JPH04239302A - Robot information processor - Google Patents

Abstract

PURPOSE:To add and change the programs for each function module by attaining a constitution where each function module autonomously process the information based on the input of the processing object and inputting the processing result to the next function module so as to control a robot. CONSTITUTION:A program is previously loaded to manipulate a robot arm 20 in accordance with the processing object based on the information that enables a motion control agent 14 to communicate with a visual sensor agent 11, a force sensor agent 12, and a reaction detection agent 13 respectively. Then the agent 14 instructs the arm 20 to move up to the prescribed height and then to move the arm 20 to a point above a prescribed position in order to mount a disk 22 put into a pole 21 in a three-dimensional space. In this connection, the agent 14 instructs the agent 11 to perform its control and to start its movement. Thus the programs can be added and changed for each function module.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot, and more particularly to an information processing device thereof.

0002

2. Description of the Related Art Conventional robots have control functions that are combined as necessary in a single processing mechanism or in a plurality of processing mechanisms.

0003

[Problems to be Solved by the Invention] In the conventional robots described above, the control functions are configured in a single processing mechanism or in combination in a plurality of processing mechanisms.
The drawbacks are that it is difficult to change, lacks flexibility in design, and is limited in terms of application.

[0004] An object of the present invention is to facilitate the design of robot work and to facilitate the addition of each function by functionally modularizing the control functions so that each function of the robot performs independent and autonomous information processing. It is an object of the present invention to provide a robot information processing device that is easy to change.

[0005]

[Means for Solving the Problems] The robot information processing device of the present invention is configured independently for each specialized function of robot operation, and autonomously processes information based on the input for processing purpose. It has a plurality of functional modules that output corresponding processing results, and communication means between the plurality of functional modules.

[0006]

[Operation] When each functional module receives an input for processing purposes via a communication means, it processes and makes a judgment based on the input using a uniquely set program, outputs the processing results, and uses the communication means. Since the input is sent to the next function module through the
and can be added or changed.

[0007]

Embodiments Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram showing a group of functional modules of a robot information processing device of the present invention and the flow of information between the functional modules, and FIG. 2 is a block diagram of an embodiment of the robot information processing device of the present invention. be.

The robot information processing device of the present invention includes a perceptual system 1 and a state identification system 2 as functional modules.
, a logical model configuration system 3, a data representation system 4, an execution result evaluation system 5, an action planning system 6, a movement planning system 7-1,
It has a tool planning system 7-2, a motion control system 8-1, a tool control system 8-2, a monitoring system 9, and an external interface system 10.

The perceptual system 1 uses sensors to detect the physical state of the object to be operated by the robot and the related external environment, and takes in the data as information to be subjected to computer processing.

The state identification system 2 processes the information obtained from the perceptual system 1 in order to reflect it in the robot's behavior, and generates an external geometric model and a description of the dynamic state.

[0012] The logical model construction system 3 generates a logical description while referring to the external geometric model and the description of the dynamic state generated by the state identification system 2, as well as knowledge regarding the work to be performed by the robot. generate.

The action planning system 6 generates a robot action program in a high-level language centered on user operations while referring to the logical model generated by the logical model generating system 3. The motor planning system 7-1 develops the high-level verbal action program generated by the action planning system 6 into a sequence of actions that is a low-level action program for motor control.

The tool planning system 7-2 develops the action program into an action sequence for tool control.

The motion control system 8-1 translates the motion sequence produced by the motion planning system 7-1 into an actual motion trajectory and controls the motion of effector systems such as hands and manipulators that execute the actual work that is the purpose of the robot's motion. do.

The tool control system 8-2 controls the movement of the tool by translating the motion sequence produced by the tool planning system 7-2 into an actual movement trajectory of the tool.

The execution result evaluation system 5 monitors the operation of each functional module at its basic element operation level and guarantees the sufficiency of the program execution specifications.

The data representation system 4 is a system that collectively holds information, model expressions, rules, etc. referenced by each functional block, and is structured according to the functional blocks each referenced. That is, the perceptual system 1 continues to record, in real time, the position data of the work object, the force data generated during the work, the pixel data from the image sensor, etc. in the data representation system 4. The state identification system 2 processes the data to generate a geometric model, and writes the results into the data representation system 4. This geometric model is updated when updates from the perceptual system 1 are performed. The logical model construction system 3 similarly creates an external logical description on this data representation system 4.

The monitoring system 9 monitors abnormalities within the robot.

The external interface system 10 is in charge of an interface with an external information network other than the robot and a human interface.

[0021] These functional modules may be configured as individual functional modules or a plurality of functional modules may be combined into one module.

The robot shown in FIG. 2 performs the task of taking out a disk 22 inserted into a pole 21 in a three-dimensional space, and a functional module (hereinafter referred to as an agent) has a visual sensor agent 11 and a force It has a sensor agent 12, a reaction force detection agent 13, and a movement control agent 14, and also includes a visual sensor object 15, a force sensor object 16, and a reaction force sensor object in the data holding system corresponding to the data representation system 4 shown in FIG. Force determination event object 17, camera 24, camera image processing device 18, force sensor 19, and robot arm 2
0 and a hand 23. The object referred to here means the data structure shown in "Object-oriented" edited by Norihisa Suzuki, and will be explained below in terms of object-oriented.

The visual sensor agent 11 is composed of a camera 24 as a perceptual system 1 and a camera image processing device 18 corresponding to a state identification system 2, and obtains two-dimensional position information of the pole 21 in the work space via the camera 24. is obtained and the result is stored in an instance variable of a data structure defined as the visual sensor object 15.

The force sensor agent 12 corresponds to the state recognition system 2 shown in FIG. 1 and is attached to the tip of the robot arm 20. The force sensor 19 corresponds to the perception system 1 shown in FIG.
is controlled to obtain reaction force perception information applied to the hand 23 provided at the end of the robot arm 20, and the result is stored in an instance variable of the force sensor object 16. The reaction force detection agent 13 inspects the value of the force sensor object 16 and compares it with the reaction force conditions stored in advance based on the value, and if it is determined that the condition is met, the reaction force determination event object 17 is generated. This is an agent corresponding to the logical model configuration system 3 shown in FIG.

The motion control agent 14 includes an action planning system 6, a motion planning system 7-1, a tool planning system 7-2, and
It has a function that integrates the control of the movement system including the movement control system 8-1 and the tool control system 8-2, and issues commands to the robot arm 20 and hand 23 to execute movement programs.

Next, the operation of this embodiment will be explained.

First, the work commander instructs the motion control agent 14 to move the robot arm 20 in accordance with the processing purpose based on information obtained by communicating with the visual sensor agent 11, force sensor agent 12, and reaction force detection agent 13. Load the program.

Thereafter, by instructing the start of processing, the motion control agent 14 controls the visual sensor agent 1.
The hand 23 is moved so as to be located above the pole 21, with the current position of the pole 21 as a target based on the data of the visual sensor object 15 generated by the hand 23. Next, request the reaction force detection agent 13 to detect an upward reaction force,
Lower the robot arm 20. In order to detect a reaction force, the reaction force detection agent 13 requests the force sensor agent 12 to start acquiring information, and monitors the occurrence of an upward reaction force. When the tip of the hand 23 of the robot arm 20 contacts the disk 22 and an upward reaction force is generated, the force sensor agent 12 detects the reaction force based on the value of the force sensor object 16 that is continuously updated. 13
detects an upward reaction force, and the reaction force judgment event object 1
The event is sent out via 7. This event is sent to the motion control agent 14, and the motion control agent 1
4, the lowering of the robot arm is stopped and the hand 23
will be opened.

Thereafter, the motion control agent 14 requests the reaction force detection agent 13 to detect a reaction force regarding grasping the hand 23, and monitors the occurrence of a reaction force for grasping the hand 23. Hereinafter, similarly to the above, the force sensor agent 12
The disc 22 is grasped through acquisition of information, updating of the value of the force sensor object 16, determination of grasping progress by the reaction force detection agent 13, and stopping of grasping progress by sending an event.

Next, the motion control agent 14 instructs the robot arm 20 to rise to a predetermined height, and then visually controls the movement of the robot arm 20 to a predetermined position above in order to place the disk 22 thereon. sensor agent 11
Requests control of the robot and instructs it to start moving. Furthermore, regarding the upward movement of the predetermined position, the lowering of the hand 23 from that position to the predetermined position, and the release of the disc 22,
An operation similar to the above is performed.

[0031]

[Effects of the Invention] As explained above, in the present invention, each functional module autonomously processes information based on the input of the processing purpose, and the robot's operation is controlled by inputting the results to the next functional module. Therefore, it becomes possible to add and change programs for each functional module, which facilitates design and allows for diversification of the robot's uses.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing a functional module group and information flow of a robot information processing device according to the present invention.

FIG. 2 is a block diagram of an embodiment of the robot information processing device of the present invention.

[Explanation of symbols]

1 Perception system 2 State identification system 3 Logical model construction system 4 Data representation system 5 Execution result evaluation system 6 Action planning system 7-1 Movement planning system 7-2 Tool planning system 8-1 Movement control system 8-2 Tool control system 9 Monitoring system 10 External interface system 11 Visual sensor agent 12 Force sensor agent 13 Reaction force detection agent 14 Motion control agent 15 Visual sensor object 16 Force sensor object 17 Reaction force determination event object 18
Camera image processing device 19 Force sensor 20 Robot arm 21 Pole 22 Disk 23 Hand 24 Camera

Claims (1)

[Claims] Claim 1: In an information processing device for a robot that is equipped with a sensor and performs a predetermined task based on the information, the information processing device is configured independently for each specialized function of the robot's operation, and is configured based on the input of the processing purpose. 1. A robot information processing device comprising: a plurality of functional modules that autonomously perform information processing and output processing results corresponding to input; and communication means between the plurality of functional modules.