JP7351757B2 - How to control a moving robot - Google Patents

Description

The present invention relates to controlling a moving robot.

Robots that automatically measure environmental physical quantities are known. For example, Patent Document 1 describes "a robot 100 that guides a person to be guided to a destination within a guideable range by moving according to instructions from the person to be guided or instructions from the outside, and a robot control that controls the robot 100. The robot control system includes a device 110.The robot 100 is equipped with a measurement sensor that measures the surrounding environment including at least the temperature.The robot 100 determines the movement route of the robot 100 to guide the person to be guided to the destination. The environment is measured by the measurement sensor on the set movement route.The measurement history of the environment measurement is stored in a history table that shows the measurement history for each area in which the navigable range is divided. (Summary)

Japanese Patent Application Publication No. 2018-160210

Correct measurement of environmental physical quantities such as temperature and humidity requires a certain response time to elapse at the measurement point. However, since the robot of Patent Document 1 measures the environmental physical quantity when passing one point on the movement route, it cannot accurately measure the environmental physical quantity. Conversely, if the robot of Patent Document 1 waits for a certain amount of time to pass at a measurement point in order to accurately measure environmental physical quantities, its movement to the destination is interrupted. In other words, the robot of Patent Document 1 can perform only one of two actions: measuring environmental physical quantities and moving to a destination.

Therefore, there is a need for a technology that can both accurately measure the physical quantities of the surrounding environment and perform actions different from measuring the physical quantities of the environment.

One aspect of the invention disclosed in this application is a method for a control device to control a moving robot. The control device moves the robot toward a planned measurement point of an environmental physical quantity, detects an interrupt that occurs while the robot is moving, and executes a response to the interrupt, and during the response, the control device The measurement of the environmental physical quantity is started when measurement start conditions including that the robot is in a state of stopped movement are satisfied.

According to the representative embodiment of the present invention, in the operation of the robot, it is possible to simultaneously measure an environmental physical quantity and perform a different action from the measurement of the environmental physical quantity. Problems, configurations, and effects other than those described above will be made clear by the following description of the mode for carrying out the invention.

FIG. 2 is a perspective view showing an example in which a robot measures environmental physical quantities at a planned measurement point in a patrol monitoring task. FIG. 3 is a plan view illustrating an example in which a robot measures environmental physical quantities at a planned measurement point in a patrol monitoring task. A configuration example of an information processing system is schematically shown. FIG. 2 is a block diagram showing an example of the hardware configuration of a server. FIG. 2 is a block diagram showing an example of a hardware configuration of a robot. FIG. 2 is a block diagram of an example of a logical configuration of a robot control device. The target area and planned route of the patrol monitoring task by the robot are shown. An example of a planned measurement point of environmental physical quantities by a robot in an office is shown. FIG. 2 is a perspective view schematically showing how a robot measures environmental physical quantities. FIG. 2 is a plan view schematically showing how the robot measures environmental physical quantities. An example of a flowchart of robot patrol monitoring is shown. An example of a flowchart for measuring environmental physical quantities at planned measurement points is shown. An example of a flowchart for measuring environmental physical quantities outside the planned measurement point is shown. An example of a flowchart for detecting an interrupt is shown. An example of a scenario of a task executed in response to an interrupt that occurs while the handling unit is moving is shown. FIG. 2 is a perspective view schematically showing the operation of a robot in response to an interruption called out by a person. FIG. 3 is a plan view schematically showing the operation of the robot in response to an interruption called out by a person. FIG. 3 is a perspective view schematically showing the operation of the robot in response to an interruption in which an abnormality is detected. FIG. 3 is a plan view schematically showing the operation of the robot in response to an interruption in which an abnormality is detected. FIG. 3 is a perspective view schematically showing the operation of the robot in response to an interruption in response to a command to call out to a specific person. FIG. 3 is a plan view schematically showing the operation of the robot in response to an interruption in response to a command to call out to a specific person. An example of a flowchart is shown that executes a scenario in which a conversation is terminated after measurement of environmental physical quantities is completed in response to being called out or being interrupted by a called out call. FIG. 3 is a perspective view schematically showing how the robot finishes its interaction with a person and moves to the next planned measurement point. FIG. 3 is a plan view schematically showing how the robot finishes its interaction with a person and moves to the next planned measurement point. Another example of a flowchart of robot patrol monitoring is shown. An example of a flowchart for measuring environmental physical quantities outside the measurement planned point corresponding to the flow in FIG. 25 is shown.

Embodiments will be described below with reference to the accompanying drawings. It should be noted that this embodiment is merely an example for implementing the present invention, and does not limit the technical scope of the present invention.

<Patrol monitoring task overview>
FIG. 1 is a perspective view showing an example in which a robot measures environmental physical quantities at a planned measurement point in a patrol monitoring task. FIG. 2 is a plan view showing an example in which a robot measures environmental physical quantities at a planned measurement point in a patrol monitoring task. The robot performs a turning motion while measuring environmental physical quantities at a specific planned measurement point. The environmental physical quantities include, for example, temperature, humidity, carbon dioxide concentration, and fine particulate matter concentration.

The robot 101 patrols movable areas such as shopping malls, department stores, exhibition halls, commercial buildings, office buildings, airports, and station premises, for example. Here, we will explain using an office as an example. The range of movement in the office is, for example, the passage 110 excluding the desks d1 and d2, in which office workers and the robot 101 can move. The passage 110 is composed of a group of divided areas (AX to CZ).

The robot 101 moves from the starting position 103 along the passage 110 and monitors the surrounding area, while executing the task of measuring environmental physical quantities at at least one planned measurement point in each of the divided area groups AX to CZ. It has become. The robot 101 is currently measuring an environmental physical quantity at the measurement planned point 102 in the area CZ while performing a turn, which is a non-moving action. Turning is an operation in which the robot 101 rotates around its own center of gravity in a plan view.

Correct measurement of environmental physical quantities such as temperature and humidity requires a certain response time to elapse at the measurement point. In this way, the robot 101 can perform a task efficiently by performing a non-moving turn during a predetermined response time after starting measurement of an environmental physical quantity.

Furthermore, as will be described later, the robot 101 responds to a predetermined interruption by stopping its movement in the patrol monitoring task of measuring environmental physical quantities. The robot 101 measures environmental physical quantities during its handling. In this manner, the robot 101 can efficiently measure environmental physical quantities and perform non-moving actions in a stopped state.

<System configuration example>
FIG. 3 schematically shows a configuration example of an information processing system. Information processing system 300 includes a server 301 and one or more robots 101. The server 301 and the robot 101 are communicably connected via a network 302. Server 301 includes a database 303 that stores information used by robot 101. The database 303 stores information for controlling the robot 101 and information collected by the robot 101.

FIG. 4 is a block diagram showing an example of the hardware configuration of the server 301. The server 301 includes a processor 401, a storage device 402, an input device 403, an output device 404, and a communication interface (communication IF) 405. Processor 401 , storage device 402 , input device 403 , output device 404 , and communication IF 405 can communicate with each other via bus 406 . The number of these components is arbitrary; for example, server 301 may include multiple processors 401 and multiple storage devices 402.

Processor 401 controls server 301. Processor 401 executes a program. Storage device 402 serves as a work area for processor 401 . Furthermore, the storage device 402 includes a non-transitory storage medium that stores various programs and data executed by the processor 401. The storage device 402 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like.

Input device 403 inputs data. Examples of the input device 403 include a keyboard, mouse, touch panel, numeric keypad, and scanner. Output device 404 outputs data. Examples of the output device 404 include a display and a printer. Communication IF 405 connects to a network and transmits and receives data.

FIG. 5 is a block diagram showing an example of the hardware configuration of the robot 101. The robot 101 includes a processor 501, a storage device 502, a drive circuit 503, a camera 504, a laser distance meter 505, a touch panel 506, a microphone 507, a speaker 508, a display 509, and an IMU (Internal measurement unit). 510.

The robot 101 further includes a humidity sensor 511, a temperature sensor 512, a CO ₂ sensor 513, a PM2.5 sensor 514, and a communication IF 515. These sensors 511 to 514 are included in an environmental measurement sensor group for measuring environmental physical quantities. Note that the number of each of the above-mentioned components of the robot 101 is arbitrary; for example, the robot 101 may include a plurality of processors 501 and a plurality of storage devices 502.

Processor 501 controls robot 101. Processor 501 executes a program. Storage device 502 becomes a work area for processor 501. Furthermore, the storage device 502 includes a non-transitory storage medium that stores various programs and data executed by the processor 501. Processor 501 and storage device 502 are included in a control device that controls robot 101.

The drive circuit 503 drives a drive mechanism including a movement mechanism of the robot 101 according to instructions from the processor 501. The drive mechanism includes a movement mechanism including arms, legs, joints, and wheels of the robot 101.

The camera 504 captures an image of the subject seen from the robot 101 and outputs it to the storage device 502 as image data. The image data from the camera 504 is used, for example, to recognize the characteristics of a person, detect obstacles (including people) in the direction of movement of the robot 101, and determine whether or not the detected person is a suspicious person. It will be done. The camera 504 may be a camera capable of distance measurement, such as a stereo camera or an RGBD camera.

The laser distance meter 505 measures the distance and direction to a laser irradiation target (for example, a user or an obstacle). As the laser distance meter 505, for example, there is a laser range finder. The touch panel 506 is provided on the display 509 and accepts designation of information displayed on the display 509 through a touch operation from the outside.

The microphone 507 receives audio input from the outside and outputs it to the storage device 502 as audio data. Speaker 508 outputs audio based on audio data stored in storage device 502. Display 509 displays images based on image data stored in storage device 502. The IMU 510 is a sensor device including a gyro sensor, an acceleration sensor, and a magnetic sensor, and detects the posture and direction of the robot 101.

Further, the robot 101 can perform self-position estimation and map creation using a camera 504, a laser range finder 505, and an IMU 510, for example, using SLAM (Simultaneous Localization and Mapping) technology. Then, the robot 101 can generate a travel route R from the current position of the robot 101 to a pre-designated destination point using the map created by SLAM and self-position estimation, and can move along the travel route R. becomes. The created map information is, for example, uploaded from the robot 101 to the server 301 and stored in the storage device 402 of the server 301. Map information can be shared among multiple robots 101, for example.

FIG. 6 is a block diagram of an example of the logical configuration of the control device of the robot 101. As mentioned above, the hardware configuration of the controller of robot 101 can include one or more processors and one or more storage devices. Further, the control device can include not only components installed within the robot 101 but also components that communicate with the robot 101 via a network.

In the configuration example of FIG. 6, the control device 550 includes a detection unit 551, a movement control unit 552, a handling unit 553, a generation unit 554, a plan formulation unit 555, a spatial information 556, a measurement unit 557, a measurement determination unit 558, a search unit 559 including. The functional components 551 to 555 and 557 to 559 can be implemented, for example, by a program with the same name and the processor 501 operating according to the program. Spatial information 556 is stored in a storage medium of storage device 502. The operation of the functional components will be described later.

<Measurement of environmental physical quantities in patrol monitoring tasks>
FIG. 7 shows the target area and planned route of the patrol monitoring task by the robot 101. As described above, the robot 101 patrols movable areas such as shopping malls, department stores, exhibition halls, commercial buildings, office buildings, airports, and station premises. Here, it is assumed that the target area is an office. The movement range in the office 601 is, for example, a passageway excluding fixed obstacles 602, in which office workers and the robot 101 can move. In FIG. 7, one of a plurality of obstacles is designated as an example at 602.

The robot 101 estimates its own position and creates a map while moving and observing its surroundings. Note that a map generated in advance may be used. The robot 101 sequentially generates a movement path 603 and moves along the movement path 603. The robot 101 sets a plurality of planned measurement points on the movement route 603 for measuring environmental physical quantities. If no interruption occurs, the robot 101 stops at each of the set measurement plan points and measures environmental physical quantities. As mentioned above, the environmental physical quantities to be measured include, for example, humidity, temperature, _CO2 , and PM2.5.

FIG. 8 shows an example of planned locations for measuring environmental physical quantities by the robot 101 in the office 601. The control device 550 of the robot 101 divides the office 601 into a plurality of regions 605 and sets one or more measurement planning points on the movement route 603 in each region 605. In the example of FIG. 8, the shapes and areas of regions 605 are common, but they may have different shapes or areas.

In the example of FIG. 8, one measurement plan point is set in one area 605. Specifically, a planned measurement point 652 is set in an area 605 where a turning movement is planned, and a planned measurement point 651 is set in an area 605 where a turning movement is not planned. The robot 101 plans to stop moving at measurement planned points 651 and 652 and measure the environmental physical quantities.

At the planned measurement point 651, it is planned to perform a turning operation while measuring environmental physical quantities. The turning motion is one of the non-moving motions that is performed when the vehicle is stopped. Examples of other non-moving operations include "head control," "sound input," "photography," and the like. The head control is an operation of changing the direction of the head of the robot 101 to the left, right, up and down. For sound input, a microphone 507 mounted on the robot 101 receives external sound input and outputs it to the storage device 402 as audio data. Photographing involves capturing an image of a specific external object using the camera 504 and outputting it to the storage device 402 as image data.

9 and 10 are a perspective view and a plan view schematically showing how the robot 101 measures environmental physical quantities. The robot 101 moves while monitoring its surroundings and enters the area 605. When the robot 101 arrives at the planned measurement point 651, it stops and executes the task of measuring the environmental physical quantity. In the example shown in FIGS. 9 and 10, the robot 101 measures the environmental physical quantity in a stopped state without performing a turning operation. When the measurement of the environmental physical quantities is completed, the robot 101 starts moving along the planned movement route 603.

As described above, if no interruption occurs in the patrol monitoring task, the robot 101 moves along the planned movement path 603 and stops at the planned measurement point 651 or 652 in each of the divided areas 605. , measure environmental physical quantities. On the other hand, in the patrol monitoring task, a specific interruption may occur, and the robot 101 may stop moving in response to the interruption.

While the robot 101 of this embodiment is responding to an interrupt that has occurred, if the measurement start conditions, including the state of movement stoppage, are met at a point different from the measurement planned point, the robot 101 of this embodiment measures the environmental physical quantity at that point. Start measuring. By simultaneously measuring environmental physical quantities that require a specific response time and responding to interrupts, patrol monitoring tasks can be executed more efficiently.

<Measurement of environmental physical quantities in response to interrupts>
FIG. 11 shows an example of a flowchart for patrol monitoring of the robot 101. This flowchart includes measurements of environmental physical quantities at the planned measurement points and measurements of environmental physical quantities outside the planned measurement points when dealing with interruptions that occur during movement.

The plan formulation unit 555 refers to the spatial information stored in the storage device 502 and sets the measurement planned point within the next observation target area as the target position (S101). The target position is included in the patrol monitoring management information stored in the storage device 502. The spatial information includes map information including information on the estimated self-position and surrounding space. As mentioned above, spatial information is generated and stored in storage device 502 using camera 504, laser rangefinder 505, and IMU 510, for example, by SLAM technology.

Next, the generation unit 554 acquires the target position set by the plan formulation unit 555, further acquires the current position and map information from the spatial information (S102), and generates a travel route from the current position to the target position. (S103) and includes it in the patrol monitoring management information. The movement control unit 552 acquires the movement route generated by the generation unit 554, refers to the spatial information, and starts moving toward the target position along the movement route (S104).

When the detection unit 551 detects an interruption while the robot 101 is moving, it notifies the handling unit 553 of the information (S105). Interruptions include, for example, discovery of a person or object that is an obstacle to movement, a call from a nearby person, discovery of an abnormality in the environment, reception of an external command to call out to a nearby person, and the like.

If no interruption occurs during movement (S105: NO), the movement control unit 552 continues movement toward the target position (S106: NO), and when the target position is reached (S106: YES), the movement control unit 552 stops the movement of the robot 101. It stops and notifies the measurement determination unit 558 that it has arrived at the target position. When the measurement determination unit 558 is notified that the stop position is the target position which is the measurement planned point, the measurement determination unit 558 instructs the measurement unit 557 to perform measurement. The measuring unit 557 measures the environmental physical quantity at the planned measurement point where the robot 101 has stopped (S107).

FIG. 12 shows an example of a flowchart for measuring environmental physical quantities at the planned measurement point (S107). The measurement of environmental physical quantities at the measurement planned point is a thread different from the movement of the robot 101 and handling of interruptions. The measurement unit 557 starts measuring environmental physical quantities (S131). The measurement unit 557 waits for a predetermined time to elapse (S132: NO). The predetermined time is longer than the response time of each sensor, so that each sensor can appropriately measure the environmental physical quantity.

When the predetermined time has elapsed (S132: YES), the measurement unit 557 completes the measurement (S133), and notifies the plan formulation unit 555 of the completion of the measurement. The plan formulation unit 555 indicates that the environmental physical quantities in the current area have been measured in the patrol monitoring management information (S134). Thereby, the measurement of the area where the measurement has been completed once is omitted.

Returning to FIG. 11, the plan formulation unit 555 refers to the patrol monitoring management information and spatial information to determine whether the measurement of environmental physical quantities has been completed in all areas (S112). If the measurement of environmental physical quantities in all areas has been completed (S112: YES), this flow ends. If there remains a region in which the environmental physical quantity should be measured (S112: NO), the flow returns to step.

In step S105, if an interruption occurs during movement (S105: YES), the handling unit 553 takes care of the generated interruption (S108). How to deal with interrupts will be described later. While dealing with the interrupt, the control device 550 measures environmental physical quantities outside the planned measurement point (S109). Measurement of environmental physical quantities outside the planned measurement points will be described later with reference to FIG. 13.

The plan formulation unit 555 waits for the response to the interruption and the completion of the measurement of the environmental physical quantity (S110: NO, S111: NO). When handling the interruption and measuring the environmental physical quantities are completed (S110: YES, S111: YES), the planning unit 555 refers to the patrol monitoring management information and spatial information to complete the measurement of the environmental physical quantities in all areas. It is determined whether it has been done (S112). If the measurement of environmental physical quantities in all areas has been completed (S112: YES), this flow ends. If there remains a region in which the environmental physical quantity should be measured (S112: NO), the flow returns to step.

FIG. 13 shows an example of a flowchart for measuring environmental physical quantities outside the planned measurement point. The measurement of environmental physical quantities outside the planned measurement point is a thread different from the movement of the robot 101 and handling of interruptions.

The measurement determining unit 558 determines whether the handling unit 553 has completed handling the interrupt (S150). When the handling unit 553 is handling the interrupt (S150: YES), it is determined whether the robot 101 is in a movement stopped state (S151). For example, the measurement determination unit 558 determines that the robot 101 is in a movement stopped state when the change in the estimated self-position within a unit time is within a preset range. Alternatively, if a non-moving operation is set in advance to be executed in the stopped moving state, and the robot 101 is performing the non-moving operation, it may be determined that the robot 101 is in the stopped moving state.

The measurement determination unit 558 repeatedly determines whether the handling of the interrupt has been completed and whether the robot 101 is in the movement stop state until the robot 101 is in the movement stop state (S150: YES, S151: NO). When it is determined that the handling of the interrupt has been completed (S150: NO), it is determined that the movement stop state necessary for measuring the environmental physical quantity has not been reached, and this flow ends. If it is determined that the robot 101 is in a movement stop state (S151: YES), the measurement determination unit 558 refers to the patrol monitoring management information and determines whether the environmental physical quantity in the current area has not been measured (S152). If the environmental physical quantities in the current area have been measured (S152: NO), this flow ends.

If the environmental physical quantities in the current area have not been measured yet (S152: YES), the measurement determination unit 558 acquires information on the planned measurement point in the current area from the patrol monitoring management information, and determines whether the current position is the planned measurement point. It is determined whether the value is outside a preset range (S153). If the current position is within a preset range from the measurement planned point (S153: NO), the measurement unit 557 measures the environmental physical quantity at the current position (S159). The measurement of environmental physical quantities in step S159 is the same as the explanation with reference to the flowchart of FIG. 12.

If the current position is outside the preset range from the measurement plan point (S153: YES), the measurement determination unit 558 determines whether the current position is suitable for measurement (S154). Examples of positions inappropriate for measurement include a heat source within a preset range from the current position, a deep position, a position blocking a passage, and the like.

For example, when the position of an object within a patrol monitoring area is fixed and patrol monitoring is performed according to a map prepared in advance, the measurement determination unit 558 may refer to a map in which positions inappropriate for measurement are registered in advance. It can be determined whether the current position is suitable for measurement. In this manner, inappropriate positions can be identified simply and effectively.

If a pre-prepared map does not exist or the position of an object within the patrol monitoring area changes, the measurement determination unit 558 performs 3D measurement and object detection on the spot, thereby determining the measured 3D information and the object. It is determined from the information whether the current location is suitable for measuring environmental physical quantities. As a result, a position inappropriate for measuring an environmental physical quantity can be specified even without information on a pre-designated inappropriate position.

If the current position is suitable for measuring the environmental physical quantity (S155: NO), the measurement unit 557 executes the measurement of the environmental physical quantity at the current position (S159). If the current position is inappropriate for measuring the environmental physical quantity (S155: YES), the search unit 559 refers to the spatial information 556 and searches for the best location suitable for measuring the environmental physical quantity within the current area from the current position. Search for a nearby position (S156). The criteria for determining areas that are appropriate (unsuitable) for measurement are as described above.

When the search unit 559 finds a position suitable for measuring an environmental physical quantity, it sets the position as a target position in the patrol monitoring management information and instructs the generation unit 554 to generate a route. The generation unit 554 generates a route to the target position and instructs the movement control unit 552 to move. The movement control unit 552 acquires the target position and moves the robot 101 to the target position (S157, S158: NO).

When the movement control unit 552 reaches the target position, it notifies the measurement determination unit 558 of the arrival (S158: YES). In response to the notification, the measurement determination unit 558 instructs the measurement unit 557 to measure the environmental physical quantity. The measurement unit 557 executes measurement of environmental physical quantities at the current position (S159).

In the above example, the conditions for starting the measurement of the environmental physical quantity include that the robot 101 is in a movement stopped state and that the robot 101 is outside an area inappropriate for measuring the environmental physical quantity. By starting the measurement of environmental physical quantities when the movement is stopped while responding to an interrupt that occurs during movement, it is possible to simultaneously handle the interrupt and measure the environmental physical quantity, and perform patrol monitoring that involves measuring the environmental physical quantity. It can be done efficiently. Furthermore, by restarting movement after the measurement of the environmental physical quantity is completed, it is possible to more appropriately measure the environmental physical quantity with response time.

Before starting the measurement of environmental physical quantities at a point different from the planned measurement point, determine whether the current position is inappropriate for measuring environmental physical quantities, and if it is, move to an appropriate position and measure the environmental By measuring physical quantities, environmental physical quantities can be measured more appropriately.

Examples of interruptions that occur while the robot 101 is moving, how to deal with these interruptions, and measurement of environmental physical quantities during this time will be described below. FIG. 14 shows an example flowchart for detecting an interrupt with a movement stop condition. This flow is executed repeatedly.

The detection unit 551 acquires information by sensing the outside world of the robot using a camera 504, a laser distance meter 505, a microphone 507, etc. (S171), and detects an abnormality from the obtained information (S172). If no abnormality exists (S173: NO), this flow ends. If an abnormality is detected (S173: YES), the detection unit 551 determines that the robot 101 needs to perform a new action, and the handling unit 553 informs the handling unit 553 of the position, area size, and area of the detected abnormality. The relevant information, such as an image, is notified (S174).

Furthermore, the detection unit 551 uses the microphone 507 to sense the outside world of the robot to obtain information (S171), and extracts audio from the obtained information (S175). The detection unit 551 analyzes the extracted voice and determines whether a person is calling out to you (S176). If no person is calling out to you (S176: NO), this flow ends. If a person calls out to you (S176: YES), the detection unit 551 determines that the robot 101 needs to perform a new action, and sends the response unit 553 the start time and end time of the extracted voice. , direction, power, and other related information is notified (S177).

Furthermore, the detection unit 551 detects that a voice command to a specific person has arrived at the communication IF 515 from the outside (for example, the server 301 or another robot 101) (S179), and detects that the command has the position and characteristics indicated by the command. When the corresponding person is found (S180), the handling unit 553 is notified of the finding (S181). To find the relevant person, for example, a face image included in the command is searched from information obtained by the camera 504. Alternatively, by detecting a person from information obtained by the camera 504, calling out the name included in the command in the direction of the detected person, and determining whether the detected person's movement is directed toward the robot 101, the robot 101 can be detected. It may be determined that

FIG. 15 shows an example scenario 701 of a task that the handling unit 553 executes in response to an interruption to movement. The handling unit 553 executes handling (tasks) for each interruption to movement according to the scenario 701. A scenario 701 shows a call from a person, discovery of an abnormality, and a call to a specific person as examples of interruptions to movement. The scenario 701 makes it possible to efficiently measure environmental physical quantities in response to these interruptions. Note that interrupts different from these may be included, or these interrupts may not be included.

16 and 17 are a perspective view and a plan view schematically showing the operation of the robot 101 in response to an interruption called out by a person. While the robot 101 is moving toward the measurement planning point 651 in the area 605, the person 104 calls out to the robot 101 in the area 605. As shown in FIG. 15, the handling unit 553 instructs the movement control unit 552 to stop the robot 101, face the direction of the detected voice, detect a person, and perform a dialogue with the person.

As described above, the measurement unit 557 measures the environmental physical quantity at the stop position 657. If the initial stop position is not suitable for measuring the environmental physical quantity, the robot 101 moves to the nearest position suitable for measurement and continues the interaction. When the dialogue is completed, the handling unit 553 completes the interruption of the call and notifies the plan formulation unit 555.

18 and 19 are a perspective view and a plan view schematically showing the operation of the robot 101 in response to an interruption in which an abnormality is detected. The robot 101 discovers an abnormality 721 while moving toward the planned measurement point 651 in the area 605. As shown in FIG. 15, the handling unit 553 determines the impact on movement, and if it is determined that there is no impact, instructs the movement control unit 552 to stop the robot 101, measure the distance from the abnormality, If the distance is farther than the preset distance, the distance is abnormally close. The handling unit 553 determines the target position with reference to the spatial information 556, and causes the generation unit 554 to generate a movement route.

As shown in FIG. 19, the robot 101 stops at a stop position 657. The measurement unit 557 measures environmental physical quantities at the stop position 657. As shown in FIG. 15, the handling unit 553 photographs the abnormality 721 at that position, and at the same time, the measuring unit 557 measures the environmental physical quantity. The processing unit 553 transmits the image to the server 301, and if an instruction is received, performs processing according to the instruction. If the stop position 657 is not suitable for measuring the environmental physical quantity, the robot 101 photographs the abnormality 721, moves to the position specified by the searching unit 559 and stops, and the measuring unit 557 measures the environmental physical quantity. I do. When the handling is completed, the handling unit 553 notifies the planning unit 555 of the completion.

20 and 21 are a perspective view and a plan view schematically showing the operation of the robot 101 in response to an interruption in response to a command to call out to a specific person. The robot 101 receives a command while moving toward a planned measurement point 651 in the area 605.

As shown in FIG. 15, when the handling unit 553 calls out to the target person and confirms that the target person has stopped, it calculates a position to interact with the target person and generates a route to that position, as shown in FIG. The controller 552 instructs the movement control unit 552 to stop the robot 101 at the stop position 657, and performs a dialogue with the person. The measurement unit 557 measures environmental physical quantities at the stop position 657. If the initial stop position is not suitable for measuring the environmental physical quantity, the robot 101 moves to the nearest position suitable for measurement and continues the interaction. When the dialogue is completed, the handling unit 553 completes handling of the interruption caused by the call and notifies the planning unit 555.

FIG. 22 shows an example of a flowchart for executing a scenario in which the conversation is terminated after the measurement of the environmental physical quantity is completed in response to being called out or being interrupted by a called out call. This makes it possible to avoid undesirable effects on patrol monitoring due to prolonged dialogue.

The handling unit 553 starts a dialogue (S191) and starts measuring time (S192). The handling unit 553 monitors the elapsed time (S193: NO), and when a predetermined time has elapsed (S193: YES), executes a scenario to end the dialogue (S194). For example, the scenario executes a predetermined utterance. When the scenario that ends the dialogue is completed, the dialogue is completed (S195).

23 and 24 are a perspective view and a plan view schematically showing how the robot 101 finishes its interaction with the person 104 and moves to the next planned measurement point. The robot 101 interacts with the person in the area 605A, executes a scenario that ends the interaction, and ends the interaction. After that, the robot 101 moves to avoid the person 104 so as not to get in the way of the person 104, and then moves toward the measurement planned point 651 in the next area 605B.

Other examples of patrol monitoring will be described below. FIG. 25 shows another example of a flowchart for patrol monitoring of the robot 101. This flowchart includes measurement of environmental physical quantities at the planned measurement point and measurement of environmental physical quantities outside the planned measurement point when dealing with interruptions during movement.

In the example described below, the conditions for starting the measurement of environmental physical quantities are that the robot 101 is in a stopped state of movement, that the robot 101 is outside an area inappropriate for measuring environmental physical quantities, and that the estimated time of the stopped state of movement is This includes being sufficient to measure physical quantities. If the estimated time is insufficient to measure the environmental physical quantity, the measurement of the environmental physical quantity is postponed.

In the flowchart of FIG. 25, steps S201 to S209 are the same as steps S101 to S109 in the flowchart of FIG. In the flow of FIG. 25, the plan formulation unit 555 waits for completion of handling the interrupt (S210: NO). If the measurement of environmental physical quantities outside the scheduled measurement point is not performed (S211: NO), and when handling of the interruption is completed (S210: YES), the plan formulation unit 555 refers to the patrol monitoring management information and the spatial information. , it is determined whether the measurement of environmental physical quantities has been completed in all areas (S213).

If the measurement of the environmental physical quantity is to be performed outside the scheduled measurement point (S211: YES), the planning unit 555 waits for the completion of handling the interruption and the completion of the measurement of the environmental physical quantity (S210: NO, S212: NO). ). When the handling of the interruption and the measurement of the environmental physical quantities are completed (S210: YES, S212: YES), the planning unit 555 refers to the patrol monitoring management information and spatial information to complete the measurement of the environmental physical quantities in all areas. It is determined whether it has been done (S213).

If the measurement of environmental physical quantities in all areas has been completed (S113: YES), this flow ends. If there remains a region in which the environmental physical quantities should be measured (S113: NO), the flow returns to step.

FIG. 26 shows an example of a flowchart for measuring environmental physical quantities outside the planned measurement point, which corresponds to the flow in FIG. 25 . The measurement of environmental physical quantities outside the planned measurement point is a thread different from the movement of the robot 101 and handling of interruptions.

In the flowchart of FIG. 26, steps S250 to S253 are the same as steps S150 to S153 of the flowchart of FIG. In step S254, the measurement determination unit 558 estimates the duration of the movement stop state in response to the generated interrupt. The estimated value is set in advance depending on the type of interrupt, for example.

Alternatively, the measurement determination unit 558 can estimate the duration by retaining a history of the duration of the movement stop state in response to various past interrupts and comparing it with information on the current response by the response unit 553. . For example, in the case of a voice interruption, if the word is a greeting, the duration of the movement stop state is shorter than if the word is a question that assumes a dialogue with a person.

If the estimated time of the movement stop state is less than or equal to the preset threshold (S255: NO), the measurement of the environmental physical quantity is postponed, and this flow ends. If the estimated time of the movement stop state is longer than the preset threshold (S255: YES), the measurement determination unit 558 determines whether the current stop position is a position suitable for measuring environmental physical quantities ( S256). Steps S256 to S261 are similar to steps S154 to S159 in the flowchart of FIG. With this flow, it is possible to avoid unnecessarily prolonging the movement stop state in response to an interruption due to measurement of environmental physical quantities.

Note that the present invention is not limited to the embodiments described above, and includes various modifications and equivalent configurations within the scope of the appended claims. For example, the embodiments described above have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Further, a part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Further, the configuration of one embodiment may be added to the configuration of another embodiment. Furthermore, other configurations may be added to, deleted from, or replaced with some of the configurations of each embodiment.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be realized in part or in whole by hardware, for example by designing an integrated circuit, and a processor realizes each function. It may also be realized by software by interpreting and executing a program.

Information such as programs, tables, and files that realize each function is stored in storage devices such as memory, hard disks, and SSDs (Solid State Drives), or on IC (Integrated Circuit) cards, SD cards, and DVDs (Digital Versatile Discs). It can be stored on a medium.

Furthermore, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for implementation. In reality, almost all configurations can be considered interconnected.

101 robot, 103 starting position, 104 person, 110 passage, 300 information processing system, 301 server, 302 network, 303 database, 401 processor, 402 storage device, 403 input device, 404 output device, 405 communication IF, 406 bus, 501 processor, 502 storage device, 503 drive circuit, 504 camera, 505 laser distance meter, 506 touch panel, 507 microphone, 508 speaker, 509 display, 511 humidity sensor, 512 temperature sensor, 513 CO ₂ sensor, 514 PM2.5 sensor, 515 Communication IF, 550 Control device, 551 Detection unit, 551 Movement control unit, 553 Dealing unit, 554 Generation unit, 555 Planning unit, 556 Spatial information, 557 Measurement unit, 558 Measurement determination unit, 559 Search unit, 601 Office, 602 Fixed obstacle, 603 Movement route, 605 Area, 651, 652 Measurement planning point, 657 Stop position, 701 Response scenario, 721 Abnormality, AX-CZ area, d1 Desk, d2 Desk, R Movement route

Claims (5)

A method for controlling a moving robot, the control device comprising:
The control device,
moving the robot toward a planned measurement point for environmental physical quantities;
Detecting a voice from a person while the robot is moving to the measurement plan point ,
carrying out a dialogue with the person in response to the voice ;
If measurement start conditions are met, including that the robot is in a movement stopped state at a point different from the planned measurement point during the interaction, and that the estimated duration of the interaction exceeds a threshold , Start measuring the environmental physical quantities at
Executing a scenario in which the dialogue is terminated after the measurement of the environmental physical quantity at the different points is completed,
A method for omitting measurement of the environmental physical quantity at the planned measurement point when the different point is within a preset range with respect to the planned measurement point. The method according to claim 1,
The method, wherein the measurement start condition includes that the position of the movement stop state is outside an inappropriate area. 3. The method according to claim 2,
The method, wherein the inappropriate area is a preset area in map information. 3. The method according to claim 2,
The control device includes:
Measuring surrounding objects in the movement stopped state,
If the surrounding objects satisfy a preset condition, the method determines that the position of the stopped movement is in the inappropriate area. A robot that moves,
A sensor for measuring environmental physical quantities;
a movement mechanism that moves the robot;
a control device that controls the movement mechanism and measures an environmental physical quantity using the sensor,
The control device includes:
moving the robot toward a planned measurement point for environmental physical quantities;
Detecting a voice from a person while the robot is moving to the measurement plan point,
carrying out a dialogue with the person in response to the voice;
If measurement start conditions are met, including that the robot is in a movement stopped state at a point different from the planned measurement point during the interaction, and that the estimated duration of the interaction exceeds a threshold, Start measuring the environmental physical quantities at
Executing a scenario in which the dialogue is terminated after the measurement of the environmental physical quantity at the different points is completed,
The robot omits the measurement of the environmental physical quantity at the planned measurement point when the different point is within a preset range with respect to the planned measurement point.

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