Control device, task system, control method and non-transitory computer readable medium

Abstract

The present disclosure provides a control device, a task system, a control method, and a non-transitory computer-readable medium. The control device according to an embodiment of the present disclosure is a control device for a robot operating in a facility used by a user, and includes: a state acquisition unit that acquires a biological state of the user; and a control unit that limits the operation of the robot when the biological state of the user is a sleeping state. Here, when the biological state of the user is a sleeping state, the control unit preferably stops the operation of the robot or limits the operation of the robot to below a set maximum operating speed.

Description

Technical Field

[0001] The present disclosure relates to a control device, a task system, a control method, and a non-transitory computer-readable medium, and, for example, a control device, a task system, a control method, and a non-transitory computer-readable medium for controlling a robot operating in a facility used by a user. Background Art

[0002] In recent years, robots can be operated to perform tasks such as delivering packages in facilities such as residences. For example, WO 2020 / 071235 discloses a technology for suppressing a sleeping baby from waking up by operating a robot so that the noise in a target area becomes equal to or lower than a preset noise level. Summary of the invention

[0003] The applicant has found the following problem. The technology disclosed in WO 2020 / 071235 has the following problem: because the operation of the robot is not restricted when the user is in a sleeping state, the operation sound of the robot will disturb the user's sleep.

[0004] The present disclosure has been made in view of such problems, and realizes a control device, a task system, a control method, and a non-transitory computer-readable medium capable of suppressing interference with a user's falling asleep.

[0005] The control device according to the scheme of the present disclosure is a control device for a robot operating in a facility used by a user, and includes: a state acquisition unit, which acquires the biological state of the user; and a control unit, which limits the operation of the robot when the biological state of the user is a sleeping state.

[0006] In the above control device, when the biological state of the user is a sleeping state, the control unit may stop the operation of the robot.

[0007] In the above control device, when the biological state of the user is a sleeping state, the control unit may limit the operation of the robot to below a set maximum operation speed.

[0008] The control device may further include a determination unit for determining whether the user is in a sleeping state, and when the user's heart rate or breathing rate is lower than a set sleeping threshold, the determination unit may determine that the user is in a sleeping state.

[0009] In the above control device, when there are multiple users, a falling asleep threshold may be set for each user.

[0010] A task system according to an aspect of the present disclosure includes: the above-mentioned control device; a robot that is controlled by the control device to perform a task; and a detection unit that is arranged in a room where a user sleeps and detects a biological state of the user.

[0011] In the above task system, the detection unit may be a biosensor or an imaging sensor, and detects the biological state of the user based on temporal changes in the user's body activity.

[0012] In the above task system, when there are multiple users, the detection unit may be arranged in each room where each user sleeps, and when at least one user is in a sleeping state, the control device may restrict the operation of the robot.

[0013] The control method according to the scheme of the present disclosure is a control method for a robot operating in a facility used by a user, and includes: a step of acquiring a biological state of the user; and a step of limiting the operation of the robot when the biological state of the user is a sleeping state.

[0014] In the above control method, when the biological state of the user is in a sleeping state, the operation of the robot can be stopped.

[0015] In the above control method, when the biological state of the user is a sleeping state, the operation of the robot may be limited to below a set maximum operation speed.

[0016] The control method may further include a step of determining whether the user is in a sleeping state, and when the user's heart rate or breathing rate is lower than a set sleeping threshold, it may be determined that the user is in a sleeping state.

[0017] In the above control method, when there are multiple users, a falling asleep threshold may be set for each user.

[0018] According to a non-temporary computer-readable medium of the scheme of the present disclosure, a control program for controlling a robot operating in a facility used by a user is stored, wherein the control program causes a computer to perform the following processing: a process of acquiring a biological state of the user; and a process of limiting the operation of the robot when the biological state of the user is a sleeping state.

[0019] According to the present disclosure, a control device, a task system, a control method, and a non-transitory computer-readable medium capable of suppressing interference with a user's falling asleep can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings, wherein like numerals refer to like elements, and wherein:

[0021] Figure 1 is a diagram schematically showing a configuration of a task system according to an embodiment;

[0022] Figure 2 is a perspective view schematically showing a robot according to an embodiment;

[0023] Figure 3 is a side view schematically showing a robot according to an embodiment;

[0024] Figure 4 is a block diagram showing a system configuration of a robot according to an embodiment;

[0025] Figure 5 is a view of the first receiving section as viewed from the interior of the dwelling;

[0026] Figure 6 is a perspective view showing a package being delivered using a robot;

[0027] Figure 7 is a block diagram showing functional elements of a control device according to an embodiment;

[0028] Figure 8 is a flowchart showing a process of executing a task using a task system according to an embodiment;

[0029] Fig. 9 is a diagram showing an example of a hardware configuration included in a control device and a task system; and

[0030] Fig.10 is a diagram schematically showing a configuration of a task system according to another embodiment. DETAILED DESCRIPTION

[0031] The specific embodiments to which the present disclosure is applied will be described in detail below with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. In addition, in order to make the description clearer, the following description and the accompanying drawings are appropriately simplified.

[0032] Figure 1 is a diagram schematically showing the configuration of the task system according to the present embodiment. Figure 1 As shown, the task system 1 can be used to perform the following task: in a facility such as a residence used by a user, the robot 2 transports a package stored in a first storage unit 3 to a second storage unit 4. Therefore, the number of users is more than one. Here, in the following description, as a representative, the case where a residence is used as a facility will be described.

[0033] For example, Figure 1 As shown, in addition to the robot 2 , the task system 1 also includes a first detection unit 5 , a second detection unit 6 , a task instruction unit 7 , an execution time setting unit 8 , a sleep threshold setting unit 9 and a control device 10 . Figure 2 is a perspective view schematically showing the robot according to the present embodiment. Figure 3 is a side view schematically showing the robot according to the present embodiment. Figure 4 is a block diagram showing a system configuration of the robot according to the present embodiment.

[0034] The robot 2 is, for example, an autonomous mobile robot and is arranged in a residence. Figures 1 to 4 As shown, the robot 2 includes a moving part 21, a telescopic part 22, a placement part 23, an arm 24, a drive mechanism 25, and a control unit 26, and is connected to a network 11. Here, the network 11 is, for example, the Internet, and is composed of a telephone line network, a wireless communication path, Ethernet (registered trademark), and the like.

[0035] The moving part 21 includes a robot body 21a, a pair of left and right driving wheels 21b rotatably provided for the robot body 21a, a pair of front and rear driven wheels 21c, and a pair of driving mechanisms 21d. The driving mechanisms 21d rotatably drive the respective driving wheels 21b.

[0036] The drive mechanisms 21d each include a motor, a speed reducer, etc. Each drive mechanism 21d is driven based on control information received from the control unit 26 and rotates the corresponding drive wheel 21b, so that the robot body 21a can move forward and backward and rotate.

[0037] By this configuration, the robot body 21a can be moved to any position. The configuration of the moving part 21 is an example, and the present invention is not limited thereto. For example, the number of the driving wheels 21b and the driven wheels 21c of the moving part 21 can be arbitrary, and a known mechanism can be used as long as the robot 2 can be moved to any position.

[0038] The telescopic part 22 is a telescopic mechanism that extends and contracts in the up-down direction. The telescopic part 22 can be constructed as a telescopic extension and contraction mechanism. The telescopic part 22 includes a driving mechanism 22a, which includes a motor, a reducer, etc., and the telescopic part 22 is driven based on control information received from the control unit 26.

[0039] The placement portion 23 is provided at the upper portion (at the end) of the telescopic portion 22. The placement portion 23 moves up and down due to the extension and contraction of the telescopic portion 22. In the present embodiment, the placement portion 23 is used to load the parcels transported by the robot 2.

[0040] Then, in order to transport the package, the robot 2 moves together with the package while the package is supported by the placement portion 23. The robot 2 transports the package using this configuration. However, in the robot 2, when the placement portion 23 can move up and down, a known mechanism can be used instead of the telescopic portion 22.

[0041] The placement portion 23 includes, for example, a plate material used as an upper surface and a plate material used as a lower surface. A space for accommodating the arm 24 and the drive mechanism 25 is provided between the upper surface and the lower surface. In the present embodiment, the placement portion 23 is shaped, for example, as a flat disc, but any other shape may also be used.

[0042] More specifically, in this embodiment, the seating portion 23 is provided with a cutout 23a along the flow line of the arm 24 so that when the arm 24 moves, the protrusion 24b of the arm 24 does not interfere with the seating portion 23. The cutout 23a is provided at least on the upper surface of the seating portion 23.

[0043] The placement portion 23 is provided with an arm 24 that moves horizontally in and out of the placement portion 23. The arm 24 includes a shaft portion 24a extending in the horizontal direction and a protrusion 24b extending in a direction perpendicular to the shaft portion 24a and provided at the end of the shaft portion 24a. That is, in the present embodiment, the arm 24 is L-shaped.

[0044] The drive mechanism 25 moves the arm 24 in the horizontal direction (ie, the direction along the shaft portion 24 a , in other words, the longitudinal direction of the arm 24 ) and rotates about the shaft portion 24 a based on control information received from the control unit 26 .

[0045] The drive mechanism 25 includes, for example, a motor and a linear guide, and moves the arm 24 in the horizontal direction and rotates the arm 24. As the drive mechanism 25, a known drive mechanism for performing the above-described operation can be used. The drive mechanism 25 is provided in the seating portion 23.

[0046] As described above, the arm 24 is movable in the horizontal direction, and the protrusion 24b is rotatable as the arm 24 rotates around the shaft 24a. That is, the protrusion 24b is rotatable about the shaft 24a as the rotation axis.

[0047] The control unit 26 controls the operation of the robot 2. That is, the control unit 26 controls the operation of the moving part 21, the telescopic part 22, and the arm 24. The control unit 26 can control the rotation of each driving wheel 21b and move the robot body 21a to an arbitrary position by sending control information to the driving mechanism 21d of the moving part 21.

[0048] Furthermore, the control unit 26 can control the height of the seating portion 23 by sending control information to the drive mechanism 22a of the telescopic portion 22. Furthermore, the control unit 26 can control the horizontal movement of the arm 24 and the rotation around the shaft portion 24a by sending control information to the drive mechanism 25.

[0049] As described above, the control unit 26 can control the movement of the robot 2 by performing known control such as feedback control and robust control based on the rotation information of the driving wheel 21b detected by the rotation sensor provided for the driving wheel 21b.

[0050] Furthermore, the control unit 26 can make the robot 2 move autonomously by controlling the moving section 21 based on information such as distance information detected by a distance sensor such as a camera or an ultrasonic sensor provided for the robot 2 and map information about the moving environment.

[0051] The first storage portion 3 stores the packages to be transported by the robot 2 . Figure 5 An example of the first housing section is shown, and it is a view of the first housing section viewed from inside the residence. Figure 6 is a perspective view showing a package being delivered using a robot. Note that Figure 5 The robot 2 is also shown arranged inside a dwelling relative to the first housing portion 3 .

[0052] The first storage unit 3 is embedded in the wall of a house, for example, and is configured so that a package can be brought in from the outside of the house and taken out from the inside of the house by the robot 2. Figure 5 As shown, the first housing portion 3 has a rectangular frame as a basic shape and includes an opening that connects the inside and outside of the house to each other.

[0053] In the internal space of the first storage section 3, a plurality of pairs of rails 3a, 3b are arranged to face each other at intervals in the up-down direction. The rails 3a, 3b extend in the front-rear direction of the first storage section 3. However, the first storage section 3 only needs to have a structure capable of storing the package 12 so that the package 12 can be at least carried out from the interior of the residence.

[0054] like Figure 6 As shown, the package 12 is a container with a box shape as a basic shape. For example, flanges 12a are provided on both sides of the package 12. Since the flanges 12a are supported from below by the rails 3a, 3b, the package 12 is supported in the first receiving portion 3.

[0055] With this structure, the package 12 can be moved into and out of the house along the rails 3a, 3b in the first storage section 3. Therefore, by pulling the package 12 out from the inside of the house, the package 12 can be carried out from the first storage section 3. However, the package 12 only needs to have a structure that can be supported by the rails 3a, 3b of the first storage section 3.

[0056] like Figure 6 As shown, the groove 12b for hooking the protrusion 24b of the arm 24 is provided at a predetermined position on the bottom surface of the package 12. Note that the package 12 is, for example, a container with a box shape as a basic shape. However, the package 12 is not limited thereto and may be any object. Any other object can be accommodated in the package 12 as a container.

[0057] The second storage section 4 is arranged in the residence and stores the packages 12 carried by the robot 2. The second storage section 4 only needs to have a structure capable of storing the packages 12, and for example, may have a structure substantially the same as the first storage section 3. Note that a robot (e.g., a robot arm) that sorts objects in a package 12 into another package 12 may be provided.

[0058] The first detection unit 5 is arranged in each room of the residence and detects the biological state of the user present in the residence. The first detection unit 5 can be composed of a biological sensor such as a radio wave sensor or an ultrasonic sensor, or an imaging sensor such as an infrared camera. When there are multiple users, the above-mentioned first detection unit 5 is preferably arranged in each room where each user sleeps.

[0059] However, the first detection unit 5 only needs to be a sensor capable of detecting the biological state of the user. In addition, the first detection unit 5 may also include a motion sensor for detecting a person in addition to the sensor for detecting the biological state of the person. The first detection unit 5 is connected to the network 11 .

[0060] The second detection unit 6 detects the user's position. Figure 1 As shown, the second detection unit 6 can be constituted by, for example, a global positioning system (GPS) receiver installed on a mobile terminal 13 such as a smartphone owned by a user.

[0061] However, the second detection unit 6 can use a known position information system such as other satellite positioning systems as long as the system can detect the current position of the user. The second detection unit 6 is connected to the network 11 .

[0062] The task instruction unit 7 is operated by a user or other person to specify the package 12 for which the task is to be performed and input (command) the content (type) of the task to be performed by the robot 2. Figure 1 As shown, for example, the task instruction unit 7 is preferably installed on the mobile terminal 13. The user can input by selecting the identification information of the package 12 displayed on the display unit of the mobile terminal 13 and the type information about the task to be performed for the package 12. The task instruction unit 7 is connected to the network 11.

[0063] The execution time setting unit 8 is operated by a user or other person to set a time period for the robot 2 to execute a task. Figure 1 As shown, for example, the execution time setting unit 8 is preferably installed on the mobile terminal 13. The user can set a time period for causing the robot 2 to execute a task via the mobile terminal 13. The execution time setting unit 8 is connected to the network 11.

[0064] Here, the "time period for causing the robot 2 to perform the task" in this embodiment is a time period that the user desires to have a range from the start time of the earliest task to the start time of the latest task. That is, the "time period for causing the robot 2 to perform the task" in this embodiment is a task start time period that the user desires.

[0065] However, the "time period for robot 2 to perform tasks" may be a time period that the user desires to have a range from the earliest task completion time to the latest task completion time. That is, the "time period for robot 2 to perform tasks" may be a task completion time period that the user desires.

[0066] In addition, the "time period for causing the robot 2 to perform the task" may be a time period that the user desires to have a range from the start time of the earliest task to the completion time of the latest task. That is, the "time period for causing the robot 2 to perform the task" may be the operating time period of the robot 2 that the user desires from the start to the completion of the task.

[0067] The falling asleep threshold setting unit 9 is operated by the user or other persons to set the heart rate or breathing rate when the user enters the falling asleep state. Figure 1 As shown, for example, the falling asleep threshold setting unit 9 is preferably installed on the mobile terminal 13. The user can set the heart rate or breathing rate when the user enters the falling asleep state as the falling asleep threshold via the mobile terminal 13. The falling asleep threshold setting unit 9 is connected to the network 11. Here, "falling asleep" means a transition from a wakeful state to a sleeping state.

[0068] The control device 10 controls the operation of the robot 2 and the like. Figure 7 FIG. 1 is a block diagram showing functional elements of the control device according to the present embodiment. Figure 1 and Figure 7 As shown, the control device 10 includes an instruction acquisition unit 101, a state acquisition unit 102, a completion time calculation unit 103, a position acquisition unit 104, an arrival time calculation unit 105, an execution time acquisition unit 106, a sleep threshold acquisition unit 107, a determination unit 108, a storage unit 109, and a control unit 110. The control device 10 is connected to a network 11.

[0069] The instruction acquisition unit 101, for example, acquires the designation of the package 12 for which the task is to be performed and the content of the task to be performed by the robot 2. The designation and content are indicated by the information received from the task instruction unit 7. Note that the instruction acquisition unit 101 may include the task instruction unit 7. In short, the instruction acquisition unit 101 only needs to acquire the designation of the package 12 and the content of the task.

[0070] Here, the task according to the present embodiment is a task of conveying the parcel 12 so that the parcel 12 supported by the desired rails 3 a , 3 b of the first receiving portion 3 is supported by the desired rails of the second receiving portion 4 .

[0071] However, the task is not limited to transporting the package 12 from the first receiving section 3 to the second receiving section 4, and may be a task of moving the package 12 so that the package 12 supported by the track of the first receiving section 3 or the track of the second receiving section 4 is supported by other tracks.

[0072] In addition, when the second storage section 4 is provided with a robot arm, the task may be a task of sorting objects in a package 12 contained in the second storage section 4 into another package 12 by the robot arm without using the robot 2. In short, the content of the task is not limited as long as the task is a task that can be performed using a robot.

[0073] The state acquisition unit 102 acquires the biological state of the user. The state acquisition unit 102 acquires the biological state of the user by measuring the temporal change of the user's body activity (eg, heart rate or breathing frequency) from the detection information received from the first detection unit 5 .

[0074] However, the state acquisition unit 102 may use a known method to acquire the biological state of the user. The state acquisition unit 102 may include a first detection unit 5. In short, the state acquisition unit 102 only needs to acquire the biological state of the user.

[0075] The completion time calculation unit 103 calculates the time to complete the task. The completion time calculation unit 103 calculates the required time of the task based on the content of the task, the preset moving speed of the robot 2, the retractable speed of the retractable part 22 of the robot 2, the operation speed of the arm 24 of the robot 2, etc., and calculates the time to complete the task based on the calculated required time of the task and the current time.

[0076] The position acquisition unit 104 acquires the user's position based on the detection information received from the second detection unit 6. At this time, the position acquisition unit 104 can acquire the user's position in real time. The position acquisition unit 104 may include the second detection unit 6. In short, the position acquisition unit 104 only needs to acquire the user's position.

[0077] The arrival time calculation unit 105 calculates the time when the user arrives at the residence. The arrival time calculation unit 105 calculates the time when the user arrives at the residence based on the user's current location and the user's moving speed, for example. At this time, the arrival time calculation unit 105 can update the time when the user arrives at the residence based on the user's location information obtained in real time.

[0078] However, the arrival time calculation unit 105 can use timetable information and required time information of public transportation, etc. to calculate the time when the user arrives at the residence via the shortest route from the user's current location, and can use a known calculation method to calculate the time when the user arrives at the residence.

[0079] The execution time acquisition unit 106 acquires the time period for the robot 2 to execute the task. The time period is indicated by information received from the execution time setting unit 8. The execution time acquisition unit 106 may include the execution time setting unit 8. In short, the execution time acquisition unit 106 only needs to acquire the time period for the robot 2 to execute the task.

[0080] The falling asleep threshold value acquisition unit 107 acquires the falling asleep threshold value indicated by the information received from the falling asleep threshold value setting unit 9. Note that the falling asleep threshold value acquisition unit 107 may include the falling asleep threshold value setting unit 9. In summary, the falling asleep threshold value acquisition unit 107 only needs to acquire the falling asleep threshold value.

[0081] Although the details will be described later, the determination unit 108 determines whether the user is in a sleeping state, determines whether the user is at home, determines whether the task is completed when the user arrives at the home, and determines whether the current time is within the time period for the robot 2 to perform the task.

[0082] The storage unit 109 stores information on the type of tasks to be performed by the robot 2, etc., position information on the first housing section 3, position information on the tracks 3a, 3b of the first housing section 3, position information on the second housing section 4, position information on the tracks of the second housing section 4, identification information on the package 12 contained in the first housing section 3, current moving speed information on the robot 2, extension speed information on the extension section 22 of the robot 2, operation speed information on the arm 24 of the robot 2, time period information for causing the robot 2 to perform the task, falling asleep threshold information, etc. Here, the identification information on the package 12 and the position information on the tracks 3a, 3b in the first housing section 3 are preferably associated with each other.

[0083] Although the details will be described later, when the biological state of the user is the sleeping state, the control unit 110 controls the robot 2, etc. to limit the operation of the robot 2, etc. In addition, the control unit 110 controls the first detection unit 5 and the second detection unit 6 based on the task instruction indicated by the information received from the task instruction unit 7.

[0084] Next, a flow of executing a task using the task system 1 according to the present embodiment will be described. Figure 8 is a flowchart showing a flow of executing a task using the task system according to the present embodiment.

[0085] Here, the following description assumes that the following tasks are performed: from the state where the robot 2 is stored at the current storage position in the residence, the package 12 contained in the first storage section 3 is transported to the second storage section 4 using the robot 2, and the robot 2 returns to the storage position.

[0086] Furthermore, it is assumed that the user pre-sets a time period for causing the robot 2 to execute a task via the execution time setting unit 8 installed on the mobile terminal 13, and information indicating the time period for causing the robot 2 to execute a task is stored in the storage unit 109. Furthermore, it is assumed that the user pre-sets a sleep threshold via the sleep threshold setting unit 9 installed on the mobile terminal 13, and information indicating the sleep threshold is stored in the storage unit 109.

[0087] First, when the user inputs the designation of the package 12 and the content of the task via the task instruction unit 7 installed on the mobile terminal 13, the task instruction unit 7 sends information indicating the designation of the package 12 and the content of the task to the control device 10. Through this process, the task system 1 starts the task.

[0088] The control unit 110 of the control device 10 controls the first detection unit 5 to detect the biological information of the user in the residence. When the first detection unit 5 performs detection on the user in the residence, the first detection unit 5 sends the detection information to the control device 10. Then, the state acquisition unit 102 of the control device 10 measures the breathing and heartbeat of the user based on the detection information. Through this process, the state acquisition unit 102 of the control device 10 acquires the biological state of the user (S1).

[0089] Next, the determination unit 108 of the control device 10 determines whether the user is in the house based on the measurement result of the state acquisition unit 102 (S2). Then, when the determination unit 108 can recognize the breathing or heartbeat of the user, the determination unit 108 determines that the user is in the house (Yes in S2). Here, in the case of multiple users, for example, when one user is in the house, the determination unit 108 can determine that the user is in the house.

[0090] Next, when the determination unit 108 of the control device 10 determines that the user is in the house, the determination unit 108 determines whether the user is in the sleeping state (S3) based on the measurement result of the state acquisition unit 102. For example, when the heart rate or breathing rate of the user becomes lower than the sleeping threshold, the determination unit 108 determines that the user is in the sleeping state (Yes in S3).

[0091] Here, when there are multiple users, it is preferred to set a falling asleep threshold for each user. Then, the identification information of each user, the identification information of the room where each user sleeps in the residence, the identification information of the first detection unit 5 arranged in each room where each user sleeps, and the falling asleep threshold set for each user are preferably associated with each other.

[0092] Through this processing, it is possible to accurately determine whether the user is in a sleeping state. Then, when one of the users is in a sleeping state, the determination unit 108 of the control device 10 can determine that the user is in a sleeping state. However, when multiple users are in a sleeping state, the determination unit 108 can determine that the user is in a sleeping state. In addition, the target user can be set in advance.

[0093] When the user is in a sleeping state, the control device 10 cancels the task (S4). Through this process, the robot 2 can be prevented from executing the task when the user is in a sleeping state, and the operation sound of the robot 2 can also be prevented from being generated when the user is in a sleeping state. Therefore, it is possible to prevent the user from being disturbed in falling asleep.

[0094] In this case, for example, the control device 10 may control the robot 2 so that the task is performed when the user is not in the house, or may control the robot 2 to perform the task when the user commands the task again.

[0095] On the other hand, for example, when the user's heart rate or breathing rate is equal to or higher than the falling asleep threshold, the determination unit 108 of the control device 10 determines that the user is not in a falling asleep state (No in S3). Then, when the user is not in a falling asleep state, the determination unit 108 of the control device 10 determines whether the current time is within the time period for causing the robot 2 to perform the task (S5).

[0096] When the current time is within the time period for causing the robot 2 to execute the task (Yes in S5 ), the control unit 110 of the control device 10 transmits control information to the control unit 26 of the robot 2 so as to continue the task.

[0097] The control unit 26 of the robot 2 controls the moving part 21, the telescopic part 22 and the arm 24 to move the desired package 12 out of the first receiving part 3, place the package 12 on the placement part 23, and make the desired track of the second receiving part 4 support the package 12 to accommodate the package 12 in the second receiving part 4 (S6).

[0098] Afterwards, the control unit 26 of the robot 2 controls the moving part 21 to move the robot 2 to a predetermined storage position, and when the robot 2 reaches the storage position, the control unit 26 sends information indicating task completion to the control device 10. When the control device 10 receives the information indicating task completion, the control device 10 ends the task.

[0099] When the current time is outside the time period for the robot 2 to perform the task (No in S5), the control device 10 cancels the task (S7). This process can prevent the robot 2 from performing the task outside the time period for performing the task, and can also prevent the user from feeling uncomfortable when the robot 2 performs the task.

[0100] In this case, for example, the control device 10 may control the robot 2 so that the task is performed when the user is not in the house, or may control the robot 2 to perform the task when the user commands the task again.

[0101] When the user's breathing or heartbeat cannot be recognized based on the measurement result of the state acquisition unit 102 of the control device 10, the determination unit 108 of the control device 10 determines that the user is not at home (No in S2). Then, the control unit 110 of the control device 10 controls the second detection unit 6 to obtain detection information of the user's position.

[0102] When the second detection unit 6 acquires the detection information of the user's position from, for example, a GPS satellite, the second detection unit 6 transmits the detection information to the control device 10. Through this process, the position acquisition unit 104 of the control device 10 acquires the user's position (S8).

[0103] Next, the completion time calculation unit 103 of the control device 10 calculates the time to complete the task based on the position of the first storage part 3, the positions of the rails 3a and 3b supporting the designated package 12 in the first storage part 3, the position of the second storage part 4, the position of the rails supporting the designated package 12 in the second storage part 4, the movement path of the robot 2 according to the task, the preset movement speed of the robot 2, the extension speed of the extension part 22 of the robot 2, the operation speed of the arm 24 of the robot 2, etc. Here, the movement path of the robot 2 according to the task can be calculated by the control unit 26 of the robot 2 and acquired by the completion time calculation unit 103 of the control device 10.

[0104] In this embodiment, the time required for the task can be calculated by adding the following times: the time from when the moving part 21 of the robot 2 is operated to when the moving part 21 reaches the first receiving part 3 from the predetermined storage position, the time from when the telescopic part 22 and the arm 24 of the robot 2 are operated to when the package 12 is moved out of the first receiving part 3 and placed on the placement part 23, the time from when the moving part 21 of the robot 2 is operated to when the moving part 21 reaches the second receiving part 4, the time from when the telescopic part 22 and the arm 24 of the robot 2 are operated to when the package 12 is moved into the second receiving part 4, and the time from when the moving part 21 of the robot 2 is operated to when the robot 2 reaches the predetermined storage position from the second receiving part 4.

[0105] Here, when the second storage unit 4 includes a robot arm, the time from when the robot arm starts operating to when the sorting of the objects in the package 12 is completed can be added. Then, the time when the required time of the task calculated based on the current time has passed can be set as the time when the task is completed.

[0106] Next, the arrival time calculation unit 105 of the control device 10 calculates the time when the user arrives at the residence based on the position of the user indicated by the received information. Here, in the case of multiple users, the arrival time of the user who arrives at the residence earliest can be set as a representative as the time when the user arrives at the residence. Note that the calculation of the task completion time and the calculation of the user arrival time can be reversed in order.

[0107] Then, the determination unit 108 of the control device 10 determines whether the task is completed when the user arrives at the house (S9). Specifically, the determination unit 108 determines whether the time when the task is completed is earlier than the time when the user arrives at the house.

[0108] When the task is completed earlier than the time when the user arrives at the residence, the determination unit 108 of the control device 10 determines that the task is completed when the user arrives at the residence (Yes in S9). Then, the control unit 110 of the control device 10 sends control information to the control unit 26 of the robot 2 to continue the task.

[0109] The control unit 26 of the robot 2 controls the moving part 21, the telescopic part 22 and the arm 24 to move the desired package 12 out of the first receiving part 3, place the package 12 on the placement part 23, and make the desired track of the second receiving part 4 support the package 12 to accommodate the package 12 in the second receiving part 4 (S10).

[0110] After that, the control unit 26 of the robot 2 controls the moving part 21 to move the robot 2 to a predetermined storage position, and when the robot 2 reaches the storage position, the control unit 26 sends information indicating the completion of the task to the control device 10. When the control device 10 receives the information indicating the completion of the task, the control device 10 ends the task. This allows the robot 2 to complete the task when the user arrives at the residence. Therefore, the user does not feel uncomfortable with the operation sound of the robot 2.

[0111] On the other hand, when the task is completed later than the time when the user arrives at the house, the determination unit 108 of the control device 10 determines that the task will not be completed when the user arrives at the house (No in S9), and cancels the task (S11).

[0112] In this case, for example, the control device 10 may control the robot 2 so that the task is performed when the user is not in the house, or may control the robot 2 to perform the task when the user commands the task again.

[0113] As described above, when the user is in a sleeping state, the control device 10, the task system 1 and the control method according to the present embodiment limit the operation of the robot 2. Through this configuration, the volume of the operation sound of the robot 2 when the user is in a sleeping state can be reduced, thereby suppressing the interference with the user's sleep.

[0114] In particular, when the user is in a sleeping state, the operation of the robot 2 is stopped. Therefore, it is possible to suppress the generation of the operation sound of the robot 2, thereby suppressing the interference with the user's sleeping.

[0115] Furthermore, when the first detection unit 5 is arranged for each room where each user sleeps, the biological state of each user can be detected. Then, when the falling asleep threshold is set for each user, it is possible to accurately determine for each user whether the user is in a falling asleep state.

[0116] Other embodiments

[0117] The control device and the task system according to the above-described embodiments may have the following hardware configuration. Fig. 9 1 is a diagram showing an example of a hardware configuration included in a control device and a task system. Although the processing procedures in the control device and the task system have been described in the above-mentioned respective embodiments, the present disclosure may also take the form of a control method.

[0118] Fig. 9 The control device shown includes a processor 201, a memory 202, and an interface 203. A part of the task system 1 and the configuration of the control device 10 described in the above embodiment are implemented in such a manner that the processor 201 reads and executes a control program stored in the memory 202. That is, the control program is a program that enables the processor 201 to function as a part of the task system 1 or the configuration of the control device 10. It can be said that the control program is a program for causing the task system 1 and the control device 10 to execute processing in the configuration or a part thereof.

[0119] The above program is stored using various types of non-transitory computer-readable media and can be provided to a computer (including a computer of an information notification device). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks). In addition, the above examples include compact disk read-only memory (CD-ROM), recordable compact disk (CD-R), and rewritable compact disk (CD-R / W). In addition, the above examples include semiconductor memories (e.g., mask ROM, programmable ROM (PROM), erasable programmable ROM (EPROM), flash ROM, random access memory (RAM)). The program can also be provided to a computer via various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical and optical signals and electromagnetic waves. Temporary computer-readable media can provide the program to a computer via a wired communication path or a wireless communication path such as wires and optical fibers.

[0120] The present disclosure is not limited to the above-described embodiments, and can be appropriately modified without departing from the spirit thereof.

[0121] In the above embodiment, when the user is in the sleeping state, the task of the robot 2 etc. is stopped. However, the task may be executed while the operation of the robot 2 etc. is limited so that the robot 2 etc. operates at a speed equal to or lower than the set maximum operation speed.

[0122] Here, the maximum operating speed of the robot 2, etc. may be any speed at which the robot 2, etc. operates at a speed equal to or lower than a noise level at which the user does not feel uncomfortable with the operating sound of the robot 2, etc. when the robot 2, etc. performs a task while the user is in the residence, and is lower than the normal operating speed of the robot 2. Here, "normal operation" is operation in a state where the operating speed is not limited.

[0123] For example, the maximum operating speed of robot 2, etc., is determined by Fig.10 The maximum speed setting unit 14 installed on the mobile terminal 13 shown can be set to an operating speed of the robot 2 etc. at which the user does not feel uncomfortable with the operating sound of the robot 2 etc. by actually making the robot 2 etc. perform a task.

[0124] At this time, it is preferable to be able to selectively set the maximum operating speed of the driving mechanisms 21d, 22a, and 25 of the robot 2. When the second storage unit 4 includes a robot arm, the maximum operating speed of the robot arm may also be included.

[0125] Note that the maximum operating speed of robot 2, etc. can be set by supervised learning of the model, in which the volume of the operating sound of robot 2 is input and the maximum operating speed of robot 2, etc. is output, and the evaluation of multiple people not feeling uncomfortable is taken as the correct answer.

[0126] For example, in the above embodiment, when the user is not in the house, the processing for obtaining the position of the user outside the house in S8 and the processing for determining whether the task is completed when the user arrives at the house in S9 are performed. However, the processing in S8 and S9 may be omitted and the processing may proceed to the processing in S10. In addition, in the above embodiment, when the user is not in a sleeping state, it is determined whether the current moment is within the time period for the robot 2 to perform the task. However, the processing in step S5 may be omitted and the processing may proceed to the processing in S6. In short, when the user is in the house and the user is in a sleeping state, it is only necessary to restrict the operation of the robot 2, etc.

[0127] For example, the configuration of the robot is not limited, and the robot may be any robot as long as the robot can perform a task. The robot may also be a humanoid robot. For example, the robot may be, for example, a housework support robot.

[0128] For example, although the robot 2 performs tasks in a residence in the above-described embodiment, it is also possible to perform tasks in facilities such as a hotel where people stay.

Claims

1. A control device for controlling a robot operating in a facility used by a user, the control device comprising: a state acquisition unit, which acquires the biological state of the user; as well as A control unit configured to: When the biological state of the user is a sleeping state, the control unit restricts the operation of the robot; and When the user is not asleep: Determining whether the current time is within the time period for the robot to perform the task; and When the current moment is outside the time period for the robot to perform the task, canceling the task; Wherein, when the biological state of the user is the sleeping state, the control unit limits the operation of the robot to below a set maximum operating speed, wherein the maximum operating speed is any speed at which the robot runs at a noise level equal to or lower than a noise level at which the user does not feel uncomfortable with the operating sound of the robot when the robot performs a task. 2 . The control device according to claim 1 , wherein when the biological state of the user is the sleeping state, the control unit stops the operation of the robot.

3. The control device according to claim 1 or 2 further includes a determination unit, which determines whether the user is in the sleeping state, wherein when the heart rate or breathing rate of the user is lower than a set sleeping threshold, the determination unit determines that the user is in the sleeping state. 4 . The control device according to claim 3 , wherein when there are a plurality of the users, the falling asleep threshold is set corresponding to each of the users.

5. A task system, comprising: A control device according to any one of claims 1 to 4; a robot controlled by the control device to perform a task; as well as A detection unit is arranged in a room where a user sleeps and detects a biological state of the user. 6 . The task system according to claim 5 , wherein the detection unit is a biosensor or an imaging sensor, and detects the biological state of the user based on a temporal change in a physical activity of the user.

7. The task system according to claim 5 or 6, wherein: When there are a plurality of said users, said detection unit is arranged in each room where each of said users sleeps, and When at least one of the users is in a sleeping state, the control device restricts the operation of the robot.

8. A method for controlling a robot operating in a facility used by a user, the method comprising: obtaining a biological status of the user; When the biological state of the user is a sleeping state, limiting the operation of the robot; as well as When the user is not asleep: Determining whether the current time is within the time period for the robot to perform the task; and When the current moment is outside the time period for the robot to perform the task, canceling the task; Wherein, when the biological state of the user is the sleeping state, the operation of the robot is limited to below a set maximum operating speed, and the maximum operating speed is any speed at which the robot runs at a noise level equal to or lower than a noise level at which the user does not feel uncomfortable with the operating sound of the robot when the robot performs a task. 9 . The control method according to claim 8 , wherein when the biological state of the user is the sleeping state, the operation of the robot is stopped.

10. The control method according to claim 8 or 9, further comprising the step of determining whether the user is in the sleeping state, wherein when the user's heart rate or breathing rate is lower than a set sleeping threshold, the user is determined to be in the sleeping state. 11 . The control method according to claim 10 , wherein when there are a plurality of the users, the falling asleep threshold is set corresponding to each of the users.

12. A non-transitory computer-readable medium storing a control program that controls a robot operating in a facility used by a user and causes a computer to execute: obtaining a biological status of the user; restricting the operation of the robot when the biological state of the user is a sleeping state; and When the user is not asleep: Determining whether the current time is within the time period for the robot to perform the task; and When the current moment is outside the time period for the robot to perform the task, canceling the task; Wherein, when the biological state of the user is the sleeping state, the operation of the robot is limited to below a set maximum operating speed, and the maximum operating speed is any speed at which the robot runs at a noise level equal to or lower than a noise level at which the user does not feel uncomfortable with the operating sound of the robot when the robot performs a task.

Images