are different, the robots 30, 50 can be used for a common operation (for example, a common gesture) of "moving forward" by the operator. , 70 can all perform the common action of "moving forward".

FIG. 1D shows an operator using the device 1 to simultaneously operate a plurality of robots 30, 50, and 70.

In the example shown in FIG. 1D, robots 30, 50, and 70 are shown as an example of the robot to be operated. The robot 30 is a four-legged dog-shaped robot. The robot 50 is a bipedal humanoid robot. The robot 70 is a flying robot. However, this is just one example. The present invention can be applied to any kind of robot. Further, the present invention can be applied to operate one or more arbitrary number of robots to be controlled.

Since the robots to be operated are the robots 30, 50, and 70, the device 1 converts the operation of "moving forward" into three operation commands A, B, and C. Here, the operation command A is an operation command for operating the robot 30 (that is, an operation command peculiar to the robot 30). The operation command B is an operation command for operating the robot 50 (that is, an operation command peculiar to the robot 50). The operation command C is an operation command for operating the robot 70 (that is, an operation command peculiar to the robot 70).

The device 1 transmits an operation command A for operating the robot 30, an operation command B for operating the robot 50, and an operation command C for operating the robot 70.

In this way, even if the types and configurations of the robots 30, 50, and 70 are different, the robots 30, 50 can be used for a common operation (for example, a common gesture) of "moving forward" by the operator. It is also possible that all of the 70s and 70s simultaneously perform the common operation of "moving forward".

2. Configuration of Device for Realizing a New Model FIG. 2 shows an example of the configuration of device 1 for realizing a new model.

The device 1 includes a memory unit 4, a processor unit 5, a receiving unit 6, and an output interface unit 8.

The memory unit 4 stores a program for executing a process, data required for executing the program, and the like. Here, it does not matter how the program is stored in the memory unit 4. For example, the program may be pre-installed in the memory unit 4. Alternatively, the program may be installed in the memory unit 4 by being downloaded via a network such as the Internet, or may be installed in the memory unit 4 via a storage medium such as an optical disk or USB. You may. The program stored in the memory unit 4 is, for example, a program for executing the process shown in FIG.

The processor unit 5 controls the overall operation of the device 1. The processor unit 5 reads the program stored in the memory unit 4 and executes the program. This makes it possible to make the device 1 function as a device that performs a desired step.

The receiving unit 6 is used to receive a signal indicating an operation by the operator. The processor unit 5 receives a signal indicating an operation by the operator via the receiving unit 6. As long as the processor unit 5 receives a signal indicating an operation by the operator, it does not matter what kind of signal is received from where. For example, when the operator operates the robot with the operator's gesture, the processor unit 5 receives a signal (that is, sees FIG. 1A to 1D) output from the motion capture 2 (see FIGS. 1A to 1D) worn by the operator. A signal indicating a gesture) is received via the receiving unit 6. For example, when the operator operates the robot using an input device such as a joystick, a mouse, a keyboard, or a voice recognition device, the processor unit 5 receives a signal output from the input device via the receiving unit 6. do.

The output interface unit 8 controls communication with the robot to be controlled. The processor unit 5 transmits an operation command to the robot to be controlled via the output interface unit 8. Here, it is assumed that the mode in which the processor unit 5 transmits the operation command does not matter. For example, the processor unit 5 may transmit the operation command wirelessly or may transmit the operation command by wire.

The device 1 is connected to the database unit 7. The database unit 7 stores related information 10 for associating at least one operation by the operator with at least one operation command for operating at least one robot.

FIG. 3 shows an example of the configuration of the related information 10 stored in the database unit 7.

In the example shown in FIG. 3, the related information 10 operates the operation table 10a showing a list of operations by the operator, the operation command table 30a showing a list of operation commands for operating the robot 30, and the robot 50. It includes an operation command table 50a showing a list of operation commands for operating the robot 70, and an operation command table 70a showing a list of operation commands for operating the robot 70. Identifiers (robot IDs) for identifying robots 30, 50, and 70 are assigned to the operation command tables 30a, 50a, and 70a, respectively.

Here, it is assumed that the list of operation commands for operating the robot 30 is published by the designer or the manufacturer. Information indicating a list of operation commands for operating the robot 30 does not need to be directly disclosed, but at least indirectly, it is required to be available. For example, if it is disclosed that the robot 30 complies with a specific robot standard, and the list of operation commands to be implemented by the robot is standardized by the specific robot standard, the robot 30 is operated. It is possible to obtain information showing a list of operation commands for this purpose. It is possible to create and implement the operation command table 30a based on the information obtained in this way. The same applies to the operation command tables 50a and 70a.

For example, the operation of "moving forward" on the operation table 10a is an operation common to at least the robots 30, 50, and 70. In this case, the operation of "moving forward" in the operation table 10a is associated with the operation command "moving forward, backward, left and right feet alternately" in the operation command table 30a, and "left and right" in the operation command table 50a. It is associated with the operation command of "alternately moving forward of the foot", and is associated with the operation command of "rotating the left and right wheels in the forward direction" of the operation command table 70a. These associations are indicated by arrows in FIG.

Similarly, "stop", "move backward", "move to the left", "move to the right", "rotate to the left", "rotate to the right" of the operation table 10a. Is also an operation common to at least the robots 30, 50, and 70. Therefore, each of these operations in the operation table 10a is associated with the operation command tables 30a, 50a, 70a, but the arrows between the operation table 10a and the operation command tables 30a, 50a, 70a avoid complications. The illustration is omitted for this purpose.

For example, the operation of "flying" in the operation table 10a is an operation effective only for the robot 70. In this case, the operation of "flying" in the operation table 10a is associated with the operation command of "rotating the wing" in the operation command table 70a, but is associated with the operation command of the operation command tables 30a and 50a. do not have. Here, the arrows between the operation table 10a and the operation command table 70a are not shown in order to avoid complication.

Similarly, the operation of "grabbing" the operation table 10a is an operation effective only for the robot 50. In this case, the operation of "grabbing" in the operation table 10a is associated with the operation command of "closing the hand" in the operation command table 50a, but is not associated with the operation command of the operation command tables 30a and 70a. Here, the arrows between the operation table 10a and the operation command table 50a are not shown in order to avoid complication.

In the example shown in FIG. 3, the related information 10 includes the operation table 10a and the three operation command tables 30a, 50a, and 70a, but the configuration of the related information 10 is not limited to this. The related information 10 can include an operation table 10a and an arbitrary number of operation tables of one or more. The related information 10 is preferably editable so that the operation command table included in the related information 10 can be added. This makes it possible to increase the number of robots that can be operated by the device 1. Further, the related information 10 allows the items included in the operation table 10a to be added or changed, and / or the items included in the operation command tables 30a, 50a, 70a to be added or changed. It is preferable that it is editable. Thereby, it is possible to change the number or contents of operations by the operator and / or the number or contents of operation commands of each robot. Further, it is preferable that the related information 10 can be edited so that the association between the operation of the operation table 10a and the operation command of the operation command table can be changed. Thereby, for example, it is possible to change the correspondence between the operation by the operator (for example, the gesture of the operator) and the operation command of the robot. Further, the operation table 10a does not necessarily have to be in the table format, and may take any format as long as it has the same format as the table format. The same applies to the operation command tables 30a, 50a, and 70a.

Each component of the receiving unit 3, the memory unit 4, the processor unit 5, the database unit 7, and the output interface unit 8 shown in FIG. 2 may be composed of a single hardware component or a plurality of components. It may be composed of the above hardware components. The configuration of the device 1 is not limited to a specific hardware configuration.

Further, in the example shown in FIG. 2, the database unit 7 is provided outside the device 1, but the present invention is not limited thereto. The database unit 7 can also be provided inside the device 1. The specific hardware configuration of the database unit 7 does not matter. For example, the database unit 7 may be configured as an external hard disk device of the device 1, or may be configured as a storage on the cloud connected via a network.

3. 3. Processes Executed in Device 1 FIG. 4 shows an example of processes executed in device 1. This process is expressed in the form of a program. This program is stored in, for example, the memory unit 4 (FIG. 2). The processor unit 5 (FIG. 2) reads the program stored in the memory unit 4 and executes this program.

Hereinafter, each step shown in FIG. 4 will be described.

Step S410: The processor unit 5 identifies what kind of operation has been performed by the operator. For such identification, for example, the processor unit 5 receives a signal indicating an operation by the operator via the receiving unit 6, and what kind of operation is performed by the operator based on the received signal. Achieved by identifying the CPU. For example, when the operator performs the operation of "moving forward", the processor unit 5 identifies that the operation of "moving forward" is performed by the operator.

Step S420: The processor unit 5 refers to the related information 10 stored in the database unit 7 and converts the operation by the operator into the corresponding operation command. Here, the operation of "moving forward" by the operator is at least an example of an operation common to the robots 30, 50, and 70.

For example, when the operation target is the robot 30 (a dog-shaped robot walking on four legs), the operation command table 30a is selected (or selectively activated) from the operation command tables included in the related information 10. NS). In this case, when the operator performs the operation of "moving forward", the processor unit 5 refers to the operation table 10a and the operation command table 30a included in the related information 10 and "moves forward". The operation of "moving" is converted into the operation command of the corresponding robot 30 "moving forward, backward, left and right feet alternately".

Alternatively, when the operation target is the robot 50 (bipedal humanoid robot), the operation command table 50a is selected (or selectively activated) from the operation command tables included in the related information 10. NS). In this case, when the operator performs the operation of "moving forward", the processor unit 5 refers to the operation table 10a and the operation command table 50a included in the related information 10 and "moves forward". The operation of "moving" is converted into the operation command of "moving the left and right feet alternately" of the corresponding robot 50.

Alternatively, when the operation target is the robot 70 (flying robot), the operation command table 70a is selected (or selectively activated) from the operation command tables included in the related information 10. In this case, when the operator performs the operation of "moving forward", the processor unit 5 refers to the operation table 10a and the operation command table 70a included in the related information 10 and "forwards". The operation of "moving" is converted into the operation command of "rotating the left and right wheels in the forward direction" of the corresponding robot 70.

Alternatively, in the case of the robots 30, 50, 70 to be operated, the operation command tables 30a, 50a, 70a are selected (or selectively activated) from the operation command tables included in the related information 10. ). In this case, when the operator performs the operation of "moving forward", the processor unit 5 refers to the operation table 10a and the operation command tables 30a, 50a, 70a included in the related information 10. , The operation command of "moving forward" corresponds to the operation command of the robot 30 "moving forward and backward and left and right feet alternately", and the operation command of the robot 50 "moving forward alternately left and right feet". It is converted into an operation command of the robot 70 to "rotate the left and right wheels in the forward direction".

Step S430: The processor unit 5 provides an operation command to the robot via the output interface unit 8.

For example, when the operation target is the robot 30, the operation command of the robot 30 "moving forward, backward, left, and right feet alternately" is given to the robot 30 in response to the operation of "moving forward" by the operator. Provided. As a result, the robot 30 achieves "moving forward" by performing a predetermined operation corresponding to the operation command "moving forward, backward, left, and right feet alternately".

Alternatively, when the operation target is the robot 50, the operation command of the robot 50 "moving the left and right feet alternately forward" is provided to the robot 50 in response to the operation of "moving forward" by the operator. Will be done. As a result, the robot 50 achieves "moving forward" by performing a predetermined operation corresponding to the operation command of "moving the left and right feet alternately forward".

Alternatively, when the operation target is the robot 70, the robot 70 is provided with an operation command of "rotating the left and right wheels in the forward direction" of the robot 70 in response to the operation of "moving forward" by the operator. .. As a result, the robot 70 achieves "moving forward" by performing a predetermined operation corresponding to the operation command of "rotating the left and right wheels in the forward direction".

In this way, it is possible for all of the robots 30, 50, and 70 to achieve the common operation of "advancing forward" with respect to the common operation of "advancing forward" by the operator.

Alternatively, when the operation target is the robots 30, 50, 70, the operation command of the robot 30 "moving forward, backward, left and right alternately" in response to the operation of "moving forward" by the operator. Is provided to the robot 30, the operation command of the robot 50 to "advance the left and right feet alternately" is provided to the robot 50, and the operation command of the robot 70 to "rotate the left and right wheels in the forward direction" is given to the robot 70. Provided. As a result, it is possible for all of the robots 30, 50, and 70 to simultaneously achieve the common operation of "advancing forward" with respect to the common operation of "advancing forward" by the operator.

As described above, the present invention has been illustrated using the preferred embodiment of the present invention, but the present invention should not be construed as being limited to this embodiment. It is understood that the invention should be construed only by the claims. It will be understood by those skilled in the art that from the description of specific preferred embodiments of the present invention, an equivalent range can be implemented based on the description of the present invention and common general knowledge.

The present invention is executed in a device that allows an operator to perform a common operation (for example, a common gesture) on various robots so that various robots can be operated in common. It is useful as a method, a program, and the like.

1 Device 2 Motion capture 4 Memory section 5 Processor section 6 Receiver section 7 Database section 8 Output interface section 10 Related information 10a Operation table 30a Operation command table 50a Operation command table 70a Operation command table 30 Robot 50 Robot 70 Robot

Claims (4)

A system including a device used for operating the plurality of robots by a common operation for the plurality of robots and a database unit outside the device .
The apparatus includes a processor unit, to the device, the which database unit is connected to the database unit in advance is designed to operate the plurality of robots and a common operation for the plurality of robot Related information for associating with a plurality of operation commands peculiar to the plurality of robots is stored, and each of the plurality of robots is pre-designed to operate in response to the operation commands peculiar to the robot. And
The processor unit
Identifying common operations performed by operators and
With reference to the related information, the common operation is converted into an operation command specific to the operation target robot among the plurality of robots.
It is configured to at least execute providing the operation command specific to the operation target robot to the operation target robot.
The related information includes an operation table showing a list of the common operations and an operation command table showing a list of the plurality of operation commands, and the common operation of the operation table and the plurality of operation command tables of the operation command table. Operation commands are associated with each other
The operation table is defined in common to the plurality of robots, and the operation command table is defined in units of robots.
The related information is editable so that the operation command table can be added, and the related information can add or change items contained in the operation table, and / or said. A system that can be edited so that items contained in the operation command table can be added or changed . The system of claim 1, wherein the common operation performed by the operator is associated with the gesture of the operator. Each of the plurality of robots is selected from a group composed of a wheel-traveling robot, a bipedal walking robot, a multi-legged walking robot having two or more legs, a footless walking robot, and a flying robot. , The system according to any one of claims 1 and 2 . A method performed in a device used to operate the plurality of robots in a common operation for the plurality of robots, wherein the device includes a processor unit, and the device includes a database outside the device. The unit is connected, and the database unit is for associating a common operation for the plurality of robots with a plurality of operation commands specific to the plurality of robots designed in advance for operating the plurality of robots. The related information is stored, and each of the robots to be operated is pre-designed to operate in response to an operation command peculiar to the robot.
The method is
The processor unit identifies common operations performed by the operator, and
The processor unit refers to the related information and converts the common operation into an operation command peculiar to the operation target robot among the plurality of robots.
It said processor unit, see contains and providing a specific of the operation command to the operation target of the robot to the operation target of the robot,
The related information includes an operation table showing a list of the common operations and an operation command table showing a list of the plurality of operation commands, and the common operation of the operation table and the plurality of operation command tables of the operation command table. Operation commands are associated with each other
The operation table is defined in common to the plurality of robots, and the operation command table is defined in units of robots.
The related information is editable so that the operation command table can be added, and the related information can add or change items contained in the operation table, and / or said. A method that can be edited so that items contained in the operation command table can be added or changed .

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