Robot control system, robot control method, and program

Abstract

To provide a new technology relating to remote control of a robot.SOLUTION: A robot control system 2000 makes a robot 2200 execute a first task according to the reception of first control information 10 from a remote control device 2100. The robot control system 2000 repeatedly receives second control information 20 from the remote control device 2100. The robot control system 2000 makes the robot 2200 execute a second task that is different from the first task executed by the robot 2200 and includes visible or audible output, according to the reception of the second control information 20.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to remote control of robots.

Background Art

[0002] Technologies for remotely controlling robots have been developed. For example, Patent Document 1 discloses a technology aimed at enabling appropriate operations on a slave robot while grasping the communication delay between a slave device including the slave robot and a master device used for remote operation of the slave robot. The slave robot provides a real image of the working environment to the master device. The master device generates a display image by performing adjustment on this real image in consideration of the communication delay between the master device and the slave device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 does not mention providing information regarding communication delay to anyone other than the operator of the slave robot. The present disclosure provides a new technology related to remote control of robots.

Means for Solving the Problems

[0005] The robot control system of the present disclosure includes: a first execution means for causing a robot to execute a first task in response to receiving first control information from a remote control device; and a second execution means for repeatedly receiving second control information from the remote control device and causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output in response to receiving the second control information.

[0006] The robot control method of the present disclosure is executed by a computer. The robot control method includes: a first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device; and a second execution step of repeatedly receiving second control information from the remote control device and causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output in response to receiving the second control information.

[0007] The program of the present disclosure causes a computer to execute the robot control method of the present disclosure.

Advantages of the Invention

[0008] According to the present disclosure, a new technology related to remote control of a robot is provided.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0010] 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. Also, unless otherwise specified, predetermined values such as predetermined values and threshold values are stored in advance in a storage unit accessible from the device using the values. Further, unless otherwise specified, the storage unit is composed of one or more arbitrary numbers of storage devices.

[0011] <Overview> FIG. 1 is a diagram exemplifying the overview of the robot control system 2000 according to the embodiment. Here, FIG. 1 is a diagram for facilitating the understanding of the overview of the robot control system 2000, and the operation of the robot control system 2000 is not limited to that shown in FIG. 1.

[0012] The robot control system 2000 is a system that causes the robot 2200 to execute a task based on control information transmitted from the remote control device 2100. The remote control device 2100 is a device that transmits control information to the robot control system 2000 via the network 100. The robot 2200 is a robot that executes a task in response to control by the robot control system 2000. Here, the tasks executed by the robot 2200 may include tasks other than those based on the control information transmitted from the remote control device 2100. For example, there may be a case where an instruction to execute a task is given using an input interface such as a touch panel provided on the robot 2200.

[0013] In the example of FIG. 1, the robot control system 2000 is provided inside the robot 2200. This is, for example, a case where the robot control system 2000 is realized by a computer (for example, an integrated circuit) provided inside the robot control system 2000. However, the robot control system 2000 may be provided outside the robot 2200. This is, for example, a case where the robot control system 2000 is realized by a computer (for example, a server device) connected to the robot 2200 via a network. In this case, the robot control system 2000 causes the robot 2200 to execute a desired task by transmitting a control signal to, for example, a computer provided inside the robot 2200.

[0014] The remote control device 2100 transmits first control information 10 to the robot control system 2000 in order to cause the robot 2200 to execute a task. The first control information 10 indicates identification information of the task to be executed by the robot 2200. The robot control system 2000 receives the first control information 10 and causes the robot 2200 to execute the task specified by the identification information indicated in the first control information 10. Hereinafter, the tasks of the robot 2200 executed based on the instruction using the first control information 10 are collectively referred to as "first tasks".

[0015] The first task is any task that can be executed by the robot 2200. For example, the first task is a task of operating the joints of specific parts provided on the robot 2200, such as the head and limbs. Thereby, for example, the head, limbs, etc. of the robot 2200 are moved in an arbitrary direction and at an arbitrary angle. In addition, for example, the first task is a task of causing the robot 2200 to output an arbitrary sound. For example, when the robot 2200 is a robot that can communicate with a user around the robot 2200, as the first task, a process of outputting an audio message to the user is performed.

[0016] In addition, the remote control device 2100 repeatedly transmits the second control information 20 to the robot control system 2000. The second control information 20 is information for causing the robot 2200 to execute a task different from the first task. Hereinafter, the task of the robot 2200 executed based on the instruction using the second control information 20 is collectively referred to as the "second task". The robot control system 2000 causes the robot 2200 to execute the second task in response to receiving the second control information 20.

[0017] The second task is a task including a visible or audible output. The second task including a visible output is, for example, a task of moving the joints of a specific part of the robot 2200, a task of causing a light-emitting device such as an LED lamp to emit light, and the like. The second task including an audible output is, for example, a task of causing a specific sound to be output from an acoustic device such as a speaker.

[0018] <An example of the effect> The robot control system 2000 repeatedly receives the second control information 20 from the remote control device 2100, and in response to receiving the second control information 20, causes the robot 2200 to execute the second task including a visible or audible output. Thereby, in accordance with the repeated instructions from the remote control device 2100, a visible or audible output is repeated by the robot 2200.

[0019] Here, if the communication between the remote control device 2100 and the robot control system 2000 is in an unstable state, the time interval of the output by the second task becomes longer or the deviation of the time interval becomes larger. Therefore, a person around the robot 2200 can recognize that the communication between the remote control device 2100 and the robot control system 2000 has become unstable based on the output by the second task.

[0020] For a person around the robot 2200 to be able to recognize that the communication between the remote control device 2100 and the robot control system 2000 has become unstable, there are, for example, the following merits as described below.

[0021] In response to receiving the first control information 10 transmitted from the remote control device 2100, the robot control system 2000 causes the robot 2200 to execute the first task instructed using the first control information 10. Therefore, the quality of the reaction of the robot 2200 to the first task execution instruction from the remote control device 2100 can depend on the quality of the communication state between the remote control device 2100 and the robot control system 2000.

[0022] For example, assume that the robot 2200 is operated by the operator X so as to talk with the user Y. The operator X remotely operates the robot 2200 by performing an input operation on the remote control device 2100 and transmitting the first control information 10 to the robot control system 2000. In this case, if the communication delay between the remote control device 2100 and the robot control system 2000 is large, the reaction of the robot 2200 to the user Y becomes slow. At this time, if the cause of the slow reaction of the robot 2200 is unknown, there is a risk of a communication gap occurring between the user Y and the operator X, such as the user Y becoming anxious or uncomfortable. Therefore, it is preferable that the user Y can recognize that the cause of the slow reaction of the robot 2200 is the communication delay.

[0023] Therefore, the robot control system 2000 uses visible or audible output associated with the execution of the second task to enable a person around the robot 2200, such as user Y, to grasp the quality of the communication state between the remote control device 2100 and the robot 2200. For example, user Y in the above example can recognize that the communication between the remote control device 2100 and the robot control system 2000 has become unstable by recognizing that the time interval of the output by the second task has become longer or the deviation of the time interval has become larger. Therefore, it is possible to suppress the communication collision between user Y and the robot 2200, and it is possible to reduce the sense of discomfort that user Y feels in the communication with the robot 2200.

[0024] Hereinafter, the robot control system 2000 of the present embodiment will be described in more detail.

[0025] <Example of functional configuration> FIG. 2 is a block diagram illustrating the functional configurations of the remote control device 2100 and the robot control system 2000. The remote control device 2100 includes a first transmission unit 2120 and a second transmission unit 2140. The first transmission unit 2120 transmits the first control information 10 to the robot control system 2000. The second transmission unit 2140 repeatedly transmits the second control information 20 to the robot control system 2000.

[0026] The robot control system 2000 includes a first execution unit 2220 and a second execution unit 2240. The first execution unit 2220 causes the robot 2200 to execute the first task in response to receiving the first control information 10. The second execution unit 2240 causes the robot 2200 to execute the second task in response to receiving the second control information 20.

[0027] <Example of hardware configuration of remote control device 2100> Each functional component of the remote control device 2100 may be implemented by hardware (e.g., a hard-wired electronic circuit, etc.) that realizes each functional component, or may be implemented by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it, etc.). Hereinafter, the case where each functional component of the remote control device 2100 is implemented by a combination of hardware and software will be further described.

[0028] FIG. 3 is a block diagram illustrating the hardware configuration of a computer 500 that realizes the remote control device 2100. The computer 500 is an arbitrary computer. For example, the computer 500 is a stationary computer such as a desktop PC or a server machine. In addition, for example, the computer 500 is a portable computer such as a laptop PC, a smartphone, or a tablet terminal. The computer 500 may be a dedicated computer designed to realize the remote control device 2100, or may be a general-purpose computer.

[0029] For example, by installing a predetermined application on the computer 500, each function of the remote control device 2100 is realized on the computer 500. The above application is composed of programs for realizing each functional component of the remote control device 2100. Note that the method for obtaining the above program is arbitrary. For example, the program can be obtained from a storage medium (such as a DVD disk or a USB memory) in which the program is stored. In addition, for example, the program can be obtained by downloading the program from a server device that manages the storage device in which the program is stored.

[0030] Computer 500 has a bus 502, a processor 504, a memory 506, a storage device 508, an input / output interface 510, and a network interface 512. Bus 502 is a data transmission path for the processor 504, the memory 506, the storage device 508, the input / output interface 510, and the network interface 512 to send and receive data from each other. However, the method of connecting the processor 504 and the like to each other is not limited to bus connection.

[0031] Processor 504 is various processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field-Programmable Gate Array). Memory 506 is a main storage device realized using, for example, RAM (Random Access Memory). Storage device 508 is an auxiliary storage device realized using a hard disk, an SSD (Solid State Drive), a memory card, or a ROM (Read Only Memory).

[0032] Input / output interface 510 is an interface for connecting computer 500 to an input / output device. For example, an input device such as a keyboard and an output device such as a display device are connected to input / output interface 510.

[0033] Network interface 512 is an interface for connecting computer 500 to a network. Computer 500 is connected to network 100 via network interface 512. Network 100 may be a LAN (Local Area Network) or a WAN (Wide Area Network).

[0034] The storage device 508 stores a program (the program that realizes the aforementioned application) that realizes each functional component of the remote control device 2100. The processor 504 reads out and executes this program in the memory 506, thereby realizing each functional component of the remote control device 2100.

[0035] The remote control device 2100 may be realized by one computer 500, or may be realized by a plurality of computers 500. In the latter case, the configurations of the respective computers 500 do not need to be the same and may be different from each other.

[0036] <Example of the hardware configuration of the robot control system 2000> Each functional component of the robot control system 2000 may be realized by hardware (e.g., a hard-wired electronic circuit, etc.) that realizes each functional component, or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it, etc.). Hereinafter, the case where each functional component of the robot control system 2000 is realized by a combination of hardware and software will be further described.

[0037] FIG. 4 is a block diagram illustrating the hardware configuration of a computer that implements the robot control system 2000. The computer 1000 is an arbitrary computer. When the robot control system 2000 is provided outside the robot 2200, for example, the computer 1000 is implemented by a stationary computer such as a desktop PC or a server machine, or a portable computer such as a laptop PC, a smartphone, or a tablet terminal. When the robot control system 2000 is provided inside the robot 2200, for example, the computer 1000 is implemented by an integrated circuit such as a SoC (System on Chip). However, the robot control system 2000 provided outside the robot 2200 may be implemented by an integrated circuit or the like, or the robot control system 2000 provided inside the robot 2200 may be implemented by a PC, a smartphone, or the like. The computer 1000 may be a dedicated computer designed to implement the robot 2200, or a general-purpose computer.

[0038] For example, by installing a predetermined application on the computer 1000, each function of the robot control system 2000 is realized on the computer 1000. The above application is composed of programs for realizing each functional component of the robot control system 2000. Note that the method of obtaining the above program is arbitrary. For example, the program can be obtained from a storage medium (such as a DVD disk or a USB memory) storing the program. In addition, for example, the program can be obtained by downloading the program from a server device managing the storage device storing the program.

[0039] Computer 1000 has a bus 1020, a processor 1040, a memory 1060, a storage device 1080, an input / output interface 1100, and a network interface 1120. The bus 1020 is a data transmission path for the processor 1040, the memory 1060, the storage device 1080, the input / output interface 1100, and the network interface 1120 to transmit and receive data from each other. However, the method of connecting the processor 1040 and the like to each other is not limited to bus connection.

[0040] The processor 1040 is various processors such as a CPU, a GPU, a DSP, or an FPGA. The memory 1060 is a main storage device realized using a RAM or the like. The storage device 1080 is an auxiliary storage device realized using a hard disk, an SSD, a memory card, or a ROM or the like.

[0041] The input / output interface 1100 is an interface for connecting the computer 1000 to the sensor 1200 and the actuator 1300. Also, the computer 1000 may be connected to an input device such as a touch panel or a keyboard and an output device such as a display device via the input / output interface.

[0042] The network interface 1120 is an interface for connecting the computer 1000 to a network. The computer 1000 is connected to the network 100 via the network interface 1120.

[0043] The storage device 1080 stores a program (a program for realizing the aforementioned application) for realizing each functional component of the robot control system 2000. The processor 1040 reads out and executes this program in the memory 1060 to realize each functional component of the robot control system 2000.

[0044] The robot control system 2000 may be composed of a plurality of computers 1000. In this case, the configurations of the respective computers 1000 do not have to be the same and can be different from each other.

[0045] <Flow of processing> FIG. 5 is a first flowchart illustrating the flow of processing executed by the remote control device 2100 and the robot control system 2000. The first transmission unit 2120 transmits the first control information 10 (S102). The first execution unit 2220 receives the first control information 10 (S104). The first execution unit 2220 causes the robot 2200 to execute the first task specified by the identification information indicated by the first control information 10 (S106).

[0046] FIG. 6 is a second flowchart illustrating the flow of processing executed by the remote control device 2100 and the robot control system 2000. The second transmission unit 2140 transmits the second control information 20 (S202). The second execution unit 2240 receives the second control information 20 (S204). The second execution unit 2240 causes the robot 2200 to execute the second task (S206).

[0047] As described above, the second transmission unit 2140 repeatedly transmits the second control information 20. Therefore, for example, the series of processes shown in the flowchart of FIG. 6 is repeatedly executed at regular time intervals such as once per second or once every 10 seconds. This can be realized, for example, by using a timer process or the like so that the transmission of the second control information 20 by the second transmission unit 2140 is executed periodically.

[0048] <Transmission of the first control information 10: S102> The first transmission unit 2120 transmits the first control information 10 (S102). Here, the trigger for transmitting the first control information 10 by the first transmission unit 2120 is arbitrary. For example, the remote control device 2100 receives a user input instructing the execution of the first task. For example, the user performs an input operation to specify the first task to be executed by the robot 2200 to the remote control device 2100. The first transmission unit 2120 generates the first control information 10 including the identification information of the first task specified by the user input. Then, the first transmission unit 2120 transmits the generated first control information 10. Further, the first control information 10 may further include information used in the first task (hereinafter referred to as additional information) in addition to the identification information of the first task. For example, when the first task is the output of an audio message, the first control information 10 includes additional information indicating the content of the audio message to be output to the robot 2200 in addition to the identification information of the first task "output of the audio message".

[0049] The trigger for transmitting the first control information 10 may be other than user input. For example, in order to periodically execute a specific first task by the robot 2200, the first transmission unit 2120 periodically transmits the first control information 10 including the identification information and additional information of the first task.

[0050] <Execution of the first task: S104, S106> The first execution unit 2220 receives the first control information 10 (S104), and in response to the reception, causes the robot 2200 to execute the first task (S106). The first execution unit 2220 causes the robot 2200 to execute the first task specified by the identification information indicated in the first control information 10. Further, when the first control information 10 includes additional information, the first execution unit 2220 uses the additional information to cause the robot 2200 to execute the first task.

[0051] <Transmission of the second control information 20: S202> The second transmission unit 2140 transmits the second control information 20 (S202). Here, the second control information 20 may or may not include the identification information of the second task. When the second control information 20 does not include the identification information of the second task, the determination of the second task is performed by the robot control system 2000. The specific method thereof will be described later.

[0052] When the second control information 20 includes the identification information of the second task, the second transmission unit 2140 determines the second task to be executed by the robot 2200. As described above, the second task is executed so that a person around the robot 2200 can check the communication state between the remote control device 2100 and the robot control system 2000. Therefore, the second task is preferably executed in a manner that does not interfere with the execution of the first task. For example, when the first task that emits sound, such as a conversation with a surrounding person, is being performed, the second task preferably involves visible output rather than audible output, such as the emission of light from a light-emitting device.

[0053] Therefore, for example, the second transmission unit 2140 determines the second task based on the characteristics of the first task being executed by the robot 2200. To do this, for example, information (hereinafter referred to as second task information) in which the identification information of the second task to be executed when the first task having the characteristic is being executed is associated with the characteristic of the first task is prepared in advance. The second task information is stored, for example, in a storage unit accessible from the remote control device 2100.

[0054] FIG. 7 is a diagram illustrating the second task information. The second task information 30 in FIG. 7 has two columns: the characteristic 32 of the first task and the identification information 34 of the second task. The characteristic 32 of the first task indicates the characteristic of the first task. The identification information 34 of the second task indicates the identification information of the second task.

[0055] Here, in the example of FIG. 7, the feature 32 of the first task is composed of two elements: a joint movement 36 and a sound 38. The joint movement 36 indicates whether it is a task of moving the joints of the robot 2200. The joint movement by the robot 2200 means that the joints such as the head and limbs of the robot 2200 move. The sound 38 indicates whether it is a task of outputting a sound.

[0056] Here, in the example of FIG. 7, when the joint movement 36 indicates NO, the sound 38 is blank. This means that when the first task is a task of moving the joints of the robot 2200, regardless of whether the first task is a task of outputting a sound, task A is selected as the second task.

[0057] The process of determining the second task based on the second task information 30 in FIG. 7 can be represented by the flowchart in FIG. 8. FIG. 8 is a flowchart illustrating the flow of the process of determining the second task using the second task information 30 in FIG. 7.

[0058] The second transmission unit 2140 determines whether the first task being executed by the robot 2200 is a task of moving the joints of the robot 2200 (S302). If the first task is not a task of moving the joints of the robot 2200 (S302: NO), the second transmission unit 2140 selects task A (S304). This selection corresponds to the record in the first row in the second task information 30 in FIG. 7.

[0059] Here, if the first task is not a task of moving the joints of the robot 2200, even if the joints of the robot 2200 move due to the execution of the second task (for example, even if the head or limbs of the robot 2200 move), it is considered that such joint movement will not interfere with the first task. Therefore, in S304, as the second task, task A of moving the joints of the robot 2200 is selected. On the other hand, if the first task is a task of moving the joints of the robot 2200, when the joints of the robot 2200 move along with the execution of the second task, such joint movement may interfere with the first task. Therefore, as will be described below, after S306, a task that does not move the joints of the robot 2200 is selected as the second task.

[0060] For example, task A is a task such as moving the head of the robot 2200 back and forth or up and down. In this case, by periodically executing task A, the head of the robot 2200 will be periodically moved back and forth or up and down. Here, when the communication between the remote control device 2100 and the robot control system 2000 becomes unstable, even if the first control information 10 is transmitted from the remote control device 2100 at regular time intervals, the time interval for receiving the first control information 10 by the robot control system 2000 will become irregular. As a result, the time interval of the movement of the head of the robot 2200 becomes irregular. People around the robot 2200 can grasp that the communication between the remote control device 2100 and the robot control system 2000 has become unstable by observing such irregular movements of the robot 2200.

[0061] When the first task is a task of moving the joints of the robot 2200 (S302: YES), the second transmission unit 2140 determines whether the first task is a task of outputting sound (S306). When the first task is not a task of outputting sound (S306: NO), the second transmission unit 2140 selects task B as the second task (S308). This selection corresponds to the record in the second line of the second task information 30 in FIG. 7. On the other hand, when the first task is a task of outputting sound (S306: YES), the second transmission unit 2140 selects task C as the second task (S310).

[0062] Here, when the first task is not a task of outputting sound, even if sound is output from the robot 2200 by the execution of the second task, it is considered that the sound will not interfere with the first task. On the other hand, when the first task is a task of outputting sound, if sound is output along with the execution of the second task, the sound output by the first task and the sound output by the second task may be confused, and the second task may interfere with the first task.

[0063] Therefore, for example, in S308, task B that outputs sound is selected as the second task. On the other hand, in S310, task C that does not move the joints of the robot 2200 and does not output sound is selected as the second task.

[0064] For example, task B is a task of outputting sound of a specific frequency. In this case, when task B is executed regularly, sound of a specific frequency, like a metronome, is regularly output from the robot 2200. However, when the communication between the remote control device 2100 and the robot control system 2000 becomes unstable, the time interval for receiving the first control information 10 by the robot 2200 becomes irregular, so the time interval of the sound output from the robot 2200 becomes irregular. People around the robot 2200 can grasp that the communication between the remote control device 2100 and the robot control system 2000 has become unstable by hearing the sound output from the robot 2200 at such irregular time intervals.

[0065] For example, task C is a task of causing a light-emitting device such as an LED lamp to emit light. In this case, when task B is periodically executed, the light-emitting device blinks at regular time intervals. However, when the communication between the remote control device 2100 and the robot control system 2000 becomes unstable, the time interval for receiving the first control information 10 by the robot control system 2000 becomes irregular, so that the blinking time interval of the light-emitting device becomes irregular. People around the robot 2200 can grasp that the communication between the remote control device 2100 and the robot control system 2000 has become unstable by seeing the light device blinking at such irregular time intervals.

[0066] The method by which the second transmission unit 2140 determines the second task is not limited to the method shown in FIG. 7. In other words, the content of the second task information 30 is not limited to that shown in FIG. 6. For example, the second task may be any two of the three types of tasks shown in FIG. 6 (the task of moving the joints of the robot 2200, the task of outputting sound, and the task of outputting light).

[0067] For example, assume that the second task is two types: the task of moving the joints of the robot 2200 and the task of outputting sound. In this case, for example, the second transmission unit 2140 determines whether the first task being executed by the robot 2200 is the task of moving the joints of the robot 2200. When the first task is not the task of moving the joints of the robot 2200, the second transmission unit 2140 selects the task of moving the joints of the robot 2200 as the second task. On the other hand, when the first task is the task of moving the joints of the robot 2200, the second transmission unit 2140 selects the task of outputting sound as the second task.

[0068] For another example, assume that the second task includes two types: a task of moving the joints of the robot 2200 and a task of outputting light. In this case, for example, the second transmission unit 2140 determines whether the first task being executed by the robot 2200 is a task of moving the joints of the robot 2200. If the first task is not a task of moving the joints of the robot 2200, the second transmission unit 2140 selects, as the second task, a task of moving the joints of the robot 2200. On the other hand, if the first task is a task of moving the joints of the robot 2200, the second transmission unit 2140 selects, as the second task, a task of outputting light.

[0069] For another example, assume that the second task includes two types: a task of outputting sound and a task of outputting light. In this case, for example, the second transmission unit 2140 determines whether the first task being executed by the robot 2200 is a task of outputting sound. If the first task is not a task of outputting sound, the second transmission unit 2140 selects, as the second task, a task of outputting sound. On the other hand, if the first task is a task of outputting sound, the second transmission unit 2140 selects, as the second task, a task of outputting light.

[0070] Here, the second transmission unit 2140 needs to identify the first task being executed by the robot 2200. The identification method is arbitrary. For example, the second transmission unit 2140 treats, as the first task being executed by the robot 2200, the first task identified by the identification information indicated in the first control information 10 transmitted at the latest among the first control information 10 transmitted by the first transmission unit 2120. For another example, the second transmission unit 2140 transmits a request to inquire about the first task being executed to the robot control system 2000. In this case, the second transmission unit 2140 identifies the first task being executed by receiving, from the robot control system 2000, a response indicating the identification information of the first task being executed.

[0071] In addition, the second transmission unit 2140 needs to identify the characteristics of the first task being executed by the robot 2200. The identification method is arbitrary. For example, first task information in which the identification information and characteristics of the first task are associated in advance is prepared. The remote control device 2100 uses this first task information to identify the characteristics of the first task.

[0072] The first task information is stored in advance, for example, in a storage unit accessible from the remote control device 2100. FIG. 9 is a diagram illustrating the first task information. In FIG. 9, the first task information 40 has two columns: identification information 42 and characteristics 44. The identification information 42 indicates the identification information of the first task. The characteristics 44 indicate the characteristics of the first task. In the example of FIG. 9, the characteristics 44 are composed of two elements: a joint motion 46 and a sound 48, similar to the characteristics 32 of the first task in the second task information 30 illustrated in FIG. 7. The joint motion 46 indicates whether the task is to move the joints of the robot 2200. The sound 48 indicates whether the task is to output a sound.

[0073] The second transmission unit 2140 identifies the identification information of the first task being executed by the robot 2200, and obtains the characteristics corresponding to the identified identification information from the first task information 40, thereby identifying the characteristics of the first task being executed by the robot 2200. Further, the second transmission unit 2140 uses the identified characteristics of the first task and the second task information 30 to determine the second task to be executed by the robot 2200. Then, the remote control device 2100 transmits the second control information 20 indicating the identification information of the determined second task to the robot control system 2000.

[0074] <Execution of the second task: S204, S206> The second execution unit 2240 receives the second control information 20 (S204), and in response to the reception, causes the robot 2200 to execute the second task (S206). When the identification information of the second task is indicated in the second control information 20, the second execution unit 2240 causes the robot 2200 to execute the second task specified by the identification information indicated in the second control information 20. On the other hand, when the identification information of the second task is not indicated in the second control information 20, the second execution unit 2240 specifies the second task to be executed and causes the robot 2200 to execute the specified second task.

[0075] The method for the second execution unit 2240 to specify the second task to be executed is, for example, the same as the method for the second transmission unit 2140 to specify the second task to be executed by the robot 2200 described above. That is, the second execution unit 2240 specifies the first task being executed by the robot 2200 and uses the first task information 40 to specify the characteristics of the first task. Thereafter, the second execution unit 2240 uses the second task information 30 to specify the identification information of the second task associated with the characteristics of the specified first task, and causes the robot 2200 to execute the second task specified by the identification information. When the second task is determined by the second execution unit 2240 in this way, the second task information 30 and the first task information 40 are stored in a storage unit accessible from the robot control system 2000.

[0076] As described above, the present invention has been described with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0077] In the above example, when the program is loaded into a computer, it includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, a computer-readable medium or a tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disc storage, or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, a transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0078] (Appendix 1) A first execution means for causing a robot to execute a first task in response to receiving first control information from a remote control device; A robot control system having: a second execution means for repeatedly receiving second control information from the remote control device and, in response to receiving the second control information, causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output. (Appendix 2) The robot control system according to Appendix 1, wherein the second execution means, in response to receiving the second control information, uses second task information indicating identification information of the second task corresponding to the characteristics of the first task to identify the second task corresponding to the characteristics of the first task being executed by the robot, and causes the robot to execute the identified second task. (Appendix 3) The robot control system according to Supplementary Note 1, wherein the remote control device uses second task information indicating the identification information of the second task in association with the characteristics of the first task, identifies the second task corresponding to the characteristics of the first task being executed by the robot, and transmits the second control information indicating the identification information of the identified second task. (Supplementary Note 4) The robot control system according to any one of Supplementary Notes 1 to 3, wherein when the first task being executed by the robot is not a task of operating the joints of the robot, the second execution means causes the robot to execute, as the second task, a task of operating the joints of the robot. (Supplementary Note 5) The robot control system according to any one of Supplementary Notes 1 to 3, wherein when the first task being executed by the robot is not a task of outputting sound, the second execution means causes the robot to execute, as the second task, a task of outputting sound. (Supplementary Note 6) The robot control system according to any one of Supplementary Notes 1 to 3, wherein the second execution means executes a task of outputting light when the first task being executed by the robot is a task of operating the joints of the robot, when the first task being executed is a task of outputting sound, or in both cases. (Supplementary Note 7) A first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device; A program executed by a computer, comprising: a second execution step of repeatedly receiving second control information from the remote control device and causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output in response to receiving the second control information. (Supplementary Note 8) In the second execution step, in response to receiving the second control information, using second task information indicating identification information of the second task in association with the characteristics of the first task, identifying the second task corresponding to the characteristics of the first task being executed by the robot, and causing the robot to execute the identified second task, the program according to Supplementary Note 7. (Supplementary Note 9) By the remote control device, using second task information indicating identification information of the second task in association with the characteristics of the first task, identifying the second task corresponding to the characteristics of the first task being executed by the robot, and transmitting the second control information indicating the identification information of the identified second task, the program according to Supplementary Note 7. (Supplementary Note 10) In the second execution step, when the first task being executed by the robot is not a task of operating the joints of the robot, causing the robot to execute, as the second task, a task of operating the joints of the robot, the program according to any one of Supplementary Notes 7 to 9. (Supplementary Note 11) In the second execution step, when the first task being executed by the robot is not a task of outputting sound, causing the robot to execute, as the second task, a task of outputting sound, the program according to any one of Supplementary Notes 7 to 9. (Supplementary Note 12) In the second execution step, when the first task being executed by the robot is a task of operating the joints of the robot, when the first task being executed by the robot is a task of outputting sound, or in both cases, executing a task of outputting light, the program according to any one of Supplementary Notes 7 to 9. (Supplementary Note 13) A first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device; A program that causes a computer to repeatedly receive second control information from the remote control device, and in response to receiving the second control information, cause the robot to execute a second task that is different from the first task being executed by the robot and includes a visible or audible output, a second execution step. (Appendix 14) The program according to Appendix 13, wherein in the second execution step, in response to receiving the second control information, using second task information indicating identification information of the second task associated with the characteristics of the first task, identifying the second task corresponding to the characteristics of the first task being executed by the robot, and causing the robot to execute the identified second task. (Appendix 15) The program according to Appendix 13, wherein the remote control device uses second task information indicating identification information of the second task associated with the characteristics of the first task to identify the second task corresponding to the characteristics of the first task being executed by the robot, and transmits the second control information indicating the identification information of the identified second task. (Appendix 16) The program according to any one of Appendices 13 to 15, wherein in the second execution step, when the first task being executed by the robot is not a task of operating the joints of the robot, causing the robot to execute, as the second task, a task of operating the joints of the robot. (Appendix 17) The program according to any one of Appendices 13 to 15, wherein in the second execution step, when the first task being executed by the robot is not a task of outputting sound, causing the robot to execute, as the second task, a task of outputting sound. (Appendix 18) In the second execution step, when the first task being executed by the robot is a task that operates the joints of the robot, when the first task being executed by the robot is a task that outputs sound, or in both cases, execute a task that outputs light. The program according to any one of Appendices 13 to 15.

Explanation of Signs

[0079] 10 First control information 20 Second control information 30 Second task information 32 Feature 34 Identification information 36 Joint movement 38 Sound 40 First task information 42 Identification information 44 Feature 46 Joint movement 48 Sound 100 Network 500 Computer 502 Bus 504 Processor 506 Memory 508 Storage device 510 Input / output interface 512 Network interface 1000 Computer 1020 Bus 1040 Processor 1060 Memory 1080 Storage device 1100 Input / output interface 1120 Network interface 1200 Sensor 2000 Robot control system 2100 Remote control device 2120 First transmission unit 2140 Second transmission unit 2200 Robot 2220 First execution unit 2240 Second Execution Unit

Claims

1. first execution means for causing a robot to execute a first task in response to receiving first control information from a remote control device; second execution means for repeatedly receiving second control information from the remote control device and causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output in response to receiving the second control information; and The second execution means uses second task information indicating identification information of the second task in association with the characteristics of the first task in response to receiving the second control information, identifies the second task corresponding to the characteristics of the first task being executed by the robot, and causes the robot to execute the identified second task. A robot control system.

2. First execution means for causing a robot to execute a first task in response to receiving first control information from a remote control device; second execution means for repeatedly receiving second control information from the remote control device and causing the robot to execute a second task different from the first task being executed by the robot and including a visible or audible output in response to receiving the second control information; and The second task corresponding to the characteristics of the first task being executed by the robot is identified by the remote control device using second task information indicating identification information of the second task in association with the characteristics of the first task, and the second control information indicating the identification information of the identified second task is transmitted. A robot control system.

3. The robot control system according to claim 1 or 2, wherein the second execution means causes the robot to execute, as the second task, a task of operating a joint of the robot when the first task being executed by the robot is not a task of operating a joint of the robot.

4. The robot control system according to claim 1 or 2, wherein the second execution means causes the robot to execute, as the second task, a task of outputting sound when the first task being executed by the robot is not a task of outputting sound.

5. When the first task being executed by the robot is a task that operates the joints of the robot, a task that outputs sound, or both, the second execution means causes the robot to execute, as the second task, a task that outputs light, for the robot control system according to claim 1 or 2.

6. A first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device, repeatedly receiving second control information from the remote control device, and in response to receiving the second control information, causing the robot to execute a second task that is different from the first task being executed by the robot and that includes a visible or audible output, and a second execution step, In the second execution step, in response to receiving the second control information, using second task information indicating identification information of the second task in association with the characteristics of the first task, identifying the second task corresponding to the characteristics of the first task being executed by the robot, and causing the robot to execute the identified second task, a robot control method executed by a computer.

7. A first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device, repeatedly receiving second control information from the remote control device, and in response to receiving the second control information, causing the robot to execute a second task that is different from the first task being executed by the robot and that includes a visible or audible output, and a second execution step, The second task corresponding to the characteristics of the first task being executed by the robot is identified by the remote control device using second task information indicating identification information of the second task in association with the characteristics of the first task, and the second control information indicating the identification information of the identified second task is transmitted, a robot control method executed by a computer.

8. A first execution step of causing a robot to execute a first task in response to receiving first control information from a remote control device, Repeatedly receive second control information from the remote control device, and cause a computer to execute a second execution step of causing the robot to execute a second task different from the first task being executed by the robot, the second task including a visible or audible output. In the second execution step, in response to receiving the second control information, identify the second task corresponding to the characteristics of the first task being executed by the robot using second task information indicating identification information of the second task associated with the characteristics of the first task, and cause the robot to execute the identified second task.

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