Robot control system, robot control method, and program

Abstract

To provide a robot control system, a robot control method and a program by which a robot can appropriately perform autonomous movement regardless of weather.SOLUTION: A robot control system: generates a movement route candidate of a robot (S11); calculates a first amount of exposure indicating an amount of exposure of rain or sunshine to the robot, when the robot passes through the movement route candidate without using protective means against the rain or sunshine, about each movement route candidate (S13); determines a movement plan including at least one of whether or not the robot can be moved, the movement route, and whether or not to use the protective means, according to whether or not there is the movement route candidate corresponding to the first amount of exposure which satisfies a condition predetermined on the basis of durability performance of the robot, among the generated movement route candidate (S14-S19); and operates the robot on the basis of the determined movement plan.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a robot control system, a robot control method, and a program.

Background Art

[0002] Robots that perform autonomous movement are known. For example, Patent Document 1 discloses a wagon transport system that autonomously avoids obstacles detected by an optical sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, a robot moving outdoors may be exposed to a high-temperature environment due to sunlight or a humid environment due to rain. Due to such environmental factors, the robot may stop functioning. Once the robot stops functioning, it is difficult to recover it remotely.

[0005] An object of the present disclosure is to provide a robot control system, a robot control method, and a program that enable a robot to appropriately perform autonomous movement regardless of the weather, in view of the above-described problems.

Means for Solving the Problems

[0006] A robot control system according to one aspect of the present disclosure generates candidate movement paths for a robot, and for each candidate movement path, calculates a first exposure amount indicating the amount of exposure of the robot to rain or sunlight when the robot passes through the candidate movement path without using protective means against rain or sunlight. Depending on whether there is a candidate movement path corresponding to a first exposure amount that satisfies a predetermined condition based on the durability performance of the robot among the generated candidate movement paths, a movement plan including at least one of whether the robot can move, the movement path, and whether to use protective means is determined, and the robot is operated based on the determined movement plan. As a result, the robot can move autonomously appropriately regardless of the weather.

[0007] Here, the robot control system may calculate the first exposure amount for each candidate movement path based on at least one of weather information and either an environmental map or three-dimensional shape information of obstacles. Therefore, the robot control system can calculate the first exposure amount using information that is easily obtainable without requiring a dedicated sensor or the like.

[0008] Further, when there is a candidate movement path corresponding to a first exposure amount that satisfies the condition, the robot control system may determine, as a movement plan, to move along the movement path determined from the candidate movement path without using the protective means. Further, when there is no candidate movement path corresponding to a first exposure amount that satisfies the condition, for each candidate movement path, a second exposure amount indicating the amount of exposure of the robot to rain or sunlight when the robot passes through the candidate movement path using the protective means is calculated, and depending on whether there is a candidate movement path corresponding to a second exposure amount that satisfies the condition among the generated candidate movement paths, the movement plan may be determined. By determining the movement plan from the second exposure amount of each candidate movement path in this way, the movement range of the robot can be expanded, and a situation in which the robot stops functioning when the protective means cannot prevent the exposure can be avoided in advance.

[0009] In addition, when there is a candidate for a movement path corresponding to the second exposure amount that satisfies the above conditions, the robot control system may determine to move along the movement path determined from the candidate for the movement path using the above protection means. Further, when there is no candidate for a movement path corresponding to the second exposure amount that satisfies the above conditions, the robot control system may output information indicating immobility. As a result, the robot can autonomously move while protecting itself from sunlight and rain and avoiding a halt in its functions.

[0010] Here, the protection means is an umbrella, and the second exposure amount may be calculated for each candidate for the movement path based on weather information, three-dimensional shape information of an obstacle, and the position and orientation of the umbrella when the umbrella is held. Therefore, the robot control system can calculate the second exposure amount using information that can be easily obtained without requiring a dedicated sensor or the like.

[0011] The weather information may include at least the position of the sun or the wind direction. Then, the robot control system may estimate the angle of sunlight or the angle of rain based on the weather information, and determine the position and orientation of the umbrella based on the estimated angle. As a result, the movement range of the robot can be expanded.

[0012] In addition, the robot control system may determine the position and orientation of the umbrella based on at least any one of the detection range of the sensor provided in the robot, the imaging range of the camera provided in the robot, and the position of the movable part of the robot. As a result, the movement range of the robot can be expanded without interfering with the work performed by the robot.

[0013] A robot control method according to one aspect of the present disclosure generates candidate movement paths for a robot. For each candidate movement path, a first exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path without using protection means against rain or sunlight is calculated. Depending on whether there is a candidate movement path corresponding to the first exposure amount that satisfies a predetermined condition based on the durability performance of the robot among the generated candidate movement paths, a movement plan including at least one of whether the robot can move, the movement path, and whether to use protection means is determined, and the robot is operated based on the determined movement plan. This enables the robot to move autonomously appropriately regardless of the weather.

[0014] A program according to one aspect of the present disclosure causes a computer to realize a function of generating candidate movement paths for a robot, a function of calculating a first exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path without using protection means against rain or sunlight for each candidate movement path, a function of determining a movement plan including at least one of whether the robot can move, the movement path, and whether to use protection means depending on whether there is a candidate movement path corresponding to the first exposure amount that satisfies a predetermined condition based on the durability performance of the robot among the generated candidate movement paths, and a function of operating the robot based on the determined movement plan. This enables the robot to move autonomously appropriately regardless of the weather.

Advantages of the Invention

[0015] The present disclosure can provide a robot control system, a robot control method, and a program that enable a robot to move autonomously appropriately regardless of the weather.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions are omitted as necessary for clarity of explanation.

[0018] <Embodiment 1> First, Embodiment 1 of the present disclosure will be described. FIG. 1 is an external perspective view showing an example of the external appearance configuration of the robot 10 according to Embodiment 1.

[0019] The robot 10 is a moving body that moves autonomously according to a movement plan. The robot 10 is provided in a robot control system that controls the robot. In FIG. 1, as an example of the robot 10, the external appearance configuration of the robot 10 having an end effector with a gripping function is shown.

[0020] Robot 10 is mainly composed of a carriage unit 110 and a main body unit 120. The carriage unit 110 is a movable part that contributes to the movement of the robot 10 in the traveling direction. The carriage unit 110 supports two drive wheels 111 and one caster 112 that are each in contact with the running surface inside a cylindrical housing. The two drive wheels 111 are arranged such that their rotation axes coincide with each other. Each drive wheel 111 is independently rotationally driven by a motor (not shown). The caster 112 is a driven wheel, and a swivel axis extending vertically from the carriage unit 110 is provided so as to support the wheel away from the rotation axis of the wheel, and it follows so as to conform to the moving direction of the carriage unit 110.

[0021] The carriage unit 110 is provided with a laser scanner 133 at the peripheral edge of the upper surface. The laser scanner 133 scans a certain range in the horizontal plane at each step angle and outputs whether there is an obstacle in each direction. Further, when there is an obstacle, the laser scanner 133 outputs the distance to the obstacle.

[0022] The main body unit 120 includes a movable part that exerts an action different from the movement of the robot 10 in the traveling direction. Specifically, the main body unit 120 mainly includes a body part 121 mounted on the upper surface of the carriage unit 110, a head part 122 placed on the upper surface of the body part 121, an arm 123 supported on the side surface of the body part 121, and a hand 124 installed at the tip of the arm 123. The arm 123 and the hand 124 are driven via a motor (not shown) and grip an object to be gripped. The body part 121 can rotate around the vertical axis with respect to the carriage unit 110 by the driving force of a motor (not shown). A hand camera 135 is disposed near the hand 124.

[0023] The head part 122 mainly includes a stereo camera 131 and a display part 141. The stereo camera 131 has a configuration in which two camera units having the same viewing angle are arranged apart from each other, and outputs imaging signals captured by each camera unit.

[0024] The display unit 141 is, for example, a liquid crystal panel, and animates and displays the faces of the set characters, or displays information about the robot 10 in text or icons.

[0025] The head 122 can rotate around the vertical axis with respect to the body 121 by the driving force of a motor (not shown). Therefore, the stereo camera 131 can image in any direction, and the display unit 141 can present the display content in any direction.

[0026] FIG. 2 is a block diagram showing the functional configuration of the robot 10 according to Embodiment 1. The robot 10 includes a control unit 150, a cart driving unit 145, an upper body driving unit 146, a display unit 141, a stereo camera 131, a laser scanner 133, a memory 180, a hand camera 135, and a communication unit 190. Note that the upper body driving unit 146, the display unit 141, the stereo camera 131, the laser scanner 133, and the hand camera 135 may be omitted.

[0027] The control unit 150 is a processor such as a CPU, and is stored, for example, in a control unit provided in the body 121. The control unit 150 executes control of the entire robot 10 and various arithmetic processes by executing a control program read from the memory 180.

[0028] For example, the control unit 150 receives the environmental map M and the weather information W from an external device via the communication unit 190, and stores them in the memory 180.

[0029] The environmental map M is map information of the surrounding environment of the robot 10, and includes position information of passages and position information of obstacles. The surrounding environment of the robot 10 may be an area within a predetermined range based on the current position of the robot 10.

[0030] Weather information W is information regarding the weather of the surrounding environment of robot 10 at present or at a predetermined time. For example, the weather information W includes at least any one of the weather information of the surrounding environment (for example, clear, cloudy, or rainy), sunlight intensity, temperature, precipitation, solar position information, wind direction information, and wind speed information.

[0031] Also, the control unit 150 acquires sensing information from various sensors such as the stereo camera 131, the laser scanner 133, or the hand camera 135, and stores it in the memory 180. In particular, the control unit 150 stores the three-dimensional point cloud information T measured by the laser scanner 133 in the memory 180.

[0032] The three-dimensional point cloud information T is three-dimensional coordinate information. The three-dimensional point cloud information T represents the three-dimensional shape of obstacles within a predetermined range with respect to the robot 10.

[0033] The control unit 150 creates a movement plan P based on at least any one of the environmental map M, the weather information W, and the three-dimensional point cloud information T stored in the memory 180. The movement plan P is information indicating the planned movement mode of the robot 10, and includes at least any one of whether the robot 10 can move, the movement route, and whether to use the defensive means described later.

[0034] Then, the control unit 150 controls the bogie drive unit 145 and the upper body drive unit 146 of the robot 10 based on the movement plan P. As a result, the bogie unit 110 and the main body unit 120 operate along the movement plan P.

[0035] The bogie drive unit 145 includes drive wheels 111, a drive circuit and a motor for driving the drive wheels 111.

[0036] The upper body driving unit 146 includes the arm 123 and the hand 124, the torso 121 and the head 122, and the driving circuit and motor for driving them. The control unit 150 realizes stretching operations, gripping operations, and gestures by sending driving signals to the upper body driving unit 146. Further, the control unit 150 receives feedback signals such as an encoder from the upper body driving unit 146 to grasp the positions and moving speeds of the arm 123 and the hand 124, and the orientations and rotational speeds of the torso 121 and the head 122.

[0037] The display unit 141 receives and displays the image signal generated by the control unit 150.

[0038] The stereo camera 131 images the surrounding environment where the robot 10 is located according to a request from the control unit 150 and delivers the imaging signal to the control unit 150. The control unit 150 executes image processing using the imaging signal or converts the imaging signal into an imaging image according to a predetermined format. The laser scanner 133 acquires the three-dimensional point cloud information T around the robot 10 according to a request from the control unit 150 before moving and delivers the three-dimensional point cloud information T to the control unit 150. Further, during movement, the laser scanner 133 detects whether there are obstacles in the moving direction according to a request from the control unit 150 and delivers the detection signal, which is the detection result, to the control unit 150.

[0039] The hand camera 135 is, for example, a distance image sensor and is used to recognize the distance, shape, direction, etc. of the object to be gripped. The hand camera 135 includes an image sensor in which pixels for photoelectrically converting the optical image incident from the target space are two-dimensionally arranged, and outputs the distance to the subject for each pixel to the control unit 150. Specifically, the hand camera 135 includes an irradiation unit that irradiates the target space with pattern light, receives the reflected light with the image sensor, and outputs the distance from each pixel to the subject captured based on the distortion and size of the pattern in the image. Note that the control unit 150 grasps the state of a wider surrounding environment with the stereo camera 131 and grasps the state near the object to be gripped with the hand camera 135.

[0040] The memory 180 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 180 stores various parameter values, functions, look-up tables, etc. used for control and calculation, in addition to a control program for controlling the robot 10. In particular, the memory 180 stores the environmental map M, the weather information W, the three-dimensional point cloud information T, and the movement plan P.

[0041] The communication unit 190 is a communication interface with the network N, and for example, a wireless LAN unit. The communication unit 190 receives the environmental map M and the weather information W from an external device and delivers them to the control unit 150.

[0042] FIG. 3 is a diagram for explaining a method for determining a movement route included in the movement plan P according to Embodiment 1. FIG. 3 shows a schematic diagram in which roofs and obstacles represented by the three-dimensional point cloud information T are superimposed on the environmental map M. Regarding the position and area of the roof, the control unit 150 may estimate them from the environmental map M. Also, regarding the position and three-dimensional shape information of the obstacle, the control unit 150 may estimate them by removing the ground and the ceiling from the three-dimensional point cloud information T, clustering the three-dimensional point cloud information T after the removal, and approximating each cluster with a box.

[0043] The white circles shown in FIG. 3 indicate the nodes N through which the robot 10 can pass. The edge between the node N and the node N is called an edge.

[0044] In order to determine a movement route from the current location S to the destination G, the control unit 150 first generates movement route candidates. The movement route candidates are represented by edges connecting the nodes N included from the current location S to the destination G. As an example, the control unit 150 generates a movement route candidate C1 indicated by a dashed line, a movement route candidate C2 indicated by a solid line, and a movement route candidate C3 indicated by a one-dot chain line.

[0045] The movement path candidate C1 is a path passing through nodes N1 to N5. The movement path candidate C2 is a path passing through nodes N6 to N11 and nodes N4 to N5. The movement path candidate C3 is a path passing through nodes N6 to N10 and nodes N12 to N13.

[0046] And the control unit 150 estimates an area not exposed to shade or rain as follows. First, for an area with a roof, the control unit 150 determines that it is an area not exposed to shade or rain.

[0047] Next, the control unit 150 estimates an area that is shaded or not exposed to rain due to obstacles. Specifically, first, when the weather is sunny or cloudy, the control unit 150 estimates the angle of sunlight based on the position information of the sun included in the weather information W. The control unit 150 estimates the shaded area based on the angle of sunlight, the position of the obstacle, and the three-dimensional shape information of the obstacle. Also, when the weather is rainy, the control unit 150 estimates the angle of rain from the wind direction information included in the weather information W, and estimates the area not exposed to rain based on the angle of rain, the position of the obstacle, and the three-dimensional shape information of the obstacle. Note that when the weather is rainy, the control unit 150 may regard an area without a ceiling as an area exposed to rain.

[0048] And the control unit 150 regards an area other than the area not exposed to shade or rain as an area exposed to sunlight or rain, and estimates the node N or edge exposed to sunlight or rain.

[0049] As an example, in this figure, the shaded area is indicated by hatching, and nodes N7, N8, N9, N10, N11 are shaded nodes. On the other hand, the other nodes N are sunny nodes.

[0050] Note that for an area where the three-dimensional point cloud information T cannot be obtained or an area not shown in the environmental map M, the control unit 150 may uniformly regard it as an area exposed to sunlight or rain. By making a strict estimate, the risk can be reduced.

[0051] Then, the control unit 150 calculates the first exposure amount for each movement path candidate C1, C2, C3. The first exposure amount indicates the exposure amount of sunlight or rain to the robot 10 when the robot 10 passes through the movement path candidate without using defensive means against sunlight or rain. For example, the control unit 150 calculates the first exposure amount of each movement path candidate based on the information of the node N or edge where sunlight or rain hits and the information of solar radiation intensity, temperature, or precipitation included in the weather information W. As an example, the control unit 150 estimates that the magnitude of the first exposure amount is movement path candidate C1 > movement path candidate C3 > movement path candidate C2.

[0052] As described above, the information that the robot 10 should obtain for calculating the first exposure amount is the environmental map M and the three-dimensional point cloud information T that the autonomous mobile robot basically holds, as well as the generally available weather information W. Therefore, the first exposure amount can be obtained with information that can be easily obtained without the need for a dedicated sensor or the like.

[0053] Then, the control unit 150 determines the movement plan P according to whether there is a movement path candidate corresponding to the first exposure amount within the range of the durability performance index of the robot 10 among the movement path candidates. Being within the range of the durability performance index can also be read as satisfying the conditions predetermined based on the durability performance. The durability performance is heat resistance and water resistance. For example, for each model number of the robot 10, the range of the durability performance index may be determined. Also, for example, for each part of the robot 10, the range of the durability performance index may be determined.

[0054] Hereinafter, in order to specifically describe the above processing, two examples are considered. (Example 1) In Example 1, it is assumed that the first exposure amounts of movement path candidates C2 and C3 are within the range of the durability performance index of robot 10, but the first exposure amount of movement path candidate C1 is outside the range of the durability performance index of robot 10. In this case, the control unit 150 determines a movement path from the movement path candidates C2 and C3 within the range of the durability performance index. For example, the control unit 150 may determine the movement path candidate C2, which is the shortest distance among the movement path candidates C2 and C3 within the range of the durability performance index, as the movement path. Also, for example, the control unit 150 may determine the movement path based on the magnitude of the first exposure amount in addition to the distance. Then, the control unit 150 determines, as the movement plan P, moving without using the defensive means along the determined movement path.

[0055] (Example 2) In Example 2, it is assumed that the first exposure amount of any of the movement path candidates C1, C2, and C3 is outside the range of the durability performance index of robot 10. In this case, the control unit 150 considers the following on the premise that robot 10 uses defensive means.

[0056] FIG. 4 is a diagram showing an example of the external configuration of robot 10 according to Embodiment 1 when using defensive means. The defensive means is, for example, an umbrella 20. Robot 10 grips umbrella 20 using arm 123 and hand 124 to defend robot 10 from sunlight and rain.

[0057] However, even if umbrella 20 is held up to block sunlight, due to the strong sunlight intensity, the surface temperature of robot 10 may exceed the range of the heat resistance performance index of robot 10. Also, even when umbrella 20 is held up, depending on the angle of the sunlight or the angle of the rain, it may be difficult to block sunlight or rain, so sunlight or rain may hit parts with low heat resistance or water resistance performance (for example, precision equipment). In such a case, it is conceivable that the function stops even when umbrella 20 is held up.

[0058] Therefore, the control unit 150 calculates the second exposure amount for each movement path candidate C1, C2, and C3. Then, the control unit 150 determines the movement plan P according to whether there is a movement path candidate corresponding to the second exposure amount within the range of the durability performance index of the robot 10 among the movement path candidates. The second exposure amount indicates the exposure amount of rain or sunlight to the robot 10 when the robot 10 passes through the movement path candidate using the defense means.

[0059] In addition to the information used for calculating the first exposure amount (information of nodes N or edges that are sunny or hit by rain, and information of solar radiation intensity, temperature, or precipitation included in the weather information W), the control unit 150 calculates the second exposure amount based on the defense ability of the defense means and the angles of sunlight and rain. The defense ability of the defense means may be determined based on, for example, the position and orientation of the umbrella 20 when the umbrella 20 is held, and the probability of sunlight or rain passing through. Note that a dedicated sensor or the like is not required for calculating the second exposure amount either.

[0060] When there is a movement path candidate corresponding to the second exposure amount within the range of the durability performance index, the control unit 150 determines the movement path from the movement path candidate. For example, the control unit 150 may determine the movement path based on the distance or the magnitude of the second exposure amount.

[0061] Then, the control unit 150 determines, as the movement plan P, to move using the umbrella 20 (defense means) along the determined movement path. Thereby, the robot 10 can move autonomously while protecting itself from sunlight and rain and avoiding a stop in function.

[0062] When there is no movement path candidate corresponding to the second exposure amount within the range of the durability performance index, the control unit 150 determines, as the movement plan P, not to move. Therefore, a situation where the robot 10 stops functioning when the umbrella cannot provide complete protection can be avoided in advance.

[0063] FIGS. 5 to 6 are flowcharts showing an example of the flow of the robot control method according to Embodiment 1. In this figure, as an example, a flowchart for autonomous movement while avoiding sunlight is shown, but the object to be avoided may be rain.

[0064] First, the control unit 150 of the robot 10 reads and acquires the weather information W, the environmental map M, and the three-dimensional point cloud information T from the memory 180 (S10).

[0065] Next, the control unit 150 generates a candidate movement route based on the current location, the destination, and the environmental map M (S11). Next, the control unit 150 calculates the sunlit range within the movement area of the robot 10 based on at least any one of the weather information W, the environmental map M, and the three-dimensional point cloud information T (S12). Next, the control unit 150 calculates the first exposure amount when the robot 10 passes without carrying the umbrella 20 for each candidate movement route (S13). For example, the control unit 150 calculates the first exposure amount based on the sunlit range and the weather information W. Next, the control unit 150 determines whether there is a candidate movement route among the candidate movement routes whose first exposure amount is within the range of the durability performance index of the robot 10 (S14).

[0066] When there is a candidate movement route whose first exposure amount is within the range of the durability performance index (Yes in S14), the control unit 150 decides to move without carrying the umbrella 20 and determines the movement route from the corresponding candidate movement route (S15). The determined movement mode and movement route become the movement plan P. Then, the control unit 150 proceeds with the process to S20.

[0067] On the other hand, when there is no candidate movement route whose first exposure amount is within the range of the durability performance index (No in S14), the control unit 150 calculates the second exposure amount when the robot 10 passes while carrying the umbrella 20 for each candidate movement route (S16). For example, the control unit 150 calculates the second exposure amount based on the weather information W, the three-dimensional shape information of the obstacle estimated from the three-dimensional point cloud information T, and the position and orientation of the umbrella when the umbrella is carried. Next, the control unit 150 determines whether there is a candidate movement route among the candidate movement routes whose second exposure amount is within the range of the durability performance index of the robot 10 (S17).

[0068] When there is a candidate for a movement route within the range of the durability performance index for the second exposure amount (Yes in S17), the control unit 150 determines to move while holding the umbrella 20 and determines a movement route from the corresponding candidate for the movement route (S18). The determined movement mode and movement route become the movement plan P. Then, the control unit 150 advances the process to S20.

[0069] On the other hand, when there is no candidate for a movement route within the range of the durability performance index for the second exposure amount (No in S17), the control unit 150 outputs information indicating that movement is impossible (S19). For example, the control unit 150 notifies the administrator of the robot control system that movement is impossible via the communication unit 190. Then, the control unit 150 ends the process.

[0070] In S20, the control unit 150 starts driving the cart drive unit 145 and the upper body drive unit 146, thereby starting movement (S20). When the movement plan P includes a movement mode of holding the umbrella 20, that is, when it is determined in S18 to hold the umbrella 20 (Yes in S21), the control unit 150 drives the upper body drive unit 146 so that the arm 123 and the hand 124 pick up the umbrella 20 and hold the umbrella 20 (S22). Then, the control unit 150 drives the cart drive unit 145 to move to the destination along the movement route determined in S18 (S23).

[0071] When the movement plan P does not include a movement mode of holding the umbrella 20, that is, when it is determined in S15 not to hold the umbrella 20 (No in S21), the control unit 150 drives the cart drive unit 145 to move to the destination along the movement route determined in S15 as it is (S23).

[0072] As described above, according to the first embodiment, the robot 10 determines whether it can withstand the environment based on its own durability performance, determines whether it can move, the movement mode, and the movement route based on the determination result, and operates based on these. Therefore, the robot 10 can appropriately perform autonomous movement regardless of the weather. Further, according to the first embodiment, since the robot can be improved so that the durability performance is improved, or the on-site staff does not have to take recovery measures when the function stops, an increase in cost can be suppressed.

[0073] <Embodiment 2> Next, Embodiment 2 of the present disclosure will be described. FIG. 7 is a diagram showing an example of the external configuration of the robot 10 according to Embodiment 2 when the defense means is used. In Embodiment 2, the robot 10 adjusts the position and orientation of the umbrella 20 so that sunlight or rain hits it as little as possible.

[0074] Specifically, to achieve this, the control unit 150 determines the position and orientation of the umbrella 20 based on the angle of sunlight or rain. More specifically, first, the control unit 150 estimates the angle of sunlight or rain based on the position of the sun or the wind direction. The angle of rain may be estimated by measuring the force received by the arm 123 and the hand 124 holding the umbrella 20 from the wind using a force sensor. Then, the control unit 150 calculates the area where sunlight or rain hits based on the angle of sunlight or rain, the translational movement speed of the robot 10, and the position and orientation of the umbrella 20. From this, the control unit 150 determines the position and orientation of the umbrella 20 where the area where sunlight or rain hits is minimized. The control unit 150 calculates the posture of the robot 10 to realize the determined position and orientation of the umbrella 20, and drives the upper body drive unit 146 so as to achieve the posture.

[0075] By optimizing the position and orientation of the umbrella 20 in this way, the movement range of the robot 10 can be expanded.

[0076] Also, the position and orientation of the umbrella 20 may be restricted by other factors. For example, the control unit 150 may determine the position and orientation of the umbrella 20 within a range that does not interfere with the work performed by the robot 10. Specifically, the control unit 150 may determine the position and orientation of the umbrella 20 based on at least any one of the detection range of the sensors provided in the robot 10, the imaging range of the cameras provided in the robot 10, and the position of the movable parts of the robot. Thereby, the movement range of the robot 10 can be expanded without interfering with the work performed by the robot 10.

[0077] <Embodiment 3> In Embodiments 1 and 2, the robot 10 determined the movement plan P. However, an external device may also determine the movement plan P.

[0078] FIG. 8 is a diagram showing a configuration example of the robot control system 1 according to Embodiment 3. The robot control system 1 is a system for controlling the robot 10. The robot control system 1 includes the robot 10 and the information processing device 30. The robot 10 and the information processing device 30 can communicate with each other via the network N.

[0079] The information processing device 30 is a computer that gives instructions on the movement mode, movement path, and movement availability to the robot 10.

[0080] The information processing device 30 obtains and holds the environmental map M and the weather information W in advance. The information processing device 30 also receives the position information and the three-dimensional point cloud information T of the robot 10 from the robot 10. Then, the information processing device 30 executes the processes of S10 to S19 shown in FIG. 5 using at least any one of the environmental map M, the weather information W, and the three-dimensional point cloud information T. Thereby, the information processing device 30 determines the movement plan P of the robot 10.

[0081] The information processing device 30 transmits the determined movement plan P to the robot 10. The robot 10 that has received the movement plan P moves to the destination based on the movement plan P.

[0082] Note that the present disclosure is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist thereof.

Description of Reference Numerals

[0083] 1 Robot control system 10 Robot 20 Umbrella 30 Information processing device 110 Cart unit 111 Driving wheel 112 Caster 120 Main body unit 121 Torso 122 Head 123 Arm 124 Hand 131 Stereo Camera 133 Laser Scanner 135 Hand Camera 141 Display Unit 145 Cart Drive Unit 146 Upper Body Drive Unit 150 Control Unit 180 Memory 190 Communication Unit M Environmental Map W Weather Information T 3D Point Cloud Information P Movement Plan S Current Location G Destination

Claims

1. Generate candidate movement paths for the robot, For each candidate movement path, calculate a first exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path without using protection means against rain or sunlight, Depending on whether there is a candidate movement path corresponding to a first exposure amount that meets a predetermined condition based on the durability performance of the robot among the generated candidate movement paths, determine a movement plan including at least one of whether the robot can move, the movement path, and whether to use the protection means, Operate the robot based on the determined movement plan, When there is a candidate movement path corresponding to a first exposure amount that meets the condition, determine, as the movement plan, to move along the movement path determined from the candidate movement path without using the protection means, When there is no candidate movement path corresponding to a first exposure amount that meets the condition, For each candidate movement path, calculate a second exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path using the protection means, Determine the movement plan depending on whether there is a candidate movement path corresponding to a second exposure amount that meets the condition among the generated candidate movement paths A robot control system.

2. Calculate the first exposure amount for each candidate movement path based on at least one of weather information, an environmental map, and three-dimensional shape information of obstacles The robot control system according to claim 1.

3. When there is a candidate movement path corresponding to a second exposure amount that meets the condition, determine to move along the movement path determined from the candidate movement path using the protection means, When there is no candidate movement path corresponding to a second exposure amount that meets the condition, output information indicating immobility The robot control system according to claim 1.

4. The protection means is an umbrella, Calculate the second exposure amount for each candidate movement path based on weather information, three-dimensional shape information of obstacles, and the position and orientation of the umbrella when the umbrella is held The robot control system according to claim 1.

5. The weather information includes at least the position of the sun or the wind direction, The robot control system, Estimate the angle of sunlight or the angle of rain based on the weather information, Determine the position and orientation of the umbrella based on the estimated angle The robot control system according to claim 4.

6. Determine the position and orientation of the umbrella based on at least any one of the detection range of the sensors provided in the robot, the imaging range of the cameras provided in the robot, and the position of the movable parts of the robot The robot control system according to claim 4

7. Generate candidate movement paths for the robot For each candidate movement path, calculate a first exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path without using the means of protection against rain or sunlight Depending on whether there is a candidate movement path corresponding to the first exposure amount that satisfies the conditions predetermined based on the durability performance of the robot among the generated candidate movement paths, determine a movement plan including at least any one of whether the robot can move, the movement path, and whether to use the means of protection Operate the robot based on the determined movement plan When there is a candidate movement path corresponding to the first exposure amount that satisfies the conditions, determine, as the movement plan, to move along the movement path determined from the candidate movement path without using the means of protection When there is no candidate movement path corresponding to the first exposure amount that satisfies the conditions For each candidate movement path, calculate a second exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path using the means of protection Depending on whether there is a candidate movement path corresponding to the second exposure amount that satisfies the conditions among the generated candidate movement paths, determine the movement plan Robot control method

8. A function of generating candidate movement paths for the robot For each candidate movement path, a function of calculating a first exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate movement path without using the means of protection against rain or sunlight Depending on whether there is a candidate movement path corresponding to the first exposure amount that satisfies the conditions predetermined based on the durability performance of the robot among the generated candidate movement paths, a function of determining a movement plan including at least any one of whether the robot can move, the movement path, and whether to use the means of protection A function of operating the robot based on the determined movement plan When there is a candidate movement path corresponding to the first exposure amount that satisfies the conditions, determine, as the movement plan, to move along the movement path determined from the candidate movement path without using the means of protection If there is no candidate for the movement route corresponding to the first exposure amount that satisfies the above conditions, For each candidate for the movement route, calculate a second exposure amount indicating the amount of rain or sunlight exposure to the robot when the robot passes through the candidate for the movement route using the above-described protection means, A function of determining the movement plan according to whether or not there is a candidate for the movement route corresponding to the second exposure amount that satisfies the above conditions among the generated candidates for the movement route, and A program for causing a computer to implement the function.

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