Control method for robot and robot

Abstract

The control method for a robot 1 includes: causing a specific arm (200A, 200B) to move an end effector (210, 220) toward a handle (H) of a slide door (SD); causing the specific arm to move the end effector so that, with the robot (1) facing the slide door (SD), the handle (H) is moved in an opening direction of the slide door (SD) to open the slide door (SD); and causing the specific arm to move the end effector so that, with the slide door (SD) in an opened state, a contact state between the end effector and the handle (H) is released.

Description

Robot control method and robot

[0001] The technology disclosed herein relates to a robot control method and a robot.

[0002] Patent Document 1 discloses a robot that opens a sliding door. The robot hooks its hand onto a handle provided on the sliding door. When pulling the sliding door open, the robot determines a tilted posture so that its center of gravity is positioned away from the handle. The robot opens the sliding door by applying a force generated by the robot's own weight, which is generated by the tilted posture, to the sliding door.

[0003] Japanese Patent Application Laid-Open No. 2007-319989

[0004] When opening a sliding door, conventional robots must move the entire robot in the direction of the door opening. Because the robot is not directly facing the opening when the door is opened, the robot cannot smoothly move from opening the door to passing through it.

[0005] The technology disclosed herein relates to a method for controlling a robot, the method including: moving the robot so as to face a sliding door; causing a specific arm, which is one of at least two arms included in the robot, to move an end effector included in the specific arm toward a handle included in the sliding door so that the end effector comes into contact with the handle; while the robot is facing the sliding door, moving the handle in the direction of opening the sliding door, causing the specific arm to move the end effector so as to open the sliding door; and while the sliding door is open, causing the specific arm to move the end effector so as to release the contact between the end effector and the handle.

[0006] When the sliding door is opened, the robot faces the open area, allowing the robot to smoothly move from opening the sliding door to passing through.

[0007] FIG. 1 shows a robot system according to an embodiment. FIG. 2 is a block diagram of the robot system. FIG. 3 is a side view showing an example of a configuration of an end effector in one state. FIG. 4 is a side view showing an example of a configuration of the end effector in another state. FIG. 5 is a side view of a moving device. FIG. 6 is a flowchart showing an example of an opening operation of the robot system. FIG. 7 is a motion diagram showing an example of a robot state included in the opening operation. FIG. 8 is a motion diagram showing an example of a door handle gripping operation by the end effector. FIG. 9 is a motion diagram showing an example of a door handle gripping operation by the end effector. FIG. 10 is a motion diagram showing an example of a door handle gripping operation by the end effector. FIG. 11 is a motion diagram showing an example of a robot state included in the opening operation. FIG. 12 is a motion diagram showing an example of a sliding door opening operation by the end effector. FIG. 13 is a motion diagram showing an example of a robot state included in the opening operation. FIG. 14 is a motion diagram showing an example of a robot state included in the opening operation. FIG. 15 is a motion diagram showing an example of a robot state included in the opening operation. FIG. 16 is a motion diagram showing an example of a robot state included in the opening operation. Fig. 17 is a motion diagram showing an example of a state of the robot involved in the opening operation. Fig. 18 is a flowchart showing an example of an opening operation of a robot system according to a modified example. Fig. 19 is a motion diagram showing an example of a state of the robot involved in the opening operation of the modified example. Fig. 20 is a motion diagram showing an example of a state of the robot involved in the opening operation of the modified example. Fig. 21 is a motion diagram showing an example of a state of the robot involved in the opening operation of the modified example. Fig. 22 is a motion diagram showing an example of a state of the robot involved in the opening operation of the modified example.

[0008] Hereinafter, an embodiment of a robot system that executes a control method will be described with reference to the drawings. The robot system described here is an example.

[0009] [Overall Structure of Robot System] Fig. 1 is a perspective view of the robot system A seen from diagonally above. Fig. 2 is a block diagram showing the configuration of the robot system A. The robot system A is used in various service industries such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, product provision, and logistics.

[0010] In the robot system A, the front Fr, rear Rr, right Rt, left Lt, up Up, and down Lw are defined as follows, with the robot 1 of the robot system A as the reference.

[0011] The front Fr of the robot system A is the left front side in the direction connecting the front left and rear right of the paper in Figure 1. The front Fr of the robot system A corresponds to the forward direction of the robot 1, and the rear Rr of the robot system A corresponds to the backward direction of the robot 1.

[0012] The right side Rt of the robot system A is the left rear side in the direction connecting the right front and left rear of the page in Figure 1. The right side Rt of the robot system A corresponds to the right in the forward direction of the robot 1. The left side Lt of the robot system A corresponds to the left in the forward direction of the robot 1. The left-right direction is a direction that is horizontally perpendicular to the front-rear direction.

[0013] 1, the top (Up) of the robot system A is the top side of the paper, and the bottom (Lw) of the robot system A is the bottom side of the paper. The top and bottom of the robot system A correspond to the top and bottom of the robot 1. The up-down direction is a direction perpendicular to the front-to-back direction.

[0014] The above definitions are used to explain the robot system A, and are not used to limit the structure or configuration of the robot system A disclosed herein and the elements included in the robot system A.

[0015] The robot system A includes a robot 1 and an input device 2 .

[0016] <Input Device> The input device 2 is located away from the robot. The input device 2 accepts input of commands, information, data, etc. from a user. The input device 2 transmits the accepted commands, information, data, etc. to the robot 1. The input device 2 receives commands, information, data, etc. transmitted from the robot 1. The user who uses the input device 2 may be any of the administrator of the robot system A, the operator of the robot 1, the provider of a service provided by the robot system A, or the recipient of a service provided by the robot system A.

[0017] As shown in FIG. 2 , the input device 2 includes a processing circuit 2a having a processor and a memory, and a first interface 2b. The processing circuit 2a generates commands, information, data, etc. for operating the robot 1 based on inputs from a user and the robot 1. The first interface 2b communicates with the robot 1. The communication between the first interface 2b and the robot 1 is not particularly limited. The communication may be wireless communication, wired communication, or a combination of wireless communication and wired communication. The wireless communication may be direct or indirect. In indirect wireless communication, the first interface may be connected to a communication network and communicate with the robot 1 via the communication network.

[0018] The communication network is not particularly limited and may include, for example, a local area network (LAN), a wide area network (WAN), the Internet, or a combination of two or more of these. The communication network may use short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), a network dedicated line, a dedicated line of a telecommunications carrier, a public switched telephone network (PSTN), a mobile communication network, the Internet network, satellite communication, or a combination of two or more of these. The mobile communication network may use a fourth-generation mobile communication system, a fifth-generation mobile communication system, a sixth-generation mobile communication system, etc. The communication network may include one or more networks.

[0019] The input device 2 may include a computer such as a personal computer, a mobile terminal such as a smartphone or tablet, a game terminal, a known operating device for a robot, other operating devices, other terminal devices, devices using these, and improved devices of these. The input device 2 may be a dedicated device for operating the robot 1. The input device 2 may be a general-purpose device available on the general market, in which the functions of the input device 2 are realized by installing dedicated software.

[0020] At least some of the functions of the input device 2 may be realized by cooperation between a processor and a memory. The input device 2 may realize the functions by causing the processor to execute a program recorded in the memory.

[0021] <Main Body> As shown in FIG. 1 , the robot 1 includes a main body 100 , one or more arms 200 , a moving device 300 , and a controller 400 .

[0022] 2 , the main body 100 includes a secondary battery module 10, a power supply circuit 20, a second interface 30, an image capturing device 40, and a presentation device 60. The image capturing device 40 and the presentation device 60 can also function as devices for communicating with a user around the robot 1. The main body 100 has a built-in controller 400. The image capturing device 40 and the presentation device 60 are not essential components of the robot 1.

[0023] The secondary battery module 10 functions as a power source for the robot 1. The secondary battery module 10 includes one or more secondary batteries. A secondary battery is a battery that can charge and discharge power. Examples of secondary batteries include lead-acid batteries, lithium-ion secondary batteries, all-solid-state batteries, nickel-metal hydride batteries, and nickel-cadmium batteries.

[0024] The power supply circuit 20 controls the supply and demand of power to the secondary battery module 10 in accordance with commands from the controller 400, etc. For example, the power supply circuit 20 may include devices such as a converter, an inverter, a transformer, and an amplifier. The power supply circuit 20 receives power from an external power source EP, such as a commercial power source, and supplies and stores the power in a controlled manner to the secondary battery module 10. The power supply circuit 20 supplies the power stored in the secondary battery module 10 to components in the robot 1 that consume power in a controlled manner.

[0025] The second interface 30 communicates with the first interface 2b of the input device 2. The second interface 30 has a structure adapted to the communication used.

[0026] As shown in FIG. 1 , multiple imaging devices 40 are arranged on the robot 1. The imaging devices 40 detect various information about the surroundings of the robot 1. Each imaging device 40 includes a camera that captures digital images. One or more of the imaging devices 40 may include a three-dimensional camera capable of detecting the distance to an object. Examples of three-dimensional cameras include a stereo camera, a time-of-flight (TOF) camera, a pattern light projection camera such as a stripe projection camera, or a camera using a light section method. The imaging devices 40 output data of the captured images to the controller 400. The controller 400 may use the image data acquired by the imaging devices 40 for its own control or may output the image data to the input device 2. The controller 400 may perform image processing to extract an object from the image and detect the distance from the camera to the object.

[0027] The presentation device 60 presents information to a user around the robot 1. The presentation device 60 includes a display 61 attached to the main body 100. The display 61 displays an image of image data sent from the controller 400. The display 61 may display an image for communicating with a user facing the robot 1, an image in accordance with a command received from the input device 2, and an image for providing various other information to the user. The presentation device 60 may include a speaker that converts an audio signal into sound waves and emits them as sound, a projector that projects an image, and the like. The speaker and projector may output sound and an image corresponding to the audio signal and image signal sent from the controller 400.

[0028] 1 , in this embodiment, the robot 1 has two arms 200: a first arm 200A and a second arm 200B. The first arm 200A is supported on the left side of the main body 100. The second arm 200B is supported on the right side of the main body 100.

[0029] The first arm 200A is a vertically articulated arm. The first arm 200A is a seven-axis arm having first to sixth links LA1-LA6 and first to seventh joints JA1-JA7. The first arm 200A has a first end effector 210. The second arm 200B is a vertically articulated arm. The second arm 200B is a seven-axis arm having first to sixth links LB1-LB6 and first to seventh joints JB1-JB7. The second arm 200B has a second end effector 220.

[0030] The first link LA1 is connected to the upper part of the main body 100 via a first joint JA1. The rotation axis of the first joint JA1 extends in the vertical direction. The first link LA1 extends in a direction perpendicular to the rotation axis of the first joint JA1. The first link LA1 can rotate in a horizontal plane relative to the main body 100 via the first joint JA1.

[0031] The second link LA2 is connected to the first link LA1 via a second joint JA2. The second link LA2 is connected to the end of the first link LA1 opposite the first joint JA1. The rotation axis of the second joint JA2 extends in a direction perpendicular to the rotation axis of the first joint JA1. The second link LA2 extends in a direction perpendicular to the rotation axis of the second joint JA2.

[0032] The third link LA3 is connected to the second link LA2 via a third joint JA3. The third link LA3 is connected to the end of the second link LA2 opposite the second joint JA2. The rotation axis of the third joint JA3 extends in a direction perpendicular to the rotation axis of the second joint JA2. The third link LA3 extends in a direction parallel to the rotation axis of the third joint JA3.

[0033] The fourth link LA4 is connected to the third link LA3 via a fourth joint JA4. The fourth link LA4 is connected to the end of the third link LA3 opposite the third joint JA3. The rotation axis of the fourth joint JA4 extends in a direction perpendicular to the rotation axis of the third joint JA3. The fourth link LA4 extends in a direction perpendicular to the rotation axis of the fourth joint JA4.

[0034] The fifth link LA5 is connected to the fourth link LA4 via a fifth joint JA5. The fifth link LA5 is connected to the end of the fourth link LA4 opposite the fourth joint JA4. The rotation axis of the fifth joint JA5 extends in a direction perpendicular to the rotation axis of the fourth joint JA4. The fifth link LA5 extends in a direction parallel to the rotation axis of the fifth joint JA5.

[0035] The sixth link LA6 is connected to the fifth link LA5 via a sixth joint JA6. The sixth link LA6 is connected to the end of the fifth link LA5 opposite the fifth joint JA5. The rotation axis of the sixth joint JA6 extends in a direction perpendicular to the rotation axis of the fifth joint JA5. The sixth link LA6 extends in a direction perpendicular to the rotation axis of the sixth joint JA6.

[0036] The first end effector 210 is connected to the sixth link LA6 via a seventh joint JA7. The first end effector 210 is connected to the end of the sixth link LA6 opposite the sixth joint JA6. The first end effector 210 is detachably connected to the sixth link LA6. The rotation axis of the seventh joint JA7 extends in a direction perpendicular to the rotation axis of the sixth joint JA6.

[0037] 2, the first arm 200A includes first to seventh joint drive devices MA1 to MA7 that drive the first to seventh joints JA1 to JA7. The first to seventh joint drive devices MA1 to MA7 are powered by electricity and have servo motors as electric actuators. The servo motors are controlled by a controller 400.

[0038] The second arm 200B has the same configuration as the first arm 200A, and therefore a detailed description thereof will be omitted. The second arm 200B is disposed bilaterally symmetrically to the first arm 200A. The second arm 200B includes first to seventh joint drive devices MB1 to MB7 that drive the first to seventh joints JB1 to JB7. The first to seventh joint drive devices MB1 to MB7 are powered by electricity and have servo motors as electric actuators. The servo motors are controlled by a controller 400.

[0039] The first end effector 210 and the second end effector 220 are configured to apply an action to an object handled by the robot 1. Both the first end effector 210 and the second end effector 220 are hands. The second end effector 220 may be configured to apply an action to the object different from that of the first end effector 210. The detailed configurations of the first end effector 210 and the second end effector 220 will be described later.

[0040] Although the first arm 200A and the second arm 200B have been described, the first arm 200A and the second arm 200B do not have to be vertically multi-jointed arms. For example, the first arm 200A and the second arm 200B may be horizontally multi-jointed, other types of vertically multi-jointed, polar coordinate, cylindrical coordinate, rectangular coordinate, or other types of arms. The number of arms 200 may be two or more, or may be three or more. The number of joints of the arm 200 may be three or more.

[0041] <End Effector> Figure 3 illustrates one state of the first end effector 210. Figure 4 illustrates another state of the first end effector 210. The first end effector 210 includes a main body 211, two first holding portions 212, one second holding portion 213, a first driving device 214, a driving shaft 215, a first driven shaft 216, and a second driven shaft 217. The main body 211 is detachably connected to the sixth link LA6 of the first arm 200A.

[0042] As shown in Fig. 3, the first driving device 214, the driving shaft 215, the first driven shaft 216, and the second driven shaft 217 are located in the main body 211. The driving shaft 215 is connected to the first driving device 214 so as to be rotationally driven by the first driving device 214. A driving gear 215a is fixed to the driving shaft 215. The driving gear 215a rotates integrally with the driving shaft 215. A first driven gear 216a is fixed to the first driven shaft 216. The first driven gear 216a rotates integrally with the first driven shaft 216. A second driven gear 217a is fixed to the second driven shaft 217. The second driven gear 217a rotates integrally with the second driven shaft 217. The first driven gear 216a and the second driven gear 217a are engaged with the drive gear 215a. The first drive device 214 drives the first driven shaft 216 and the second driven shaft 217 via the drive shaft 215 to rotate in opposite directions.

[0043] To explain the first end effector 210, a first direction D1, a second direction D2, a third direction D3, a fourth direction D4, a fifth direction D5, and a sixth direction D6 are defined based on the first end effector 210, separate from the directions of the robot system A. The first direction D1 is a direction away from the main body 211, and the second direction D2 is the opposite direction to the first direction D1. The third direction D3 and the fourth direction D4 are opposite directions and perpendicular to the first direction D1 and the second direction D2. The fifth direction D5 and the sixth direction D6 are opposite directions and perpendicular to the first direction D1, the second direction D2, the third direction D3, and the fourth direction D4.

[0044] The two first holding portions 212 are positioned side by side in the third direction D3 and the fourth direction D4. FIG. 3 shows only one of the two first holding portions 212. The other of the two first holding portions 212 is positioned in the third direction D3 relative to one of the first holding portions 212. The other first holding portion 212 overlaps with the first holding portion 212 and is not visible. The second holding portion 213 is positioned in the fifth direction D5 relative to the first holding portion 212. The second holding portion 213 is positioned between the two first holding portions 212 in the third direction D3 and the fourth direction D4. Specifically, the second holding portion 213 is positioned further in the third direction D3 than one of the first holding portions 212 and further in the fourth direction D4 than the other first holding portion 212.

[0045] Each of the two first holding portions 212 includes a first link 212a, a second link 212b, a first tip link 212c, and a first intermediate link 212d. In the first holding portion 212, the base end of the first link 212a is connected to the first driven shaft 216 so as to rotate integrally therewith, and the base end of the second link 212b is rotatably connected to a first rotating member 212e that rotates integrally with the first driven shaft 216. A first connection portion 212f connecting the second link 212b and the first rotating member 212e is fixed to the first driven gear 216a. In the first holding portion 212, the first link 212a and the second link 212b are rotatably connected to the first intermediate link 212d at their tips and extend along each other. 3, the second link 212b is positioned further in the sixth direction D6 than the first link 212a. The base end of the first tip link 212c is rotatably connected to the first intermediate link 212d.

[0046] The second holding portion 213 includes a third link 213a, a fourth link 213b, a second tip link 213c, and a second intermediate link 213d. In this embodiment, the second holding portion 213 has a structure similar to that of the first holding portion 212 and is symmetrical to that of the first holding portion 212 with respect to an axis extending in the first direction D1 and the second direction D2. A base end of the third link 213a is connected to the second driven shaft 217 so as to rotate integrally therewith, and a base end of the fourth link 213b is rotatably connected to a second rotating member 213e that rotates integrally with the second driven shaft 217. A second connection portion 213f that connects the fourth link 213b and the second rotating member 213e is fixed to the second driven gear 217a. The structure of the second holding portion 213 is not limited to be the same as that of the first holding portion 212 , and may be a different structure from that of the first holding portion 212 .

[0047] 3 , when the first driving device 214 rotationally drives the first driven shaft 216 in a first rotation direction R1 via the driving shaft 215, the first driven shaft 216 rotationally drives the second driven shaft 217 in a second rotation direction R2 that is the opposite direction to the first driven shaft 216. As the first driven shaft 216 and the first rotating member 212e rotate in the first rotation direction R1, the two first holding parts 212 rotate in the first rotation direction R1 around the first driven shaft 216 while maintaining the state in which the first link 212a and the second link 212b extend along each other. As the second driven shaft 217 and the second rotating member 213e rotate in the second rotation direction R2, the second holding portion 213 rotates about the second driven shaft 217 in the second rotation direction R2 while maintaining the third link 213a and the fourth link 213b extending along each other. As the first holding portion 212 and the second holding portion 213 rotate, the first end effector 210 closes, entering the state shown in FIG. 4. In the first end effector 210 in the state shown in FIG. 3, when the first driven shaft 216 is rotationally driven in the second rotation direction R2, the first driven shaft 216 rotationally drives the second driven shaft 217 in the first rotation direction R1. The first holding portion 212 rotates about the first driven shaft 216 to move in the second rotation direction R2, and the second holding portion 213 rotates about the second driven shaft 217 to move in the first rotation direction R1. This allows the first holding portion 212 and the second holding portion 213 to be opened further than in the state shown in FIG.

[0048] The first end effector 210 can not only pinch and grasp an object using the first tip link 212c and the second tip link 213c, but also store the first holding unit 212 and the second holding unit 213 inside the main body 211. The robot 1 can perform operations using not only the holding units of the first end effector 210 and the second end effector 220, but also the main bodies of the first end effector 210 and the second end effector 220.

[0049] In the first end effector 210, the first link 212a and the third link 213a may be pivotally connected to the first driven shaft 216 and the second driven shaft 217, respectively. The first end effector 210 may include a stop mechanism that stops, inhibits, or locks the rotation of the first link 212a and the third link 213a relative to the first driven shaft 216 and the second driven shaft 217. When the stop mechanism does not allow the first link 212a and the third link 213a to rotate, the first link 212a and the third link 213a rotate integrally with the first driven shaft 216 and the second driven shaft 217. In this case, the first end effector 210 may operate as shown in FIGS. 3 and 4 . When the stop mechanism allows the first link 212a and the third link 213a to rotate, the first link 212a and the third link 213a rotate relative to the first driven shaft 216 and the second driven shaft 217. At this time, when the first driven gear 216a rotates, the second link 212b moves without rotating the first link 212a. As a result, the first intermediate link 212d rotates relative to the first link 212a, and the first tip link 212c rotates relative to the first link 212a. Similarly, when the second driven gear 217a rotates, the second intermediate link 213d rotates relative to the third link 213a, and the second tip link 213c rotates relative to the third link 213a.

[0050] The configuration of the second end effector 220 is the same as that of the first end effector 210, and therefore a detailed description thereof will be omitted. The second end effector 220 is disposed symmetrically to the first end effector 210. The second end effector 220 includes a second driving device 224. The second end effector 220 is operated by the second driving device 224.

[0051] <Moving Device> The moving device 300 is fixed to the lower end of the main body 100. As shown in Fig. 5, the moving device 300 includes a main body 310, a first drive wheel 321, a second drive wheel 322, four auxiliary wheels 330, a first moving drive device 341, and a second moving drive device 342. The first drive wheel 321, the second drive wheel 322, and the auxiliary wheels 330 are rotatably attached to the main body 310. The first drive wheel 321, the second drive wheel 322, and the auxiliary wheels 330 come into contact with a support surface on which the robot 1 is placed, and support the main body 310 and the robot 1 from below. Examples of support surfaces include the ground, the floor of a building, the seat of a pedestal, etc.

[0052] In this embodiment, two of the four training wheels 330 are located in the front portion of the main body 310, and the remaining two are located in the rear portion of the main body 310. The training wheels 330 are located on both the front and rear sides, spaced apart from each other in the left-right direction. The orientation of each rotation axis of the training wheels 330 may be fixed, or the orientation of each rotation axis may be changeable like a swivel caster. The first drive wheel 321 and the second drive wheel 322 are arranged side by side in the left-right direction and spaced apart from each other in the left-right direction so that their rotation axes are coaxial in the left-right direction. The orientation of the rotation axes of the first drive wheel 321 and the second drive wheel 322 is fixed with respect to the main body 310.

[0053] The first and second movement drive devices 341 and 342 are disposed on the main body 310. The first and second movement drive devices 341 rotate and drive the first drive wheel 321. The second and second movement drive devices 342 rotate and drive the second drive wheel 322. For example, the first and second movement drive devices 341 and 342 are powered by electricity and include servo motors as electric actuators. The servo motors are controlled by the controller 400. The first and second movement drive devices 341 and 342 control the rotation direction and rotation speed of the first and second drive wheels 321 and 322, thereby causing the movement device 300 to move forward, backward, and turn.

[0054] The configuration of the mobile device 300 is not limited to the above configuration, and may be any configuration that allows the mobile device 300 to move in various directions. For example, the mobile device 300 may move using other traveling means such as crawlers instead of wheels.

[0055] The sensors 50 are located on the main body 310 of the mobile device 300. One sensor 50 is located in the front portion of the main body 310, and two sensors 50 are located in the rear portion of the main body 310. The sensors 50 detect various information about the surroundings of the robot 1. The sensors 50 scan the surroundings of the robot 1 and output the scanning results to the controller 400. The front sensor 50 is located facing forward. The rear sensor 50 is located facing rear. The sensors 50 may scan a horizontal range extending from the mobile device 300 to the front, rear, right, and left sides. They may also scan a vertical range including the support surface and its vicinity. The sensors 50 may be capable of detecting targets such as the support surface and objects within the scanning range, as well as the distance to the targets. The controller 400 may perform point cloud processing on the detection results of each sensor 50 to detect the position of the robot 1, the state of the support surface in front of the robot 1, the position of objects on the support surface, etc. The sensor 50 is not an essential component of the robot 1 .

[0056] In this embodiment, the front sensor 50 is a three-dimensional lidar (LiDAR), and the two rear sensors 50 are two-dimensional lidars. The sensors 50 may perform detection using light waves, lasers, magnetism, radio waves, electromagnetic waves, ultrasound, or a combination of two or more of these. The sensors 50 may include a photoelectric sensor, a laser sensor, a radio wave sensor, an electromagnetic wave sensor, an ultrasound sensor, or a combination of two or more of these.

[0057] <Controller> The controller 400 controls the entire robot 1. As shown in FIG. 2 , the controller 400 has a processor 401 and a memory 402. The processor 401 includes a central processing unit (CPU), a micro processing unit (MPU), a graphics processing unit (GPU), a microprocessor, a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a reconfigurable processor, etc. The processor 401 is composed of one or more integrated circuits on a chip. The memory 402 is composed of a volatile memory such as a random access memory (RAM), a non-volatile memory such as a read-only memory (OM) and a flash memory, a hard disk drive, etc.

[0058] At least some of the functions of the controller 400 may be realized by cooperation between the processor 401 and the memory 402. The processor 401 and the memory 402 constitute a computer system. For example, the computer system may realize the above functions by the processor 401 using the RAM as a work area and executing a program recorded in the ROM.

[0059] The controller 400 is communicatively connected to the input device 2 via the second interface 30. The processor 401 controls the operations of various components of the robot 1 in accordance with commands received from the input device 2. The controller 400 controls the operations of various components of the robot 1 in accordance with a program recorded in the memory 402.

[0060] Examples of components controlled by the controller 400 include the power supply circuit 20, the second interface 30, the imaging device 40, the sensor 50, the display 61, the first to seventh joint drive devices MA1-MA7 of the first arm 200A, the first to seventh joint drive devices MB1-MB7 of the second arm 200B, the first drive device 214 of the first end effector 210, the second drive device 224 of the second end effector 220, the first movement drive device 341, and the second movement drive device 342. The controller 400 may control only some of these components, rather than all of them. Furthermore, the controller 400 may also control elements other than the exemplified control targets.

[0061] When controlling the power supplied to a component, the controller 400 outputs a current command value or the like to the power supply circuit 20. Upon receiving the command value, the power supply circuit 20 supplies power from the secondary battery module 10 to the component. The controller 400 may servo-control a servo motor. The controller 400 may obtain, from the servo motor, a detection result from a rotation sensor such as an encoder provided in the servo motor. The controller 400 may obtain a supply current value to the servo motor from a current sensor that may be disposed in the servo motor or the power supply circuit 20. The controller 400 may determine a current command value to the servo motor using the detection result of the rotation sensor and the supply current value as feedback information. The controller 400 may detect the level of the load on the arm 200 from the supply current value to the servo motor.

[0062] The controller 400 may cause the components of the robot 1 to perform one or more of the following actions: actions in manual driving, actions in automatic driving, and actions in a combination of manual driving and automatic driving.

[0063] In manual operation, the controller 400 may control the components of the robot 1 to operate sequentially in accordance with the operation content input to the input device 2. The controller 400 may perform control according to a manual operation program. In automatic operation, the controller 400 may control the components of the robot 1 to automatically, i.e., autonomously, perform a series of tasks corresponding to commands input to the input device 2. The controller 400 may perform control according to an automatic operation program corresponding to the tasks. In a combination of manual operation and automatic operation, the controller 400 may control the components of the robot 1 to appropriately perform operations sequentially in accordance with the operation content and operations that automatically execute a series of tasks, depending on the operation content and commands received from the input device 2. The controller 400 may perform control according to an operation program that combines an automatic operation program and a manual operation program, or may perform control sequentially in accordance with the automatic operation program and the manual operation program.

[0064] Some or all of the functions of the controller 400 may be executed by centralized control using a single computer, or may be executed by distributed control using cooperation between multiple computers.

[0065] [First Operation] An example of a first operation of the robot system A according to the embodiment will be described with reference to FIG. 6 . FIG. 6 is a flowchart showing an example of the first operation of the robot system A according to the present embodiment. FIGS. 7 to 17 are diagrams showing examples of states of the robot 1 included in the first operation. In the operation shown in FIG. 6 , the robot 1 automatically slides open the sliding door SD and passes through the sliding door SD. The sliding door SD illustrated here has a handle H located on the left side of the door main body SD1 and in the center in the vertical direction. The handle H is made of a cylindrical pipe. The handle H is arranged to protrude in a direction perpendicular to the surface of the door main body SD1. The opening direction of the sliding door SD is to the right.

[0066] In the following description, the operation of the first arm 200A is realized by the first to seventh joint drive devices MA1-MA7, the operation of the second arm 200B is realized by the first to seventh joint drive devices MB1-MB7, the operation of the first end effector 210 is realized by the first drive device 214, the operation of the second end effector 220 is realized by the second drive device 224, and the operation of the moving device 300 is realized by the first moving drive device 341 and the second moving drive device 342.

[0067] In step S101, the input device 2 receives a movement command to move through the sliding door SD. The input device 2 transmits the passage command and position information of the sliding door SD to the robot 1.

[0068] In step S102, the controller 400 starts an automatic driving program for the movement operation of the robot 1, and executes subsequent control of the robot 1 in accordance with the automatic driving program. The automatic driving program is, for example, a program that causes the robot 1 to move from a starting point to a destination. The sliding door SD is located between the starting point and the destination.

[0069] In step S103, the controller 400 operates the mobile device 300 to move the robot 1 toward the destination. The controller 400 operates the sensor 50 while the robot 1 is moving. The controller 400 stores in the memory 402 a map using point cloud data of the walls, ceiling, immovable obstacles, etc. of the space to be moved during or before the processing in step S101. The controller 400 compares the map with the point cloud data obtained from the detection results of the sensor 50 to identify obstacles. The controller 400 creates a path that avoids the identified obstacles and moves the robot 1 along the created path. Note that the controller 400 may use the results of image processing of image data acquired by the imaging device 40 instead of or in addition to the point cloud data.

[0070] In step S104, the controller 400 determines that the robot 1 has arrived in front of the sliding door SD. The controller 400 has stored information such as the position, shape, and size of the sliding door SD and the position, shape, and size of the handle H of the sliding door SD in the memory 402 during the process of step S101 or in advance. The controller 400 estimates the location of the robot 1 on the map based on the detection results of the sensor 50, and determines whether the robot 1 has arrived in front of the sliding door SD based on the coincidence rate between the position in front of the sliding door SD and the estimated position of the robot 1. The controller 400 may also determine that the robot 1 has arrived in front of the sliding door SD based on the processing results of image data acquired by the imaging device 40. The controller 400 may detect information related to the sliding door SD by image processing the image data acquired by the imaging device 40.

[0071] In step S105, the controller 400 determines a method for opening the sliding door SD. The controller 400 determines the position and orientation of the robot 1 relative to the sliding door SD when starting the opening operation of the sliding door SD, the opening direction of the sliding door SD, the end effector that grips the handle H, the position at which the end effector grips the handle H, and the position at which the end effector holds the sliding door SD. For example, the controller 400 determines that the opening direction of the sliding door SD is to the right, that the first end effector 210 of the first arm 200A closest to the handle H is used to grip the handle H, and that the second end effector 220 holds the sliding door SD. One or more of the above-described determination items may be stored in the memory 402 of the controller 400 during the process in step S101 or in advance.

[0072] In the subsequent control, the controller 400 operates the robot 1 while causing the sensor 50 to perform detection. The controller 400 adjusts the positions and postures of the first end effector 210 and the second end effector 220 using point cloud data based on the detection results of the sensor 50, as well as information on the map and the sliding door SD stored in the memory 402. Note that the controller 400 may operate the robot 1 by performing image processing on image data acquired by the imaging device 40. The following describes the case where the first arm 200A is a specific arm that comes into contact with the handle H.

[0073] In step S106, as shown in FIG. 7 , the controller 400 operates the moving device 300 to move the robot 1 so that it faces the sliding door SD. Specifically, the controller 400 moves the robot 1 so that the first arm 200A faces the handle H. The controller 400 moves the robot 1 closer to the sliding door SD until the distance between the robot 1 and the handle H is equal to or less than a predetermined distance. The predetermined distance is not particularly limited, but is, for example, 40 cm to 80 cm. As shown in FIG. 8 , immediately after the first arm 200A faces the handle H, the distance between the first holding portion 212 and the second holding portion 213 of the first end effector 210 is wider on the side closer to the handle H. Note that it is not essential that the first arm 200A faces the handle H.

[0074] In step S107, the controller 400 causes the arm 200 to move the end effector included in the arm 200 closest to the handle H so as to move the end effector closer to the handle H. In the example shown here, the controller 400 causes the first arm 200A to move the first end effector 210 so as to move the first end effector 210 closer to the handle H. As shown in FIG. 9 , the controller 400 causes the first arm 200A to move the first end effector 210 while closing the first end effector 210. Specifically, the controller 400 moves the first end effector 210 closer to the handle H and rotates the first holding portion 212 and the second holding portion 213 of the first end effector 210 so as to move them closer to each other. Note that it is not essential to move the end effector included in the arm 200 closest to the handle H. It is not essential to close the first end effector 210. The controller 400 may cause the first arm 200A to move the first end effector 210 without closing the first end effector 210.

[0075] In step S108, as shown in FIG. 10 , the controller 400 causes the first end effector 210 to grip the handle H. The controller 400 moves the first end effector 210 closer to the handle H than in the state shown in FIG. 9 , and rotates the first holding portion 212 and the second holding portion 213 of the first end effector 210 so that they approach each other. The controller 400 rotates the first end link 212c and the second end link 213c so that the first end link 212c and the second end link 213c enter between the door main body SD1 and the handle H and come into contact with the rear portion of the handle H. As shown in FIG. 11 , when the first end effector 210 grips the handle H, the robot 1 remains facing the sliding door SD. Note that it is not essential that the first end effector 210 grips the handle H. The controller 400 may simply bring the first end effector 210 into contact with the handle H without gripping the handle H.

[0076] In step S109, as shown in FIG. 12 , the controller 400 causes the first arm 200A to move the first end effector 210 so as to open the sliding door SD. As shown in FIG. 13 , with the robot 1 facing the sliding door SD, the controller 400 causes the first end effector 210 to push the handle H in the opening direction of the sliding door SD without moving the robot 1 using the moving device 300, thereby opening the sliding door SD to a predetermined position. Although not particularly limited, in this example, the predetermined position is a state in which the left end SD2 of the sliding door SD is positioned to the right of the second arm 200B, and the sliding door SD is fully opened. When opening the sliding door SD to a predetermined position, the controller 400 may cause the first arm 200A to translate the first end effector 210 while rotating the first end effector 210 about the handle H in the direction opposite to the opening direction. The rotation direction of the first end effector 210 is the direction indicated by an arrow R3 in Figures 12 and 13. The controller 400 may rotate the first end effector 210 using a rotation matrix such as the following Equation 1.

[0077]

[0078] In Equation 1, θ1 is the initial angle of the first end effector 210, and θ2 is the target angle of the first end effector 210. Note that it is not essential that movement by the moving device 300 is not involved. As long as the robot 1 is directly facing the open portion of the sliding door SD when the sliding door SD is opened, movement of the robot 1 by the moving device 300 may also be used when opening the sliding door SD. It is not essential that the first end effector 210 is rotated around the handle H. The controller 400 may translate the first end effector 210 without rotating it around the handle H.

[0079] The predetermined state does not have to be a state in which the sliding door SD is fully opened, as long as it is a state in which the sliding door SD is opened to a width greater than the width of the robot 1 in the left-right direction. The predetermined state may be defined based on the movable range of the first arm 200A, the loads on the first to seventh joint drive devices MA1-MA7 of the first arm 200A, or a combination thereof. For example, the predetermined state may be defined as a state in which the angle between the third link LA3 and the fourth link LA4 is 180° and the position of the first end effector 210 is located below the first link LA1. For example, the predetermined state may be a state in which the left end edge SD2 of the sliding door SD is located at or near the boundary between the range in which the first arm 200A can move the first end effector 210 and the range in which the first arm 200A cannot move the first end effector 210. For example, the predetermined state may be a state in which the loads on the first to seventh joint drive devices MA1 to MA7 of the first arm 200A are equal to or greater than a threshold value. The loads on the first to seventh joint drive devices MA1 to MA7 vary depending on, for example, the mass of the sliding door SD. Specifically, the loads on the first to seventh joint drive devices MA1 to MA7 increase as the mass of the sliding door SD increases.

[0080] In step S110, as shown in FIG. 14 , the controller 400 maintains the sliding door SD in a predetermined state using the second end effector 220. The controller 400 presses the second end effector 220 against the left end SD2 of the sliding door SD, which is the end opposite the opening direction of the sliding door SD in the predetermined state. The controller 400 causes the second arm 200B to move the second end effector 220 so as to maintain the predetermined state. The controller 400 causes the second end effector 220 to abut against the left end SD2 of the sliding door SD at a position lower than the first end effector 210 so that the second arm 200B and the first arm 200A do not come into contact with each other. Note that it is not essential to maintain the sliding door SD in the predetermined state using the second end effector 220.

[0081] 15 , in step S111, the controller 400 controls the first arm 200A to move the first end effector 210 so as to release the first end effector 210. The controller 400 controls the first arm 200A to move the first end effector 210 so as to release the grip of the first end effector 210 on the handle H and release the contact state between the first end effector 210 and the handle H. The controller 400 controls the second arm 200B to maintain the state in which the second end effector 220 is in contact with the sliding door SD.

[0082] In step S112, the controller 400 operates the moving device 300 to move the robot 1 forward so as to pass through the open sliding door SD.

[0083] 16 , in step S113, the controller 400 causes the second arm 200B to move the second end effector 220 so that the second end effector 220 holds the sliding door SD in an open state. The controller 400 causes the second arm 200B to move the second end effector 220 while keeping the sliding door SD in a predetermined state and preventing the position of the second end effector 220 from changing. While not particularly limited, for example, the controller 400 causes the second arm 200B to move the second end effector 220 so that the second end effector 220 moves at the same speed as the movement speed of the moving device 300 and in the opposite direction to the movement direction of the moving device 300. Note that it is not essential that the second end effector 220 holds the sliding door SD in an open state when the robot 1 moves.

[0084] In step S114, the controller 400 detects that the moving device 300 has passed through the sliding door SD. While not particularly limited, for example, the controller 400 may calculate the distance between the rear end position of the moving device 300 and the door body SD1 of the sliding door SD when the robot 1 faces the sliding door SD. The controller 400 may detect that the moving device 300 has passed through the sliding door SD when it detects that the moving device 300 has moved by the calculated distance.

[0085] In step S115, the controller 400 stops the movement of the second end effector 220 by the second arm 200B. Even during step S115, the controller 400 causes the moving device 300 to move the robot 1 forward. In step S115, the second end effector 220 releases its hold on the sliding door SD. As shown in FIG. 17 , the second arm 200B passes through the sliding door SD together with the second end effector 220.

[0086] In step S116, the controller 400 controls the moving device 300 to move the robot 1 until the robot 1 reaches the destination. The controller 400 may return the second arm 200B to the initial position, or may keep the movement of the second end effector 220 stopped in step S115.

[0087] [Operation and Effects of the Embodiment] The control method according to the embodiment includes moving the handle H in the direction of opening the sliding door SD while the robot 1 is facing the sliding door SD, causing the first arm 200A to move the first end effector 210 so as to open the sliding door SD, and causing the first arm 200A to move the first end effector 210 so as to release the contact between the first end effector 210 and the handle H while the sliding door SD is in the open state. When the sliding door SD is in the open state, the robot 1 is facing the open portion of the sliding door SD. By moving the robot 1 forward, the robot 1 can pass through the open sliding door SD. The control method allows the robot 1 to smoothly perform the operations from opening the sliding door SD to passing through.

[0088] The control method according to the embodiment causes the first end effector 210 of the first arm 200A that is closest to the handle H to come into contact with the handle H. This shortens the time it takes for the first end effector 210 to come into contact with the handle H. The control method allows the robot 1 to smoothly open the sliding door SD.

[0089] The control method according to the embodiment moves the robot 1 so that the first arm 200A faces the handle H. This simplifies the movement of the first arm 200A when the first end effector 210 contacts the handle H. The control method allows the robot 1 to smoothly open the sliding door SD.

[0090] In the embodiment, the first end effector 210 is a hand. The control method according to the embodiment causes the first end effector 210 to grip the handle H. When opening the sliding door SD, the first end effector 210 can easily maintain contact with the handle H. Furthermore, the sliding door SD is less likely to shake when opening the sliding door SD. Furthermore, the first end effector 210 can easily input force to the handle H. When the sliding door SD is a sliding door in which the load applied when changing from a closed state to an open state is greater than the load applied when moving the sliding door SD in an open state, it is advantageous for the first end effector 210 to grip the handle H. The control method allows the robot 1 to smoothly perform the operation of opening the sliding door SD.

[0091] In the control method according to the embodiment, when the first end effector 210 is moved toward the handle H, the first end effector 210 is moved while closing. Even if the gap between the door body SD1 of the sliding door SD and the handle H is small, the first end effector 210 can grip the handle H without coming into contact with the door body SD1. The control method allows the robot 1 to smoothly open the sliding door SD.

[0092] In the control method according to the embodiment, when opening the sliding door SD, the first end effector 210 is rotated around the handle H in the direction opposite to the opening direction while the first arm 200A is caused to translate the first end effector 210. This prevents the first arm 200A from getting too close to the main body 100. The control method allows the robot 1 to smoothly open the sliding door SD.

[0093] The control method according to the embodiment causes the second arm 200B to move the second end effector 220 so that the second end effector 220 holds the sliding door SD in an open state. This suppresses movement of the sliding door SD in the closing direction. The control method allows the robot 1 to smoothly pass through the sliding door SD.

[0094] In the control method according to the embodiment, the second end effector 220 holds the sliding door SD, and then the first end effector 210 releases contact with the handle H. Since movement of the sliding door SD in the closing direction is suppressed, the first end effector 210 can easily release contact with the handle H. The control method allows the robot 1 to smoothly pass through the sliding door SD.

[0095] In the control method according to the embodiment, when the robot 1 passes through the sliding door SD, the second arm 200B moves the second end effector 220 so that the second end effector 220 moves at the same speed as the movement speed of the robot 1 but in the opposite direction to the movement direction of the robot 1. The second end effector 220 maintains the position where the second end effector 220 holds the sliding door SD. The robot 1 can pass through the sliding door SD while the second end effector 220 inhibits the movement of the sliding door SD in the closing direction. The control method allows the robot 1 to smoothly pass through the sliding door SD.

[0096] [Modification] An example of the opening operation of the robot system A according to a modification will be described with reference to Fig. 18 . Fig. 18 is a flowchart showing an example of the opening operation of the robot system A according to this modification. Figs. 19 to 22 are plan views showing an example of the state of the robot 1 involved in the opening operation according to the modification. In the operation shown in Fig. 18 , the robot 1 automatically slides open the sliding door SD and passes through the sliding door SD. In this modification, it is assumed that the robot 1 is a robot in which the movable ranges of the first arm 200A and the second arm 200B are narrower than those shown in the above embodiment.

[0097] The processing of the controller 400 in steps S201 to S208 is the same as steps S101 to S108 in the above embodiment. As shown in FIG. 19 , the sliding door SD illustrated here has a wider range of movement than the first operation. In step S204, the controller 400 detects the size of the sliding door SD. In step S205, the controller 400 determines a method for opening the sliding door SD based on the size of the sliding door SD and the ranges of movement of the first arm 200A and the second arm 200B. The controller 400 determines, for example, whether to open the sliding door SD using both the first arm 200A and the second arm 200B, whether to open the sliding door SD to a first state using the first arm 200A, or whether to open the sliding door SD from the first state to a second state that is more open than the first state using the second arm 200B.

[0098] In step S209, the controller 400 opens the sliding door SD to the first state. In this example, the first state is the boundary of the range in which the first arm 200A cannot move the first end effector 210. As shown in FIG. 20 , in this example, in the first state, the left end SD2 of the sliding door SD is located to the left of the second arm 200B.

[0099] The first state may be defined based on the movable range of the first arm 200A, the loads of the first to seventh joint drive devices MB1-MB7 of the first arm 200A, or a combination thereof. In the first state, the left end SD2 of the sliding door SD does not necessarily have to be located to the left of the second arm 200B, and may be located to the right of the second arm 200B.

[0100] In step S210, the controller 400 rotates the second arm 200B to the left and presses the second end effector 220 against the left end SD2 of the sliding door SD.

[0101] In step S211, as shown in FIG. 21, the controller 400 moves the first arm 200A so as to release the first end effector 210 while the second arm 200B holds the sliding door SD in the first state.

[0102] In step S212, the controller 400 controls the second arm 200B to move the second end effector 220 so as to open the sliding door SD from the first state to the second state. As shown in FIG. 22 , the controller 400 controls the second arm 200B to move the second end effector 220 so as to push the left end SD2 of the sliding door SD in the opening direction. Although not particularly limited, in this example, the second state is a state in which the sliding door SD is opened to a width greater than the left-right width of the robot 1, i.e., a state in which the sliding door SD is opened to the maximum extent. As shown in FIG. 22 , in this example, in the second state, the left end SD2 of the sliding door SD is located to the right of the second arm 200B.

[0103] The second state does not have to be a state in which the sliding door SD is fully opened, as long as the sliding door SD is opened to an extent equal to or greater than the width of the robot 1 in the left-right direction. The second state may be defined based on the movable range of the second arm 200B, the loads on the first to seventh joint drive devices MB1-MB7 of the second arm 200B, or a combination thereof. For example, the second state may be defined as a state in which the angle between the third link LB3 and the fourth link LB4 is 180° and the second end effector 220 is positioned below the first link LB1.

[0104] The processing of the controller 400 in steps S213 to S217 is the same as that in steps S112 to S116 in the above embodiment. In step S214, the controller 400 controls the second arm 200B to move the second end effector 220 so that the position of the second end effector 220 does not change, while keeping the sliding door SD in the second state.

[0105] The control method according to the embodiment causes the second arm 200B to move the second end effector 220 so as to open the sliding door SD to a second state that is more open than the first state. Even if the movable range of the first arm 200A is narrow or the mass of the sliding door SD is large and the load on the arm 200 is relatively large, the robot 1 can smoothly open the sliding door SD. The control method allows the robot 1 to smoothly perform operations from opening the sliding door SD to passing through it.

[0106] Other Embodiments After the first end effector 210 comes into contact with the handle H, the robot 1 may move so as to face the sliding door SD.

[0107] The first end effector 210 does not have to grip the handle H. The first end effector 210 only needs to be in contact with the handle H so that the handle H is located between the first holding portion 212 and the second holding portion 213.

[0108] The sliding door SD may be a door that is not biased to return to the closed state when in the open state. In this case, the first arm 200A may move to release the first end effector 210 without waiting for the second arm 200B to hold the sliding door SD.

[0109] The sliding door SD may be a door that is biased from the open state to return to the closed state. In this case, it may be essential that the second end effector 220 be pressed against the left end SD2 of the sliding door SD and that the second end effector 220 hold the sliding door SD in the open state.

[0110] The second arm 200B may hold the sliding door SD in a predetermined state or the first state by the second end effector 220 gripping the handle H. Furthermore, the second arm 200B may open the sliding door SD from the first state to the second state by moving the second end effector 220 in the opening direction while the second end effector 220 grips the handle H.

[0111] After the robot 1 and the sliding door SD face each other, the second end effector 220 of the second arm 200B, which is relatively farther away, may grip the handle H. Alternatively, the second end effector 220 may be moved to the second arm 200B so as to pull the handle H in the direction of opening the sliding door SD, thereby opening the sliding door SD. In other words, the second arm 200B may correspond to the specific arm.

[0112] The robot 1 is used as a robot for providing services to people, but may also be used for other purposes. For example, the robot 1 may be used for work in factories, warehouses, etc.

[0113] The main body 100 may have a structure that allows the arm 200 to be raised and lowered in the vertical direction. The main body 100 may have a structure that allows the display 61 to be raised and lowered in the vertical direction. The main body 100 may have a configuration that allows the main body 100 itself to be raised and lowered in the vertical direction.

[0114] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0115] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0116] (Aspect 1) Moving a robot (1) so as to face a sliding door (SD); causing a specific arm (200A, 200B), which is one of at least two arms (200) provided on the robot (1), to move the end effector (210, 220) toward a handle (H) provided on the sliding door (SD) so that the end effector (210, 220) included in the specific arm (200A, 200B) comes into contact with the handle (H) provided on the sliding door (SD); and, while keeping the robot (1) facing the sliding door (SD), moving the handle (H) in the opening direction of the sliding door (SD), causing the specific arm (200A, 200B) to move the end effector (210, 220) so as to open the sliding door (SD). and causing the specific arm (200A, 200B) to move the end effector (210, 220) so as to release the contact between the end effector (210, 220) and the handle (H) while the sliding door (SD) is open.

[0117] When the sliding door (SD) is opened, the robot (1) faces the open part of the sliding door (SD). By moving the robot (1) forward, the robot (1) can pass through the open sliding door (SD). The control method allows the robot (1) to smoothly open the sliding door (SD) and pass through it.

[0118] (Aspect 2) The robot control method according to aspect 1, wherein the specific arm (200A) is the arm (200A) closest to the handle (H) among the at least two arms (200).

[0119] The time required for the end effector (210) to come into contact with the handle (H) can be shortened. The control method allows the robot (1) to smoothly open the sliding door (SD).

[0120] (Aspect 3) The method for controlling a robot (1) according to aspect 2, wherein when moving the robot (1), the robot (1) is moved so that the specific arm (200A) faces the handle (H).

[0121] The distance between the end effector (210) and the handle (H) is shortened. The movement of the specific arm (200A) when contacting the end effector (210) with the handle (H) is simplified. The control method allows the robot (1) to smoothly open the sliding door (SD).

[0122] (Aspect 4) The method for controlling the robot 1 according to any one of Aspects 1 to 3, wherein the end effector (210, 220) is a hand, and when the end effector (210, 220) is brought into contact with the handle (H), the end effector (210, 220) is made to grip the handle (H).

[0123] When opening the sliding door (SD), the end effector (210, 220) can easily maintain contact with the handle (H). Also, when opening the sliding door (SD), the sliding door (SD) is less likely to shake. The control method allows the robot (1) to smoothly open the sliding door (SD).

[0124] (Aspect 5) The method for controlling the robot (1) according to Aspect 4, wherein when the end effectors (210, 220) are moved toward the handle (H), the end effectors (210, 220) are moved while closing, causing the end effector (210) to grip the handle (H).

[0125] Even if the gap between the door body (SD1) of the sliding door (SD) and the handle (H) is small, the end effector (210, 220) can grip the handle (H) without coming into contact with the door body (SD1). The control method allows the robot (1) to smoothly open the sliding door (SD).

[0126] (Aspect 6) The method for controlling the robot (1) according to Aspect 4 or 5, wherein when opening the sliding door (SD), the end effector (210, 220) is rotated around the handle (H) in a direction opposite to the opening direction while the specific arm (200A, 200B) translates the end effector (210, 220).

[0127] The specific arm (200A) can be prevented from coming too close to the main body (100). The control method can allow the robot (1) to smoothly open the sliding door (SD).

[0128] (Aspect 7) The method for controlling a robot (1) according to any one of Aspects 2 to 6, wherein the arm (200) includes a first arm (200A) as the specific arm having the first end effector (210) and a second arm (200B) separate from the first arm (200A), and includes, after opening the sliding door (SD), causing the second arm (200B) to move the second end effector (220) so that the second end effector (220) included in the second arm (200B) abuts against the sliding door (SD) in an open state and holds the sliding door (SD) in an open state, and when releasing the contact state between the first end effector (210) and the handle (H), causing the first arm (200A) to move the first end effector (210) in a state in which the second end effector (220) abuts against the sliding door (SD).

[0129] Since the second end effector (220) suppresses the movement of the sliding door (SD) in the closing direction, the first end effector (210) can easily release the contact state with the handle (H). This control method allows the robot (1) to smoothly pass through the sliding door (SD).

[0130] (Aspect 8) A method for controlling a robot (1) according to Aspect 7, comprising: moving the robot (1) so that the robot (1) passes through the sliding door (SD) in an open state; and causing the second arm (200B) to move the second end effector (220) so that the second end effector (220) holds the sliding door (SD) in an open state when the robot (1) passes through the sliding door (SD).

[0131] The robot (1) can pass through the sliding door (SD) while the second end effector (220) is restraining the movement of the sliding door (SD) in the closing direction. The control method allows the robot (1) to smoothly pass through the sliding door (SD).

[0132] (Aspect 9) The method for controlling a robot (1) according to Aspect 8, wherein when the robot (1) passes through the sliding door (SD), the second arm (200B) is caused to move the second end effector (220) so that the second end effector (220) moves at the same speed as the movement speed of the robot (1) and in a direction opposite to the movement direction of the robot (1).

[0133] The second end effector (220) maintains the position where the second end effector (220) holds the sliding door (SD). The robot (1) can pass through the sliding door (SD) while the second end effector (220) prevents the sliding door (SD) from moving in the closing direction. The control method allows the robot (1) to smoothly pass through the sliding door (SD).

[0134] (Aspect 10) A control method for a robot (1) according to any one of Aspects 7 to 9, comprising: when opening the sliding door (SD) by the first arm (200A), causing the first arm (200A) to move the first end effector (210) so as to open the sliding door (SD) to a first state; and causing the second arm (200B) to move the second end effector (220) so as to move the sliding door (SD) in the opening direction after releasing contact between the first end effector (210) and the handle (H) and thereby open the sliding door (SD) to a second state that is more open than the first state.

[0135] The robot (1) can smoothly open the sliding door (SD) even if the movable range of the first arm (200A) is wide or the mass of the sliding door (SD) is large and the load on the arm (200) is relatively large. The control method allows the robot (1) to smoothly perform the operations from opening the sliding door (SD) to passing through it.

[0136] (Aspect 11) A robot (1) comprising: a controller (400) that executes the control method described in any one of aspects 1 to 10; a first arm (200A); a second arm (200B) separate from the first arm (200A); a first end effector (210) included in the first arm (200A); a second end effector (220) included in the second arm (200B); a main body (100) that carries the first arm (200A) and the second arm (200B); and a moving device (300) that moves the main body (100).

[0137] REFERENCE SIGNS LIST 1 Robot 200 Arm 210 First end effector 220 Second end effector 200A First arm 200B Second arm 300 Moving device 400 Controller H Handle SD Sliding door

Claims

1. A method for controlling a robot, comprising: moving a robot so as to face a sliding door; causing a specific arm, which is one of at least two arms equipped on the robot, to move an end effector included in the specific arm toward a handle equipped on the sliding door so that the end effector comes into contact with the handle; while the robot is facing the sliding door, moving the handle in the direction of opening the sliding door, thereby moving the end effector on the specific arm so as to open the sliding door; and while the sliding door is open, moving the end effector on the specific arm so as to release the contact between the end effector and the handle.

2. A method for controlling a robot according to claim 1, wherein the specific arm is the arm closest to the handle out of the at least two arms.

3. A method for controlling a robot according to claim 2, wherein when the robot is moved, the robot is moved so that the specific arm faces the handle directly.

4. A method for controlling a robot according to any one of claims 1 to 3, wherein the end effector is a hand, and when the end effector is brought into contact with the handle, the end effector is made to grasp the handle.

5. A method for controlling a robot according to claim 4, wherein when the end effector is moved towards the handle, the end effector is moved while closing, causing the end effector to grasp the handle.

6. A method for controlling a robot according to claim 4 or 5, wherein, when the sliding door is opened, the end effector is rotated around the handle in the direction opposite to the opening direction while the specific arm is caused to translate the end effector.

7. A method for controlling a robot as set forth in any one of claims 2 to 6, wherein the arm includes a first arm as the specific arm having the first end effector, and a second arm separate from the first arm, and includes, after opening the sliding door, moving the second end effector included in the second arm to abut against the sliding door in an open state and hold the sliding door in an open state, and when releasing the contact between the first end effector and the handle, moving the first end effector on the first arm with the second end effector abutting against the sliding door.

8. A method for controlling a robot as set forth in claim 7, comprising: moving the robot so that the robot passes through the sliding door in an open state; and moving the second end effector on the second arm so that the second end effector holds the sliding door in an open state when the robot passes through the sliding door.

9. A method for controlling a robot according to claim 8, wherein when the robot passes through the sliding door, the second arm is caused to move the second end effector so that the second end effector moves at the same speed as the movement speed of the robot and in the opposite direction to the movement direction of the robot.

10. A method for controlling a robot according to any one of claims 7 to 9, comprising: when opening the sliding door with the first arm, moving the first end effector on the first arm so as to open the sliding door to a first state; and, after releasing the contact between the first end effector and the handle, moving the sliding door in the opening direction and opening the sliding door to a second state that is more open than the first state, moving the second end effector on the second arm.

11. A robot comprising: a controller that executes the control method of any one of claims 1 to 10; a first arm; a second arm separate from the first arm; a first end effector included in the first arm; a second end effector included in the second arm; a main body that carries the first arm and the second arm; and a movement device that moves the main body.

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