Management server, remote operation system, remote operation method, and storage medium
A management server according to an embodiment includes a communication part, an acquisition part, an intention estimation part, and a motion control part. The communication part communicates with one or more robot devices and one or more operation terminals that remotely operate at least one of the one or more robot devices via a network. The acquisition part acquires an operation content inputted by the operation terminal. The intention estimation part estimates an intention of an operator of the operation terminal based on the operation content acquired by the acquisition part. The motion control part controls a motion of the robot device based on an intention result estimated by the intention estimation part.
1 . A management server comprising:
a communication transceiver which communicates with one or more robot devices and one or more operation terminals that remotely operate at least one of the one or more robot devices via a network; and
a processor configured to:
acquire an operation content inputted by the operation terminal and robot control information related to a motion of the robot device and sensor information detected by a sensor provided in the robot device;
estimate an intention of an operator of the operation terminal based on the operation content, and update intention estimation information, wherein the intention includes an intention that the operator makes the one or more robot devices to perform actions and predictions of the actions;
generate motion control information for causing the target robot device among the one or more robot devices to move based on an intention result and the updated intention estimation information, so as to control the motion of the target robot device; and
set different access rights to a first storage part and a second storage part wherein the first storage part stores the robot control information and the intention estimation and the second storage part stores user-specific sensor information so as to be capable of acquiring any of the robot control information and the user-specific sensor information when the set access right is confirmed, wherein the robot control information is control information for moving the robot device.
2 . The management server according to claim 1 , wherein the processor is further configured to make a strength of the access right of the user-specific sensor information greater than a strength of the access right of the robot control information.
3 . The management server according to claim 1 , wherein when the processor is controlling a motion of one robot device based on operation contents acquired from a plurality of operation terminals, the processor is configured to generate motion control information of the robot device based on a priority of the operator who operates the operation terminal.
4 . The management server according to claim 3 , wherein
when a same or similar operation contents are acquired from the plurality of operation terminals by the processor, the processor is further configured to control a motion of the robot device by prioritizing an operation content from an operator having a high priority.
5 . The management server according to claim 3 , wherein the processor is further configured to
estimate an intention of each of the operators of a plurality of operation terminals operating the one robot device, and
output an intention estimation result of each of the operators to each of the plurality of operation terminals.
6 . A remote operation system comprising:
the management server according to claim 1 ;
the one or more robot devices; and
the one or more operation terminals.
7 . The management server of claim 1 , the processor is further configured to:
acquire another operation content inputted by a second operation terminal and robot control information related to a second motion of the robot device and sensor information detected by the sensor provided in the robot device,
estimate a second intention of the second operator of the second operation terminal based on the second operation content and update a second intention estimation information, wherein the second intention includes an intention that the second operator makes the target robot of the one or more robot devices to perform a second action,
in response to the first intention not being in conflict with the second intention, generate a second motion control information for causing a second component of the target robot device to move based on the second intention estimated from the second operator and the updated intention estimation information so as to control the motion of the second component of the target robot device, and
in response to the first intention being in conflict with the second intention, causing the second component of the target robot device to move and not the first component of the target robot device as the second operator has a higher priority in the different access rights than the first operator.
8 . A remote operation method, wherein a computer
communicates with one or more robot devices and one or more operation terminals which remotely operate at least one of the one or more robot devices via a network,
acquires an operation content inputted by the operation terminal and robot control information related to a motion of the robot device and sensor information detected by a sensor provided in the robot device,
estimates an intention of an operator of the operation terminal based on the acquired operation content, and updates intention estimation information, wherein the intention includes an intention that the operator makes the robot devices to perform actions and predictions of the actions,
generates motion control information for causing a target robot device among the robot devices to move based on an estimated intention result and the updated intention estimation information, so as to control a motion of the target robot device, sets different access rights to a first storage part and a second storage part wherein the first storage part stores the robot control information and the intention estimation and the second storage part stores user-specific sensor information so as to be capable of acquiring any of the robot control information and the user-specific sensor information when the set access right is confirmed, wherein the robot control information is control information for moving the robot device.
9 . A non-transitory computer readable storage medium, storing a program causing a computer to
communicate with one or more robot devices and one or more operation terminals which remotely operate at least one of the one or more robot devices via a network,
acquire an operation content inputted by the operation terminal and robot control information related to a motion of the robot device and sensor information detected by a sensor provided in the robot device,
estimate an intention of an operator of the operation terminal based on the acquired operation content, and updates intention estimation information, wherein the intention includes an intention that the operator makes the robot devices to perform actions and predictions of the actions,
generates motion control information for causing a target robot device among the robot devices to move based on an estimated intention result and the updated intention estimation information, so as to control a motion of the target robot device, and
sets different access rights to a first storage part and a second storage part wherein the first storage part stores the robot control information and the intention estimation, and the second storage part stores user-specific sensor information so as to be capable of acquiring any of the robot control information and the user-specific sensor information when the set access right is confirmed, wherein the robot control information is control information for moving the robot device.