JP5445312B2 - Operation control method, interactive device, and program - Google Patents

Description

  The present invention relates to an operation control method for controlling the operation of a drive unit such as a motor, an interactive device using such an operation control method, a program for causing a computer to execute the procedure of such an operation control method, and a computer The present invention relates to a program for realizing a function of an interactive device and a program for causing a computer to function as a means of an interactive device. The present invention also relates to a computer-readable storage medium storing such a program.

  In order for a robot, which is an example of an interactive device, to interact with a person and coexist with the person, it is necessary to detect and recognize a wide variety of events. However, it is difficult to develop a single motion module that recognizes all of a wide variety of events and determines the motion of the robot. For this reason, a method of developing a plurality of operation modules and operating the robot while switching the operation modules has been proposed (for example, Patent Documents 1 and 2). As an example of a robot architecture that employs such a proposed method, there is known a subsumption architecture (Subsumption Architecture), which is a parallel division processing method that takes into account task priorities.

  Each operation module determines the operation of the robot based on the information detected by the sensor and outputs a control command for each motor of the robot. However, since contradictory control commands may be output from the different operation modules to the same motor, it is necessary to arbitrate these contradictory control commands.

  In communication robots, such as nursing robots and educational robots, where interaction with humans is one of the important functions, the movement is a gesture to produce creature-likeness (ie, non-mechanical movement) and interaction with humans. In order to express it, it is desired to mediate control commands from a plurality of operation modules to express a natural operation from the viewpoint of a person. However, in the past, there has been a control command arbitration method that is suitable for the robot to naturally switch or resume operation from the viewpoint of the human, or for the robot to naturally switch or resume operation so as not to give the person a sense of incongruity. I didn't.

JP 2002-187083 A JP 2000-153479 A

  The conventional interactive device has a problem that it is difficult to switch the operation or to resume the operation so as not to give a sense of incongruity to the person naturally or to the person.

  Therefore, the present invention provides an operation control method, an interactive device, and a program that can switch an operation or resume an operation so as not to give a sense of incongruity to a person naturally or from a person. Objective.

  According to an aspect of the present invention, there is provided an operation control method for operating a plurality of drive units of an interactive device by a command from the plurality of operation modules while switching the plurality of operation modules by a computer, which is generated by any operation module A command queue in which a plurality of commands belonging to the operation sequence are received for each of the plurality of drive units and in order of start times of the plurality of commands, and a command queue for each drive unit is stored in units of operation modules A procedure for retrieving a command queue command corresponding to the arbitrary operation module from the storage unit, sequence information including correspondence between information for identifying each operation sequence and start time of each operation sequence, and each operation module and each operation module Operational arbitration including priority mapping Operation control method for executing a procedure for controlling the driving unit in question executes a command taken out based on the distribution on the computer is provided.

  According to one aspect of the present invention, a plurality of drive units, a command control module that operates the plurality of drive units according to commands from the plurality of operation modules while switching the plurality of operation modules, and a command queue for each drive unit Includes a command queue storage unit stored in units of operation modules, and the command control module transmits a plurality of commands belonging to an operation sequence generated by an arbitrary operation module for each of the plurality of drive units, and A sequence including a plurality of commands received in the order of start times, taking out commands in the command queue corresponding to the arbitrary operation module from the command queue storage unit, and including correspondence between information for identifying each operation sequence and the start time of each operation sequence Information and superiority of each operation module and each operation module Interactive device that controls the drive unit in question executes a command taken out on the basis of the operation arbitration information including the degree of association is provided.

  According to one aspect of the present invention, there is provided a program for causing a computer to operate a plurality of drive units of an interactive device in response to a command from the plurality of operation modules while switching the plurality of operation modules. A procedure for receiving a plurality of commands belonging to an operation sequence for each of the plurality of driving units and in order of start times of the plurality of commands, and a command queue storage in which a command queue for each driving unit is stored in units of operation modules A procedure for extracting a command queue corresponding to the arbitrary operation module from the unit, sequence information including information for identifying each operation sequence and correspondence between start times of each operation sequence, and priority of each operation module and each operation module Action arbitration information including degree association Program for executing a procedure for controlling the driving unit applicable by executing the command taken out on the basis of the computer is provided.

  According to the disclosed operation control method, interactive device, and program, it is possible to switch the operation or resume the operation so as not to give a sense of incongruity to the person naturally or from the viewpoint of the person.

It is a block diagram which shows an example of a robot system. 10 is a block diagram illustrating arbitration in Method 2. FIG. It is a block diagram explaining the mediation in one Example of this invention. It is a figure explaining the information of a motor command. It is a figure explaining the data flow in an Example. It is a flowchart explaining operation | movement of the motor command control part in an Example. It is a block diagram which shows an example of a robot system architecture. It is a figure explaining the arbitration in the robot system architecture of FIG. It is a block diagram explaining the arbitration in a 1st modification. It is a figure which shows the operation mediation information which an operation mediation information management part manages. It is a flowchart explaining operation | movement of the motor command control part in a 3rd modification. It is a flowchart explaining operation | movement of the motor command control part in a 4th modification. It is a flowchart explaining operation | movement of the motor command control part in a 5th modification. It is a flowchart explaining an example of a detailed process when there exists a stop or interruption instruction | indication in a sequence information management part. It is a block diagram which shows the other example of a robot system.

  In the disclosed operation control method, interactive device, and program, a plurality of drive units of the interactive device are operated by commands from the plurality of operation modules while switching the plurality of operation modules. A plurality of commands belonging to an operation sequence generated by an arbitrary operation module are received for each of the plurality of drive units and in the order of the start times of the plurality of commands, and a command queue for each drive unit is stored in units of operation modules. A command queue command corresponding to an arbitrary operation module is extracted from the command queue storage unit. Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module The corresponding drive unit is controlled.

  Embodiments of the disclosed operation control method, interactive device, and program will be described below with reference to the drawings.

  In the method of operating a robot while switching operation modules, each operation module determines the operation of the robot based on information detected by a sensor and outputs a control command for each motor of the robot. However, since contradictory control commands may be output from the different operation modules to the same motor, it is necessary to arbitrate these contradictory control commands. Therefore, for example, the following arbitration methods such as the following methods 1 to 3 are conceivable. Method 1 switches operation modules so that the operation module that outputs the control command is unique. In Method 2, if a control command having a high priority is issued for each motor, the control command having a low priority is discarded and the control command having a high priority is executed. In Method 3, when a control command with a high priority is issued for each motor, the control command with a low priority is suspended and the control command with a high priority is executed. After the execution of the control command with a high priority is completed To resume the execution of the control command with the lower priority.

  In communication robots, such as nursing robots and educational robots, where interaction with humans is one of the important functions, the movement is a gesture to produce creature-likeness (ie, non-mechanical movement) and interaction with humans. In order to express it, it is desired to mediate control commands from a plurality of operation modules to express a natural operation from the viewpoint of a person.

  The present inventor has found that it is desirable to satisfy the following requirements r1 to r5 in order to realize a natural operation from the viewpoint of a person. The requirement r1 is that the movements of the motors are synchronized in one operation sequence executed by the robot. If this requirement r1 is not satisfied, for example, an operation sequence representing a gesture of doing something with both hands of the robot may be performed with the left and right hands apart and become unnatural. The requirement r2 is that each motor in the robot continues to operate as much as possible, and the stop time of each motor is reduced. If this requirement r2 is not satisfied, the operation time becomes mechanical because the stop time of each motor is long, and it is not possible to express the creature likeness. The requirement r3 is that the robot performs these various operations in a state where various operations are mixed. If the requirement r3 is not satisfied, the movement pattern of the robot is limited, and it looks like a toy with few movement patterns. The requirement r4 is to appropriately control the timing at which the robot executes the operation. If the requirement r4 is not satisfied, an expression operation such as a gesture of the robot becomes unnatural. For example, the robot operation such as reaction to the user is meaningless unless it is immediately executed, and the service provided by the robot is lowered. The requirement r5 is that the operation of the robot can be stopped and resumed arbitrarily. If the requirement r5 is not satisfied, it is not possible to express a creature-like reaction such as stopping the operation by taking care of something while the robot is operating, or restarting after taking a momentary attention.

  In the above methods 1 to 3, as shown in Table 1 below, all of the above requirements r1 to r5 could not be satisfied. In Table 1, “◯” indicates that the requirement is satisfied, “Δ” indicates that only a part of the requirement is satisfied, and “X” indicates that the requirement is not satisfied.

  As described above, in the method 1, unless each operation module is designed to always move all the motors, a stopped motor is generated. Further, since the operation pattern prepared by each operation module is expressed as it is, there is a possibility that the operation of the robot becomes monotonous and bored by the user.

  Further, in method 2, when a control command with a high priority is received, the control command with a low priority is discarded, so that the operation cannot be resumed. For example, during execution of the first operation using the first motor and the second motor, the control command of the second operation using the second motor having a higher priority is received and executed preferentially, and the second operation is performed. If the first operation is still being executed when the operation is completed, the first operation is continued only by the first motor, and the operation cannot be resumed correctly. Further, it is selected whether or not to discard the control command when it is stored in the control command queue, and it is not possible to cope with dynamic change of priority.

  Further, in the method 3, the time synchronization of each motor cannot be maintained, and there is a possibility that the operation of each motor is executed at an inappropriate timing.

  In each embodiment of the present invention described below, even if contradictory control commands are output to the same motor from different operation modules, those contradictory control commands are arbitrated so as to satisfy all the above requirements r1 to r5. It is.

  First, the system configuration used in each embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a robot system. The robot system shown in FIG. 1 includes a plurality of motion modules 11-1 to 11 -N (N is a natural number of 2 or more) and a robot 12. The robot 12 includes a plurality of sensors 121 (only one is shown), a sensor information notification module 122, a motor command control module 123, and a plurality of motors 124 (only one is shown) forming a drive unit. Each sensor 121 detects the operation or state of the robot, the surrounding environment of the robot, and outputs sensor information. Each motor 124 drives and moves a part of a robot such as an arm. In this example, for convenience of explanation, it is assumed that one sensor information notification module 122 is provided for a plurality of sensors 121 and one motor command control module 123 is provided for a plurality of motors 124. , M sensor information notification modules 122 are provided for M sensors 121 (M is a natural number of 2 or more), and M motor command control modules 123 are provided for M motors 124. May be.

  The sensor information notification module 122 notifies the operation information 11-1 to 11-N of sensor information output from each sensor 121. It is registered or to notify in advance which sensor information to which the operation module with the sensor information notification module 122, the sensor information to be notified to the operating modules 11-1 to 11-N can be appropriately selected output. In addition, since well-known things can be used for the detection method of each sensor 121, the type of sensor information to be output, the data structure of sensor information, and the like, description thereof will be omitted in this specification.

  Each operation module 11-1 to 11-N operates independently according to each operation guideline, and determines the operation of each motor 124 by using sensor information as an input. Each operation module 11-1 to 11-N determines the operation of each motor 124 as a motor command. For example, the target angle (or target position) and operation time with respect to the motor 124 (the rotation angle of the motor 124 from the start of operation is the target). Time to reach the angle). The determined motor command is notified to the motor command control module 123, and the motor command control module 123 controls the motor 124. In practice, each of the operation modules 11-1 to 11 -N generally issues motor commands for a plurality of motors 124.

  The operation modules 11-1 to 11-N may operate by using sensor information as a trigger, or may operate spontaneously or in response to an instruction from a user in some way. For example, in the case of a communication robot, one motion module 11-1 generates a motion that periodically stretches and yawns, while another motion module 11-2 looks at that person when it finds a person. To generate a wave motion.

  In the present embodiment, in such a robot system, the operations of the plurality of operation modules 11-1 to 11-N are arbitrated as described below. In the following description, illustration of the sensor system is omitted for convenience.

  FIG. 2 is a block diagram for explaining arbitration in Method 2 that satisfies the requirements of the communication robot in Table 1 in particular. In FIG. 2, the same parts as those of FIG. The robot 12A shown in FIG. 2 includes a motor command control module 223 and a robot body 125. The motor command control module 223 includes a motor command receiving unit 231, an operation arbitration information management unit 232, motor command queue storage units 233-1 to 233 -N, and a motor command control unit 234. The robot body 125 is formed of, for example, a bear doll, and includes a plurality of motors 124-1 to 124-N. In FIG. 2, for convenience of explanation, the motors 124-1 to 124-N are illustrated outside the robot body 125, but are actually provided in the robot body 125.

  The operation modules 11-1 to 11-N operate independently of each other according to their operation guidelines, generate motor commands for the motors 124-1 to 124-N, and notify the motor command control module 223 of them. In the motor command control module 223, the motor command receiving unit 231 receives a motor command. The motor command reception unit 231 refers to the priority of the operation arbitration information managed by the operation arbitration information management unit 232, and exists in the motor command queue already stored in the motor command queue storage units 233-1 to 233-N. The priority of the received motor command and the newly received motor command are compared, and if the received motor command has a higher priority, the existing motor command is deleted from the motor command queue and a new motor command is added. The motor command control unit 234 controls each motor 124-1 to 124-N by executing each motor command in the motor command queue stored in the motor command queue storage unit 233-1 to 233-N.

  On the other hand, FIG. 3 is a block diagram illustrating arbitration in an embodiment of the present invention. In FIG. 3, the same parts as those in FIG. The robot 12 shown in FIG. 3 has a motor command control module 123 and a robot body 125. The motor command control module 123 includes a motor command reception unit 31, an operation arbitration information management unit 32, motor command queue storage units 33-1 to 33-N, a motor command control unit 34, a management information reception unit 35, and a sequence information management unit. 36. The robot body 125 is formed of, for example, a bear doll, and includes a plurality of motors 124-1 to 124-N. In the operation control method, the robot 12 is operated while switching the plurality of operation modules 11-1 to 11-N.

  The motor command control module 123 can be formed by a computer (or computer system) having a storage unit and a processor such as a CPU (Central Processing Unit), for example. In this case, the storage unit stores various data including a program executed by the CPU and data of an intermediate result of an operation executed by the CPU. That is, the program causes the computer to realize the functions of the motor command reception unit 31, the operation arbitration information management unit 32, the motor command control unit 34, the management information reception unit 35, and the sequence information management unit 36 in the motor command control module 123. . The storage unit also forms motor command queue storage units 33-1 to 33-N. Further, the storage unit may form a computer-readable storage medium storing the program. The computer forming the motor command control module 123 may form the sensor information notification module 122 shown in FIG. That is, the computer forming the motor command control module 123 may be the same as or different from the computer forming the sensor information notification module 122.

  In this embodiment, a set of motor commands indicating a series of operations such as gestures of the robot 12 is handled as an operation sequence, and each motor command has the following information as shown in FIG. FIG. 4 is a diagram for explaining motor command information. The motor command information includes information for identifying the motor (motor ID), target angle, motor command operation start time and operation end time relative to the operation sequence start time, and the operation sequence to which the motor command belongs. Information for identifying (sequence ID) is included. The motor command queues of the motors 124-1 to 124-N are in units of operation modules 11-1 to 11-N, that is, motor command queue storage units 33-1 to 33-1 in units of motor command transmission sources (commanders). 33-N. The motor commands are sent in order of the start times for each of the motors 124-1 to 124-N, and stored in the motor command queue in the order of the start times.

  The operation arbitration information management unit 32 manages the operation arbitration information including the correspondence between the operation modules 11-1 to 11-N and the priorities. When the operation modules 11-1 to 11-N notify all the motor commands related to the operation sequence to the motor command control module 123, the operation modules 11-1 to 11-N notify the sequence information management unit 36 via the management information receiving unit 35 and operate. Register the sequence. The sequence information management unit 36 manages the start time of the operation sequence as sequence information (that is, holds a correspondence between the sequence ID and the start time). The motor command control unit 34 executes the motor command of the operation module having the highest priority among the motor commands to be executed at the current time.

  In this embodiment, the motor is controlled so as to reach the target angle from the current time to the end time of the motor command. The motor command stored in the motor command queue is not discarded until the operation end time has passed. By such a procedure, all the requirements r1 to r5 shown in Table 1 can be satisfied.

  FIG. 5 is a diagram for explaining the data flow in this embodiment. Examples of data structures of motor command, sequence information, and operation arbitration information are shown in Table 2, Table 3, and Table 4, respectively.

  In FIG. 5, an arbitrary operation module 11-i (an arbitrary natural number of i = 2 to N) generates an operation sequence composed of a plurality of motor commands. All the motor commands belonging to the operation sequence generated by the operation module 11-i have a data structure as shown in Table 2, for example, and the motor command control module 123 stores each motor 124-1 to 124-N, and Notification is made in order of the start time. In the motor command control module 123, the motor command receiving unit 31 receives the motor command, the motor ID for identifying the corresponding motor, and a motor command queue storage unit 233 for each operation module (operation module 11-i in this case). The motor commands are distributed to the motor command queue of -i and stored in the order of the start time of motor commands (in the order received). On the other hand, the management information receiving unit 35 receives the sequence ID and notifies the sequence information management unit 36 of the sequence ID.

  The motor command control unit 34 extracts a motor command from the motor command queue, and manages sequence information (corresponding to a sequence ID and an operation sequence start time) having a data structure as shown in Table 3 managed by the sequence information management unit 36. ) And the operation arbitration information managed by the operation arbitration information management unit 32 (association between operation modules and priorities) as necessary, and transmits a motor command according to the above procedure to the corresponding motor. . Table 4 shows an example of the data structure of the operation arbitration information.

  Next, the operation of the motor command control unit 123 shown in FIG. 3 will be described with reference to FIG. FIG. 6 is a flowchart for explaining the operation of the motor command control unit 123 in this embodiment. The CPU forming the motor command control unit 123 executes each procedure executed by the motor command control unit 123 by, for example, periodically performing the operation control process shown in FIG.

  In FIG. 6, in step S1, the management information receiving unit 35 that has received a sequence ID from an arbitrary operation module 11-i acquires the current time T from, for example, an internal clock (or timer) of the CPU. In step S2, the management information receiving unit 35 notifies the sequence information management unit 36 of the current time T, and the sequence information management unit 36 has a sequence ID for which the start time is not set in the managed sequence ID. The current time T is set as the start time. After step S2, the following processing is executed for all the motors 124-1 to 124-N to control the motors 124-1 to 124-N.

  In step S3, the motor command control unit 34 selects one motor and determines its motor ID. In step S <b> 4, the motor command control unit 34 acquires one operation module to be prioritized from the operation arbitration information management unit 32, that is, an unprocessed and highest priority operation module name. In step S5, it is determined whether or not an operation module that has output a motor command to be executed by the motor command control unit 34 has been acquired. If the determination result is NO, the process returns to step S3. If the decision result in the step S5 is YES, in a step S6, the motor command control unit 34 designates the motor ID and the operation module name, and 1 is sent from the motor command queue stored in the corresponding motor command queue storage unit. Get one. In the motor command queue of each motor command queue storage unit 233-1 to 233 -N, the data command receiving unit 31 receives the motor command, and sends the motor command to the motor command queue for the corresponding motor ID and operation module of the transmission source. Motor commands are stored in order of start time (order of acceptance) of the distributed motor commands.

  In step S7, the motor command control unit 34 determines whether or not one motor command has been acquired from the motor command queue stored in the corresponding motor command queue storage unit by specifying the motor ID and the operation module name. If the result is NO, the process returns to step S4. On the other hand, if the decision result in the step S7 is YES, in a step S8, the motor command control unit 34 designates the sequence ID of the motor command from the sequence information management unit 36 and acquires the operation sequence start time TS. In step S9, the motor command controller 34 determines whether or not T <TS + “relative operation end time”. If the decision result in the step S9 is NO, in a step S10, the motor command control unit 34 deletes the motor command from the motor command queue, and the process returns to the step S6. If the decision result in the step S9 is YES, in a step S11, the motor command control unit 34 decides whether or not T> TS + “relative operation start time”, and if the decision result is NO, the process is a step S4. Return to. If the decision result in the step S11 is YES, the process advances to a step S13.

  In step S13, the motor command control unit 34 determines whether or not the motor command is the same as the current command (current command). If the determination result is YES, the process proceeds to step S15 described later, and the determination result is If NO, the process proceeds to step S13. In step S13, the motor command control unit 34 updates the current command. In step S14, the motor command control unit 34 controls the corresponding motor so as to reach the target angle from the current time T to TS + "relative operation end time". In step S15, the motor command control unit 34 determines whether or not the processing for all the motors 124-1 to 124-N has been completed. If the determination result is NO, the processing returns to step S3. On the other hand, if the decision result in the step S15 is YES, in a step S16, after the motor command control unit 34 waits for a predetermined time, the process returns to the step S1.

  In this manner, when the motor to be processed is determined in step S3, the name of the unprocessed and highest priority operation module is acquired in step S4. The motor ID and operation module name are specified in step S3, and one motor command is acquired from the motor command queue in step S4. If a motor command is not sent from the corresponding operation module to the corresponding motor, the corresponding motor command queue is empty and the motor command cannot be acquired in step S7. Therefore, in step S4, the next highest priority operation is performed. Search by module. If the motor command to be processed is not found in step S5 even if all the priority operation modules have been processed, the operation module to be executed next is not found in step S5. Process the motor.

  Also, the sequence ID of the operation sequence to which the motor command belongs is specified, and the operation sequence start time TS is acquired from the sequence information management unit in step S8. The operation end time of the motor command is calculated from the start time of the operation sequence and the relative operation end time of the motor command. If the current time T has already passed the operation end time in step S9, the motor is determined in step S10. The corresponding motor command is deleted from the command queue, and the next motor command is acquired in step S8.

  Furthermore, the operation start time of the motor command is calculated in step S11 from the start time of the operation sequence and the relative operation start time of the motor command. If the current time T has not yet reached the operation start time, an operation instruction from the corresponding operation module to the corresponding motor has not been received during this time period, so that the next highest priority operation module is selected in step S4. look for. If it is determined that the motor command should be executed, an instruction to control the motor is output to the motor in step S14. However, if it is the same as the motor command (current command) currently being executed in step S12, the instruction to the motor may be omitted. If it is different from the motor command currently being executed in step S12, the current command is updated to a new motor command in step S13, and an instruction to control the motor is output to the motor in step S14. The instruction to the motor controls the motor to reach the target angle from the current time to the operation end time.

  Next, an example of a robot system architecture that employs the above embodiment will be described with reference to FIGS. FIG. 7 is a block diagram illustrating an example of a robot system architecture, and FIG. 8 is a diagram illustrating arbitration in the robot system architecture of FIG.

  In FIG. 7, the same parts as those in FIG. In the robot system architecture shown in FIG. 7, a plurality of operation modules 11-1 to 11-N, a robot (or robot module) 12, a plurality of event detection modules 15-1 to 15-N, and an operation arbitration module 16 are events. It has a configuration connected to the distribution system 17. The event detection modules 15-1 to 15-N detect events that affect the robot 12. The event distribution system 17 can be formed by a general-purpose server.

  Each module 11-1 to 11-N, 15-1 to 15-N, 16 may be provided in the robot 12 or on a network to which the event distribution server 17 is connected. good. Further, among the plurality of sensors 121 in the robot 12, at least a part of the sensors 121 may be provided outside the robot 12 and externally connected.

  The modules 11-1 to 11-N, 12, 15-1 to 15-N, and 16 are connected through the event distribution system 17, and information detected by the operation modules 11-1 to 11-N is disclosed as events ( publish). Information necessary for processing of each of the modules 11-1 to 11-N, 15-1 to 15-N, and 16 is notified of an event by requesting the event distribution system 17 to subscribe. Can be obtained. Further, each of the operation modules 11-1 to 11-N receives an event and finally generates a motor command. The motor command control module 123 in the robot 12 receives the motor command from each of the operation modules 11-1 to 11-N and the arbitration guideline (or arbitration rule) from the operation arbitration module 16, and sends it to the final motor. Determine the command. The event distribution system 17 can use a known technology such as JMS (Java Messaging Service).

  Each operation module does not need to know the operation of another operation module (the operation result of the other operation module or the like may be received as an event) and is independent. Therefore, the development efficiency increases. However, since each operation module does not know each other's operation, it may issue a contradictory motor command, but the operation arbitration module 16 may notify the motor command control module 123 of the arbitration guideline. As an arbitration guideline notification method, priority may be given to each operation module, and the motor command control module 123 may change the operation according to the priority. The priority can be dynamically changed by the operation arbitration module 16. By configuring such a robot system architecture, the independence of each of the operation modules 11-1 to 11-N is increased, and development is facilitated and expandability is also improved.

  A plurality of robots may be connected to one event distribution system 17. In this case, it is possible to realize an operation module that cooperates between robots such as interaction between robots.

  FIG. 8 is a diagram for explaining arbitration when three motors are provided in the robot 12 of FIG. 7 for convenience of explanation. In FIG. 8, a thin solid line arrow indicates a motor command from the operation module, a thick solid line arrow indicates a motor command to be executed, and a broken line arrow indicates a motor command to be executed when the above method 2 is adopted. Show. In this example, it is assumed that the priority is dynamically changed to three levels P1, P2, and P3.

  In the case of the motor 124-1, in the above method 2, when the operation module 11-2 registers the motor command, the operation module 11-1 in operation has a higher priority, and the motor command of the operation module 11-2 is Discarded. For this reason, the operation of the operation module 11-2 cannot be executed when the priority of the operation module 11-2 thereafter becomes high. On the other hand, in the present embodiment, the operation can be appropriately switched depending on the priority.

  In the case of the motor 124-2, the above method 2 overwrites the motor command of the high-priority operation module 11-1 while executing the motor command of the operation module 11-3, and the motor command of the operation module 11-3 is discarded. Is done. Thereafter, after the motor command of the operation module 11-1 is completed, the motor command has already been discarded, and therefore the motor command of the operation module 11-3 cannot be executed. On the other hand, in this embodiment, it can be restarted appropriately.

  In the case of the motor 124-3, in the method 2 described above, the motor command from the operation module 11-3 is discarded because the motor command having a high priority is already being executed, and thereafter, the operation command from the operation module 11-2 is instantaneously displayed. In the meantime, the motor command of the operation module 11-3 cannot be executed. In such a case, the movement of the robot stops for a moment, resulting in an unnatural operation. On the other hand, in the present embodiment, an operation with a low priority can be executed during this time.

  As described above, according to the present embodiment, the operation sequence from a plurality of operation modules can be naturally switched or restarted. Further, each operation module can be developed independently, and the development efficiency can be improved. As a result, a communication robot that performs more natural operations can be efficiently developed.

  For example, when a robot is performing (dance) in accordance with music, an operation module that operates in accordance with music is a movement that is spoken by the user, interacts with the user, and then resumes dance. By creating each operation module that performs interaction, it can be realized relatively easily. Furthermore, by creating various motion modules, it is possible to efficiently realize the motion of the robot that performs natural motion. In addition, by changing the priority of the operation module according to the state of the surrounding environment of the robot and the context of the interaction between the robot and the user (for example, conversation), the robot can naturally perform complicated operations. .

  Next, a first modification of the above embodiment will be described with reference to FIG. FIG. 9 is a block diagram illustrating arbitration in the first modification. 9, parts that are the same as those shown in FIG. 3 are given the same reference numerals, and explanation thereof is omitted.

  In this modification, the operation arbitration information in Table 4 managed by the operation arbitration information management unit 32 is dynamically changed at each time. For example, among the operation modules 11-1 to 11 -N, the operation module 11-1 in which the robot 12 makes eye contact with the user, and the operation module 11 in which the robot 12 performs spontaneous behavior such as a sleepy gesture. -2 is included, the motion arbitration module 16 determines which one should be performed according to the context of interaction (for example, conversation) between the robot 12 and the user, and the motion mediation information management unit 32 manages it. By dynamically changing the priority of the operation arbitration information in Table 4, it is possible to realize a more natural operation switching of the robot 12.

  Next, a second modification of the above embodiment will be described with reference to FIG. FIG. 10 is a diagram illustrating the operation arbitration information managed by the operation arbitration information management unit 32.

  In this modification, the operation arbitration information in Table 4 managed by the operation arbitration information management unit 32 is managed for each module by the operation arbitration module 16 as shown in FIG. That is, the priority can be changed for each motor, and the operation module can be acquired by specifying the motor ID and the priority. As a result, finer operation arbitration of the robot 12 becomes possible. Even in the same operation sequence, fine control is possible, for example, when the importance of operation differs depending on the motor. In the present modification, as in the first modification, when the operation arbitration information is dynamically changed, a more complicated operation can be generated, while the operation arbitration module 16 itself becomes more complicated.

  Next, a third modification of the above embodiment will be described with reference to FIG. FIG. 11 is a flowchart for explaining the operation of the motor command control unit in the third modification. In FIG. 11, the same steps as those in FIG. 6 are denoted by the same reference numerals, and the description thereof is omitted.

  In this modification, when the motor command control unit 34 in the motor command control module 123 executes a motor command, a limit value (maximum angular velocity) of the angular velocity is set for each motor, and the operation of the robot 12 is switched from a person. Make it smooth so that it looks natural. The motor command control unit 34 stores a table for setting the maximum angular velocity as shown in Table 5, for example.

  The motor command control unit 34 performs steps S21 to S23 in FIG. 11 instead of step S14 in FIG. Step S21 is performed after step S13. In step S21, it is determined whether {“target angle” − “current angle”} / {TS + “relative operation end time” −T}> “maximum angular velocity of the motor”. If the decision result in the step S21 is YES, in a step S22, an instruction for controlling the motor so as to operate at the maximum angular velocity from the current time T to the TS + relative operation end time toward the target angle is output. On the other hand, if the decision result in the step S21 is NO, in a step S23, an instruction to control the corresponding motor so as to reach the target angle from the current time T to the TS + relative operation end time is output. After step S22 or step S23, the process proceeds to step S15.

  When the operation sequence is switched, the robot may suddenly operate because the start position of the motor is not known. In this modification, in order to prevent such inconvenience, a maximum angular velocity is set for each motor, and each motor is controlled to operate within a range not exceeding the maximum angular velocity. As a result, the motor command immediately after switching may cause the motor to reach the target angle without proceeding to the target motor command, but the process may proceed to the next motor command. It is possible to switch the operation of the robot more naturally.

  Next, the 4th modification of the said Example is demonstrated with FIG. FIG. 12 is a flowchart for explaining the operation of the motor command control unit in the fourth modification. In FIG. 12, the same steps as those in FIG. 11 are denoted by the same reference numerals, and the description thereof is omitted.

  In this modification, the limit value (maximum angular velocity) of the angular velocity can be dynamically changed. By changing the maximum angular velocity, it is possible to cause the robot to perform a slow motion (sleepy motion) or the like and change the robot motion. For example, the table in Table 5 is managed by the operation arbitration information management unit 32, and the operation arbitration module 16 changes the table of the maximum angular velocity of the operation arbitration information as shown in FIG.

  The motor command control unit 34 performs steps S31 to S33 in FIG. 12 instead of steps S12 and S13 in FIG. Step S31 is performed when the determination result of step S11 is YES. In step S31, the maximum angular velocity of the motor is acquired from the table of the operation arbitration information management unit 32. In step S32, it is determined whether or not the motor command is the same as the command and the maximum angular velocity has not changed. If the determination result in step S32 is YES, the process proceeds to step S15, and if the determination result is NO, the process proceeds to step S33. In step S33, the current command and the maximum angular velocity are updated, and the process proceeds to step S21.

  In step S32, it is not necessary to determine whether or not the maximum angular velocity has changed. In this case, the changed maximum angular velocity is applied after the operation of the motor command currently being executed is completed.

  Next, a fifth modification of the above embodiment will be described with reference to Table 6 and FIG. Table 6 shows an example of the data structure of the sequence information.

  When the operation module notifies the sequence information management unit 36 of the sequence ID, the relative time of the operation sequence is specified, and the relative time specified when the sequence information management unit 36 determines the start time of the operation sequence is subtracted. Thus, the designated operation sequence can be started from the relative time.

  That is, in this modified example, a function for designating an operation sequence from the operation module and instructing reproduction from the middle is provided. Specifically, when the operation module notifies the sequence information to the sequence information management unit 36, the operation sequence start location (relative time of the operation sequence) is notified at the same time. The sequence information management unit 36 manages the sequence information as shown in Table 6. When setting the operation sequence start time, the value obtained by subtracting the operation sequence start location (the relative time of the operation sequence) is set as the operation sequence start time. Set. After that, it is possible to reproduce from the middle of the operation sequence only by proceeding with the processing in the same manner as in the above embodiment.

  FIG. 13 is a flowchart for explaining the operation of the motor command control unit in the fifth modification. In FIG. 13, the same steps as those in FIG. 6 are denoted by the same reference numerals, and the description thereof is omitted.

  In the present modification, the motor command control unit 34 performs step S41 in FIG. 13 instead of step S2 in FIG. Step S41 is performed after step S1. In step S41, the motor command control unit 34 notifies the sequence information management unit 36 of the current time T, and the sequence information management unit 36 has a sequence ID for which the start time is not set in the managed sequence ID. “Current time T” − “operation sequence start location” is set as the start time. After step S41, the process proceeds to step S3.

  Next, a sixth modification of the above embodiment will be described with reference to FIG. FIG. 14 is a flowchart for explaining an example of detailed processing when there is an instruction to stop or interrupt the sequence information management unit 36.

  When the operation module wants to stop or interrupt the operation sequence, the operation module designates the sequence ID and instructs the sequence information management unit 36 to interrupt the operation sequence. When the sequence information management unit 36 receives an operation sequence stop or interrupt command, the sequence information management unit 36 changes the start time of the operation sequence managed by the sequence information management unit 36 to a value as small as possible (the oldest time possible). Thus, the operation sequence can be interrupted. The motor command control unit 34 receives the old time when acquiring the sequence start time TS in step S8, and does not execute subsequent processing of the same sequence because the determination result in step S9 is NO.

  A flag indicating whether or not the operation sequence is interrupted may be managed by the sequence information management unit 36, and the operation sequence may be interrupted by inquiring this flag when determining the execution of the motor command. Needless to say. .

  In FIG. 14, in step S51, the operation module designates a sequence ID and instructs the motor command control module 123 to stop. In step S52, the sequence information management unit 36 that has received the instruction changes the operation sequence start time of the corresponding operation sequence to the oldest possible time as described above.

  In the above-described embodiments and modifications, the operation sequence is communicated separately with each motor command unit in sequence information, but the communication method of the operation sequence is not limited to this. That is, the operation sequence information of FIG. 4 may be sent as a single command, and the operation sequence may be divided into individual motor commands and sequence information and stored on the motor command receiving side.

  FIG. 15 is a block diagram illustrating another example of the robot system. A robot system 52 shown in FIG. 15 receives a motor command from an application 51 which is an operation module that performs a standard operation. The robot system 52 includes a behavior module 521 that seems to be a creature, a reaction module 522 that seems to be a creature, another module 523, and a robot 524. The other modules 523 include, for example, the event detection modules 15-1 to 15-N and the operation arbitration module 16 shown in FIG. 7, and may further include the sensor information notification module 122 and the like. The robot 524 has a motor command control module 525. The robot 524 has the same configuration as any one of the above-described embodiments or modifications, and illustration of the sensor, the sensor information notification module, and the motor is omitted. The motor command control module 525 corresponds to the motor command control module 123.

  In this embodiment, when a motor command from an application (or operation module) 51 that causes a robot to perform a routine operation such as a gymnastic operation is input to the motor command control module 525, the motor command from the modules 521 to 523 and the like Appropriate mediation takes place. For this reason, if the motor control based only on the motor command from the application 51 is performed, the robot 524 operation becomes a mechanical routine operation, but the motor command from the application 51 and a creature-like (or human-like) action are performed. By arbitrating the motor commands from the modules 521 to 523, the routine operation of the robot 524 can be converted into a smooth operation (like a living thing or like a human being) that is natural and uncomfortable when viewed from a human. Therefore, when an application (or an operation module) 51 for performing a standard operation is prepared in advance, the application 51 itself is not changed, and the standard operation is smooth and natural when viewed from a human. Can be converted into a simple operation.

  In each of the above embodiments and modifications, the present invention is applied to a robot, but it goes without saying that the above embodiments can be applied to various interactive devices. For example, the interactive device includes various electronic devices and various household electric appliances (so-called home appliances). For home appliances, an interactive television device having a function of rotating the screen on a horizontal plane by a plurality of driving units or tilting the screen with respect to a vertical plane to direct the screen toward the viewer, and blowing air by the plurality of driving units. An interactive air conditioner (air conditioner) or the like having a function of controlling the direction and the blowing intensity according to the position of the user and the number of users is included.

The following additional notes are further disclosed with respect to the embodiment including the above examples.
(Appendix 1)
An operation control method for operating a plurality of drive units of an interactive device by a command from the plurality of operation modules while switching a plurality of operation modules by a computer,
A procedure for receiving a plurality of commands belonging to an operation sequence generated by an arbitrary operation module for each of the plurality of driving units and in order of start times of the plurality of commands;
A procedure for taking out a command queue command corresponding to the arbitrary operation module from a command queue storage unit in which a command queue for each drive unit is stored in units of operation modules;
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module An operation control method for causing a computer to execute a procedure for controlling a corresponding drive unit.
(Appendix 2)
The information of each command identifies information for identifying the drive unit, the target position of the drive unit, the operation start time and the operation end time of the command by the relative time from the operation sequence start time, and the operation sequence to which the command belongs. Contains information for
The operation control method according to appendix 1, wherein each command is sent from each operation module to each drive unit in order of start time and stored in a command queue corresponding to the order of start time.
(Appendix 3)
Each drive unit is controlled so that the corresponding drive unit reaches the target position from the current time to the end time of each command, and each command stored in each command queue is not discarded until the operation end time has passed, The operation control method according to appendix 1 or 2.
(Appendix 4)
At least one of a procedure for dynamically changing the operation arbitration information at each time, a procedure for changing the priority for each driving unit, and a procedure for dynamically changing the speed limit value of the driving unit. The operation control method according to claim 1, further executed by the computer.
(Appendix 5)
The optional operation module is:
When notifying the sequence information, the operation sequence start location is notified at the same time,
5. The operation control method according to claim 1, wherein when the operation sequence start time is set, a value obtained by subtracting the operation sequence start location is set as the operation sequence start time.
(Appendix 6)
A plurality of drive units;
A command control module for operating the plurality of drive units by a command from the plurality of operation modules while switching the plurality of operation modules;
A command queue storage unit in which a command queue for each drive unit is stored in units of operation modules,
The command control module is
A plurality of commands belonging to an operation sequence generated by an arbitrary operation module are received for each of the plurality of driving units and in order of start times of the plurality of commands,
Retrieve a command queue command corresponding to the arbitrary operation module from the command queue storage unit,
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module An interactive device that controls the corresponding drive unit.
(Appendix 7)
A sequence information management unit for managing the sequence information;
The interactive device according to appendix 6, further comprising an operation arbitration information management unit that manages the operation arbitration information.
(Appendix 8)
The information of each command identifies information for identifying the drive unit, the target position of the drive unit, the operation start time and the operation end time of the command by relative time from the operation sequence start time, and the operation sequence to which the command belongs. Contains information for
The interactive device according to appendix 6 or 7, wherein each command is sent from each operation module in order of start time for each drive unit and stored in a command queue corresponding to the order of start time.
(Appendix 9)
The command control module controls each drive unit so that the corresponding drive unit reaches the target position from the current time to the end time of each command, and each command stored in each command queue has an operation end time. The interactive device according to any one of appendices 6 to 8, wherein the interactive device is not discarded until it passes.
(Appendix 10)
The interactive device according to appendix 7, further comprising an operation arbitration module that dynamically changes the operation arbitration information in the operation arbitration information management unit at each time.
(Appendix 11)
The interactive device according to appendix 7, further comprising an operation arbitration module that changes the operation arbitration information in the operation arbitration information management unit so as to change a priority for each of the drive units.
(Appendix 12)
The interactive device according to appendix 7, further comprising an operation arbitration module that changes the operation arbitration information in the operation arbitration information management unit so as to dynamically change a speed limit value of the drive unit.
(Appendix 13)
The optional operation module is:
When notifying the sequence information, the operation sequence start location is notified at the same time,
The interactive device according to any one of appendices 6 to 12, wherein when the operation sequence start time is set, a value obtained by subtracting the operation sequence start location is set as the operation sequence start time.
(Appendix 14)
A program for causing a computer to operate a plurality of drive units of an interactive device by a command from the plurality of operation modules while switching a plurality of operation modules.
A procedure for receiving a plurality of commands belonging to an operation sequence generated by an arbitrary operation module for each of the plurality of driving units and in order of start times of the plurality of commands;
A procedure for taking out a command queue command corresponding to the arbitrary operation module from a command queue storage unit in which a command queue for each drive unit is stored in units of operation modules;
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module The program which makes the said computer perform the procedure which controls the applicable drive part.
(Appendix 15)
The information of each command identifies information for identifying the drive unit, the target position of the drive unit, the operation start time and the operation end time of the command by the relative time from the operation sequence start time, and the operation sequence to which the command belongs. Contains information for
The program according to appendix 14, wherein each command is sent from each operation module in order of start time for each drive unit, and stored in a command queue corresponding to the order of start time.
(Appendix 16)
Each drive unit is controlled so that the corresponding drive unit reaches the target position from the current time to the end time of each command, and each command stored in each command queue is not discarded until the operation end time has passed, The program according to appendix 14 or 15.
(Appendix 17)
At least one of a procedure for dynamically changing the operation arbitration information at each time, a procedure for changing the priority for each driving unit, and a procedure for dynamically changing the speed limit value of the driving unit. The program according to any one of appendices 14 to 16, further executed by the computer.
(Appendix 18)
The optional operation module is:
When notifying the sequence information, the operation sequence start location is notified at the same time,
18. The program according to any one of appendices 14 to 17, wherein when the operation sequence start time is set, a value obtained by subtracting the operation sequence start location is set as the operation sequence start time.
(Appendix 19)
The interactive device is a robot;
The arbitrary operation module is a module that controls a corresponding driving unit to cause the robot to perform a standard operation,
An operation module other than the arbitrary operation module among the plurality of operation modules is a module that controls a corresponding drive unit to cause the robot to perform an operation like a living creature,
The procedure of executing the command extracted based on the operation arbitration information to control the corresponding drive unit is based on the command of the arbitrary operation module and the command of the operation module other than the arbitrary operation module based on the operation arbitration information. 19. The program according to any one of appendices 14 to 18, wherein the program causes the robot to perform a standard action like a living thing by mediating in the above manner.
(Appendix 20)
A computer-readable storage medium storing the program according to any one of supplementary notes 16 to 19.

  While the disclosed operation control method, interactive device, and program have been described above by way of the embodiments, the present invention is not limited to the above embodiments, and various modifications and improvements can be made within the scope of the present invention. Needless to say.

11-1 to 11-N Operation module 12 Robot 16 Operation arbitration module 31 Motor command reception unit 32 Operation arbitration information management unit 33-1 to 33-N Motor command queue storage unit 34 Motor command control unit 35 Management information reception unit 36 Sequence Information management unit 121 Sensor 122 Sensor information notification module 123 Motor command control modules 124, 124-1 to 124-N Motor

Claims (6)

A program for causing a computer to operate a plurality of drive units of an interactive device by a command from the plurality of operation modules while switching a plurality of operation modules.
A procedure for receiving a plurality of commands belonging to an operation sequence generated by an arbitrary operation module for each of the plurality of driving units and in order of start times of the plurality of commands;
A procedure for taking out a command queue command corresponding to the arbitrary operation module from a command queue storage unit in which a command queue for each drive unit is stored in units of operation modules;
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module The program which makes the said computer perform the procedure which controls the applicable drive part. The information of each command identifies information for identifying the drive unit, the target position of the drive unit, the operation start time and the operation end time of the command by the relative time from the operation sequence start time, and the operation sequence to which the command belongs. Contains information for
The program according to claim 1, wherein each command is sent from each operation module to each drive unit in order of start time and stored in a command queue corresponding to the order of start time.   At least one of a procedure for dynamically changing the operation arbitration information at each time, a procedure for changing the priority for each driving unit, and a procedure for dynamically changing the speed limit value of the driving unit. The program according to claim 1, further causing the computer to execute. The interactive device is a robot;
The arbitrary operation module is a module that controls a corresponding driving unit to cause the robot to perform a standard operation,
An operation module other than the arbitrary operation module among the plurality of operation modules is a module that controls the corresponding drive unit to cause the robot to perform an arbitrary operation.
The procedure of executing the command extracted based on the operation arbitration information to control the corresponding drive unit is based on the command of the arbitrary operation module and the command of the operation module other than the arbitrary operation module based on the operation arbitration information. The program according to any one of claims 1 to 3, wherein the program causes the robot to perform a standard operation by performing arbitration. A plurality of drive units;
A command control module for operating the plurality of drive units by a command from the plurality of operation modules while switching the plurality of operation modules;
A command queue storage unit in which a command queue for each drive unit is stored in units of operation modules,
The command control module is
A plurality of commands belonging to an operation sequence generated by an arbitrary operation module are received for each of the plurality of driving units and in order of start times of the plurality of commands,
Retrieve a command queue command corresponding to the arbitrary operation module from the command queue storage unit,
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module An interactive device that controls the corresponding drive unit. An operation control method for operating a plurality of drive units of an interactive device by a command from the plurality of operation modules while switching a plurality of operation modules by a computer,
A procedure for receiving a plurality of commands belonging to an operation sequence generated by an arbitrary operation module for each of the plurality of driving units and in order of start times of the plurality of commands;
A procedure for taking out a command queue command corresponding to the arbitrary operation module from a command queue storage unit in which a command queue for each drive unit is stored in units of operation modules;
Execute the command extracted based on the sequence information including the correspondence between the information identifying each operation sequence and the start time of each operation sequence, and the operation arbitration information including the correspondence between the priority of each operation module and each operation module An operation control method for causing a computer to execute a procedure for controlling a corresponding drive unit.

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