CN-114675634-B - Robot control system, robot control method, and storage medium

Abstract

The present disclosure relates to a robot control system, a robot control method, and a storage medium. The robot control system according to the present embodiment is a robot control system for controlling a mobile robot that is autonomously movable within a facility. The system performs acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot, setting an upper limit of an operation intensity of the mobile robot according to the attribute information, and controlling an operation of the mobile robot according to the upper limit.

Inventors

• Ping Zheye
• ONUMA YUJI
• ODA SHIRO
• Feng Daolong
• WATANABE YUKO
• SONG JINGYI
• Naya Takayoshi
• JI CHUANHUI
• OHTA YUSUKE
• ISHIDA YUTARO

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260512

Application Date

20211221

Priority Date

20201224

Claims (3)

1. 1. A robot control system for controlling a mobile robot autonomously movable within a medical benefit facility, the robot control system performing: Acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot; setting an upper limit of an operation intensity of the mobile robot based on the attribute information, and Controlling the operation of the mobile robot according to the upper limit; Wherein the upper limit of the operation intensity is a speed upper limit of a moving speed of the mobile robot; Wherein the travel area is photographed by a camera, wherein the camera includes an environmental camera provided in the medical benefit facility and a robot camera mounted on the mobile robot, and Acquiring the attribute information based on an image of the camera; wherein the robot control system further performs: Judging whether the person wears uniforms according to the analysis result of the image, setting the person wearing the uniforms as a medical staff, and setting the person not wearing the uniforms as a general user, thereby acquiring the attribute information; Classifying the attribute information of the general user as old people or children by estimating the age of the general user; Determining whether the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair according to the analysis result of the image, and setting the general user to acquire the attribute information for a person having difficulty in walking in the case that the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair; the robot control system further performs: Dividing the medical benefit facility into a plurality of areas in advance, and setting the upper speed limit for each area, wherein the upper speed limit in a staff exclusive area which only allows the medical staff to enter is higher than the upper speed limit in an area which the general user can enter; lowering the upper speed limit at the detection point when the person, the elderly person, or the child having difficulty walking is detected at the detection point; restoring the upper speed limit at the detection point to an initial value when the person having difficulty in walking, the elderly person, or the child has moved out of the detection point; at an intersection or a corner, when a blind spot area of the robot camera is formed in the traveling area in front of the traveling direction of the mobile robot, the attribute information of the person in the blind spot area is acquired based on an image of the environmental camera installed at the intersection or the corner, and an upper speed limit of the mobile robot is set in advance before the mobile robot reaches the blind spot area.
2. 2. A robot control method for controlling a mobile robot autonomously movable within a medical benefit facility, the robot control method comprising: Acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot; setting an upper limit of an operation intensity of the mobile robot based on the attribute information, and Controlling the operation of the mobile robot according to the upper limit; Wherein the upper limit of the operation intensity is a speed upper limit of a moving speed of the mobile robot; wherein the travel area is photographed by a camera, wherein the camera includes an environmental camera provided in the medical benefit facility and a robot camera mounted on the mobile robot, and Acquiring the attribute information based on an image of the camera; the robot control method comprises the following steps: Judging whether the person wears uniforms according to the analysis result of the image, setting the person wearing the uniforms as a medical staff, and setting the person not wearing the uniforms as a general user, thereby acquiring the attribute information; Classifying the attribute information of the general user as old people or children by estimating the age of the general user; Determining whether the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair according to the analysis result of the image, and setting the general user to acquire the attribute information for a person having difficulty in walking in the case that the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair; the robot control method further includes: Dividing the medical benefit facility into a plurality of areas in advance, and setting the upper speed limit for each area, wherein the upper speed limit in a staff exclusive area which only allows the medical staff to enter is higher than the upper speed limit in an area which the general user can enter; lowering the upper speed limit at the detection point when the person, the elderly person, or the child having difficulty walking is detected at the detection point; restoring the upper speed limit at the detection point to an initial value when the person having difficulty in walking, the elderly person, or the child has moved out of the detection point; the robot control method further includes: at an intersection or a corner, when a blind spot area of the robot camera is formed in the traveling area in front of the traveling direction of the mobile robot, the attribute information of the person in the blind spot area is acquired based on an image of the environmental camera installed at the intersection or the corner, and an upper speed limit of the mobile robot is set in advance before the mobile robot reaches the blind spot area.
3. 3. A storage medium storing a program that causes a computer to execute a robot control method for controlling a mobile robot that is autonomously movable within a medical benefit facility, the robot control method comprising: Acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot; setting an upper limit of an operation intensity of the mobile robot based on the attribute information, and Controlling the operation of the mobile robot according to the upper limit; Wherein the upper limit of the operation intensity is an upper limit of a moving speed of the mobile robot Wherein the travel area is photographed by a camera, wherein the camera includes an environmental camera provided in the medical benefit facility and a robot camera mounted on the mobile robot, and Acquiring the attribute information based on an image of the camera; the robot control method comprises the following steps: Judging whether the person wears uniforms according to the analysis result of the image, setting the person wearing the uniforms as a medical staff, and setting the person not wearing the uniforms as a general user, thereby acquiring the attribute information; Classifying the attribute information of the general user as old people or children by estimating the age of the general user; Determining whether the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair according to the analysis result of the image, and setting the general user to acquire the attribute information for a person having difficulty in walking in the case that the general user uses a cane, a crutch, a walker, a plaster bandage, an infusion support, or a wheelchair; the robot control method further includes: Dividing the medical benefit facility into a plurality of areas in advance, and setting the upper speed limit for each area, wherein the upper speed limit in a staff exclusive area which only allows the medical staff to enter is higher than the upper speed limit in an area which the general user can enter; lowering the upper speed limit at the detection point when the person, the elderly person, or the child having difficulty walking is detected at the detection point; restoring the upper speed limit at the detection point to an initial value when the person having difficulty in walking, the elderly person, or the child has moved out of the detection point; the robot control method further includes: at an intersection or a corner, when a blind spot area of the robot camera is formed in the traveling area in front of the traveling direction of the mobile robot, the attribute information of the person in the blind spot area is acquired based on an image of the environmental camera installed at the intersection or the corner, and an upper speed limit of the mobile robot is set in advance before the mobile robot reaches the blind spot area.

Description

Robot control system, robot control method, and storage medium Technical Field The present disclosure relates to a robot control system, a robot control method, and a storage medium. Background Japanese unexamined patent application publication No. 9-267276 discloses a delivery robot system that moves in a medical welfare facility. Disclosure of Invention In such a delivery robot system, it is desirable to appropriately control the robot. The present disclosure made to meet such a desire provides a robot control system, a robot control method, and a storage medium capable of achieving appropriate control of a robot. The robot control system according to the present embodiment is a robot control system for controlling a mobile robot that is autonomously movable within a facility. The system performs acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot, setting an upper limit of an operation intensity of the mobile robot according to the attribute information, and controlling an operation of the mobile robot according to the upper limit. In the control system, the upper limit of the operation intensity may be an upper speed limit of a moving speed of the mobile robot. In the control system, the travel area may be photographed by a camera, and the attribute information may be acquired based on the image of the camera. In the control system, the camera may be an environmental camera provided in the facility. In the control system, the camera may be a robot camera mounted on the mobile robot. In the control system, the facility may be a medical benefit facility, and the attribute information may include information indicating whether the person is a medical staff member. In the control system, the attribute information may include information indicating whether the person is a sound person or a disabled person. In the control system, the attribute information may include information about age. The robot control method according to the present embodiment is a robot control method for controlling a mobile robot that is autonomously movable within a facility. The method includes acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot, setting an upper limit of an operation intensity of the mobile robot according to the attribute information, and controlling an operation of the mobile robot according to the upper limit. In the control method, the upper limit of the operation intensity may be an upper speed limit of a moving speed of the mobile robot. In the control method, the travel area may be photographed by a camera, and the attribute information may be acquired based on the image of the camera. In the control method, the camera may be an environmental camera provided in the facility. In the control method, the camera may be a robot camera mounted on the mobile robot. In the control method, the facility may be a medical benefit facility, and the attribute information may include information indicating whether the person is a medical staff member. In the control method, the attribute information may include information indicating whether the person is a sound person or a disabled person. In the control method, the attribute information may include information about age. The storage medium according to the present embodiment is a storage medium storing a program that causes a computer to execute a robot control method for controlling a mobile robot that is autonomously movable within a facility. The robot control method includes acquiring attribute information about a person present in a traveling area ahead in a traveling direction of the mobile robot, setting an upper limit of an operation intensity of the mobile robot according to the attribute information, and controlling an operation of the mobile robot according to the upper limit. In the storage medium, the upper limit of the operation intensity may be an upper speed limit of a moving speed of the mobile robot. In the storage medium, the travel area may be photographed by a camera, and the attribute information may be acquired based on the image of the camera. In the storage medium, the camera may be an environmental camera provided in the facility. In the storage medium, the camera may be a robot camera mounted on the mobile robot. In the storage medium, the facility may be a medical benefit facility, and the attribute information may include information indicating whether the person is a medical staff member. In the storage medium, the attribute information may include information indicating whether the person is a sound person or a disabled person. In the storage medium, the attribute information may include information about age. According to the present invention, a robot control system, a robot control method, and a storage medium capable of realizing appropriate control of a mobile robot can be provided. Drawi