Robot control device

Abstract

In the ML model (20), the range of the environment and condition in which the control for achieving the purpose of the operation is performed by each control process (operation control) that executes the operation is described, the operation control selection unit (16) selects the appropriate operation control in the current condition on the basis of the output value of the ML model (20), and the operation control execution unit (18) executes the selected operation control. Work control refers to that the robot senses surrounding objects through a sensor, and control processing of the work purpose is achieved along with interaction of the robot and other objects.

Description

technical field [0001] This disclosure relates to the control of a robot with some kind of sensor by which it senses surrounding objects, along with interacting with other objects (also includes objects called "environment". eg walls, floors). The present disclosure also relates to the composition of control programs for management, evaluation verification, and improvement of work control of robots. Background technique [0002] In an environment with a degree of freedom (open environment) where the environment and tasks are not fixed, robots that work as they interact with other objects (examples are autonomously controlled housekeeping robots, care robots, etc.) To work flexibly according to the environment and situation. In addition, the work to be performed also varies according to the task. [0003] The seemingly similar robotic arm on the factory floor only targets a single object and moves on a single channel (path) (the environment, conditions, and tasks are fixed)...

AI Technical Summary

Problems solved by technology

Therefore, this conventional system does not take into account the operations involved in the physical interaction such as pushing away other objects and placing the object at that location, and changing the operation according to the type of the object, so it cannot cope with the control including such operations.

[0013] In addition, in the system disclosed in Patent Document 2, it is possible to flexibly control under a wide range of situations by using the control of the machine learning model, but there are difficulties in the management, evaluation verification, modification, etc. of the work control for each individual situation

[0014] Furthermore, in the prior art described above, when an operation control is modified due to an operation error in a certain situation, the influence of the modification on the operation of the operation control in other situations is not considered.

Through modification, it is possible to affect the work of work control in other situations

In the situation where the original work was established / successful (the state of being able to achieve the work that achieves the purpose), the work may be changed due to this modification, and the work may not be established / successful

Images