JP3364237B2 - Distributed work robot system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is designed to disassemble and inspect various plants in a bad environment, and particularly to perform a work requiring a plurality of people on behalf of a plurality of people having different functions. The present invention relates to a distributed work robot system realized by combining two robots.

[0002]

2. Description of the Related Art Inspection work in a nuclear power plant or other plants where it is dangerous for workers to enter is performed by remotely operating a robot on behalf of the workers. However, since the disassembly / assembly work is complicated and requires a lot of work by a plurality of workers, a current robot that can work only by itself cannot substitute. Moreover, since work is often performed in a small space, a large work robot cannot handle the problem.

In addition, a plurality of general-purpose robots are used because a small amount of work is required, a lifting force is required, and a manipulator stroke is often required in one work. However, it is often impossible, and it is impossible to prepare many dedicated robots for work in a narrow space.

[0004]

At the present time, there is a strong demand for the development of robots and robot systems that enable complex work requiring a plurality of people in a narrow and adverse environment from various fields. However, when a plurality of units perform cooperative work or separate jobs at the same time, there is a problem that power supply and signal transmission are complicated and large.

The present invention has been made to satisfy the above-mentioned demands and to solve the above-mentioned problems, and to provide a distributed work robot system which can be realized by combining robots having function distribution. It is in.

[0006]

According to a first aspect of the invention is a working robot, a communication function and monitoring device of this working robot
And the satellite robot have a capability, and supervising robot which manages the working robot and the satellite robot, the work robot, and a power supply for the robot for supplying power to the satellite robot and supervision robot It is characterized by having. Second departure
Akira means that the satellite robot is a moving body that moves in space.
A movement controller that controls the movement and attitude of this moving body
And a TV camera that captures the work status of the work robot.
It has a camera and a lens drive mechanism for this TV camera.
It is characterized by being The third invention relates to the robots
And an operation panel for remotely operating the communication function.
Is characterized by.

[0007]

The present invention reduces the size of the robot by dividing the functions.
Adopting multi-transmission / reception method of mutual status data and command data to execute cooperative work, adoption of satellite robot that enables communication between robots and status detection even in a narrow space, system for exchanging manipulator suitable for work To do.

That is, miniaturization is achieved by sharing the functions required by the robot for work, transportation, monitoring (satellite), management supervision, power supply, communication, and the like. Further, in the work that requires a plurality of work robots, such as the movement and mounting of a large object, the following measures are taken and the work time is shortened.

When a plurality of robots having divided roles perform one work, it is necessary to control the plurality of work robots and a transport robot for assisting the work, a satellite robot, etc. in an organically coordinated manner. Therefore, in the present invention, a plurality of robots are controlled by a management / supervision robot having functions of management / supervision and cooperative control. In addition, a wireless communication network is provided to smoothly send and receive robot status data and command data between the control / supervision robot and the work robots, between the work robots, and between the remote control panel and the robots that the operator directs to monitor. ing.

In particular, in wireless communication, a satellite robot is provided so that communication can be performed reliably even in a narrow space or in a space with many obstacles such as structures and pipes. This satellite robot has a function of relaying wireless communication to, for example, a helicopter, a balloon ship, or a monorail type mobile carriage that moves in space. Moreover, if a surveillance camera is mounted on this satellite robot, more reliable work can be performed in a narrow space.

[0011]

Embodiments of the present invention will be described with reference to the drawings. 1 is a block diagram showing a main part of an embodiment of a distributed work robot system according to the present invention, FIG. 2 is a block diagram of a work robot in FIG. 1, and FIG. 3 is a satellite having both a monitoring and communication relay function. FIG. 4 is a block diagram of the robot, FIG. 4 is a block diagram of the transfer robot, FIG. 5 is a block diagram of the supervision robot, and FIG. 6 is a block diagram of the power supply robot.

In the block diagram shown in FIG. 1, two disassembling and assembling operations of a work object 1 in a narrow space are performed by two first and second work robots 2, 3 and a communication relay function and a monitoring function. A satellite robot 4 provided, a transfer robot 5 on which a disassembly / assembly part and a manipulator to be replaced by a work robot according to the work content are placed, a power supply robot 6 for supplying electric power to each of the robots 2 to 5, first and first Two
Of the work robots 2 and 3, the satellite robot 4, the transfer robot 5, the power supply robot 6, and the supervision robot 7 that supervises the power supply robot 6 and the operator's request to the robot group so that the operator can know the state of the robot. It shows a situation in which the operation panel 8 to be displayed is used. The operation panel 8 has an antenna 9 (9 for emitting an electromagnetic wave signal to each robot or for receiving a signal from each robot).
a, 9b, 9c) are connected.

As shown in FIG. 2, the first and second work robots 2 and 3 of the present embodiment are dual arm manipulators 11,
12, a manipulator controller 13 for driving and controlling the dual-arm manipulators 11, 12, a leg moving mechanism used for movement
The movement controller 15 for driving and controlling the 14 receives instruction data sent by radio from a host (operation panel, supervision manager, etc.), and operates the dual-arm manipulators 11, 12 and the leg movement mechanism 14
A transmitter / receiver 16 that transmits the status data of the above to a higher level (such as an operation panel or a supervision manager), controls the manipulator controller 13 and the movement controller 15 based on the instruction data from the higher level, and also controls the manipulator controller 13 and the movement controller 15 from CPU17 for inputting status data,
And a battery 18 and so on.

The satellite robot 4 of this embodiment, as shown in FIG. 3, rotates a propeller to fly in the air, a helicopter 21 for controlling the movement and attitude of the helicopter 21, and a first and a second. A television camera 23 for photographing the work state of the work robots 2 and 3, a platform 24 used for moving the posture of the television camera 23,
It has a platform controller 25 that controls the drive of the platform 24, and a lens drive mechanism 26 that is used for enlarging the image of the television camera 23 and setting it to the telephoto position, focusing, and brightness adjustment.

A lens controller 27 for controlling the drive of the lens drive mechanism 26, relays a radio signal sent from a host (operation panel, supervision manager, etc.), and sends it to a work robot. Also, the wireless signals sent from the second work robots 2 and 3 are relayed and transmitted to the upper level (operation panel, management supervision, etc.) and from the upper level (operation panel, management supervision, etc.) to the satellite robot 4. It has a transmitter / receiver 30 which receives the received instruction data and transmits the image of the television camera 23 and the state data of the helicopter 21, the platform 24, and the camera lens.

Further, it receives instruction data from the host to the satellite robot 4 and controls the movement controller 22, the platform controller 25, and the lens controller 27, and the status data from the movement controller 22, the platform controller 25, and the lens controller 27. It is composed of a CPU 28 for inputting and a battery 29.

As shown in FIG. 4, the transfer robot 5 of this embodiment is sent by radio from a movement controller 32 for driving and controlling a leg moving mechanism 31 used for movement, and a host (operation panel, supervision manager, etc.). Based on the instruction data from the transceiver 33, which receives the instruction data and transmits the state data of the leg moving mechanism 31 to a higher level (such as an operation panel or a supervision manager)
Controls the movement controller 32, and also movement controller 32
It is composed of a CPU 34 for inputting the robot state data from and a battery 35.

As shown in FIG. 5, the management / supervision robot 7 of the present embodiment has a movement controller 42 for driving and controlling a leg movement mechanism 41 used for movement, a database 43 for storing knowledge of plant maps and work procedures, and the like. First and second work robots 2, 3 that move using the database 43
And the satellite robot 4, the transfer robot 5, etc., generate image data from the satellite robot 4 and the CPU 44, which generates movement paths and prepare work plans, and works with the first and second work robots 2 and 3. An image processing device 45 for obtaining a positional relationship with an object or a surrounding structure, a movement route and a work plan generated by the first and second work robots 2 and 3, the satellite robot 4, the transfer robot 5, and the like. A transmitter / receiver 46 that transmits positional relationship data with respect to a work target and surrounding structures and receives status data and video data from the first and second work robots 2 and 3, the satellite robot 4, and the transfer robot 5. And a battery 47.

As shown in FIG. 6, the power supply robot 6 of this embodiment has a power plug 51 connected to a power outlet provided on a wall in the plant, and this power plug.
Charger 52 and battery for charging the power supplied from 51
Has 53.

The battery 53 is used only to replenish the power supply when the batteries mounted on the first and second work robots 2 and 3, the satellite robot 4 and the transfer robot 5 run out of power capacity. Power plug 54,
It has a manipulator 55 used to insert the power plugs 51 and 54 into a power outlet or a robot power socket.

A manipulator controller 56 for driving and controlling the manipulator 55, a movement controller 58 for driving and controlling a leg moving mechanism 57 used for movement, and receiving instruction data wirelessly sent from a host (operation panel, supervision manager, etc.), It has a transmitter / receiver 59 for transmitting the state data of the manipulator 55 and the leg moving mechanism 57 to a higher level (such as an operation panel or a supervisor).

It controls the power switch 60 that turns on and off the supply and supply of power based on the instruction data from the host,
A CPU that controls the manipulator controller 56 and the movement controller 58, and that inputs the robot state data from the manipulator controller 56 and the movement controller 58.
It consists of 61.

Next, the first and second work robots 2 and 3, the satellite robot 4, the transfer robot 5,
How to communicate with the power supply robot 6, the supervisory robot 7, and the operation panel 8 will be described. FIG. 7 shows the communication network of this embodiment.

The first work robot 2 receives radio signals (instruction data) from the four transmitters of the operation panel 8, the supervision robot 7, the satellite robot 4, and the second work robot 3, and the higher order. A wireless signal (state data) is transmitted to the second work robot 3 with respect to (the operation panel 8 and the management / supervision robot 7).

The satellite robot 4 is provided with the first and second work robots 2 when it is difficult to transmit the wireless instruction data from the management / supervision robot 7 or the operation panel 8 due to a wall or structure obstruction. , 3, the transfer robot 5, and the power supply robot 6 are relayed. The satellite robot 4 is provided with a plurality of transmitters / receivers, modulates radio signals from the management / supervision robot 7 and the operation panel 8 to generate the first and second work robots 2 and 3, and the transfer robot 5. , To the power supply robot 6.

Radio signals (state data) from the first and second work robots 2 and 3, the transfer robot 5 and the power supply robot 6 are also modulated, and the control / supervision robot 7 and the operation panel are also modulated. Send to 8.

First and second work robots 2, 3,
Transceivers such as the transfer robot 5 and the power supply robot 6 have a plurality of channels, and the frequency band to be received can be changed by an instruction from the management / supervision robot 7 or the operation panel 8. Regarding the processing of a plurality of wireless signals received at the same time, a method is adopted in which priorities are set in advance according to an instruction from the management / supervision robot 7 and the processing is performed in priority order.

The receiving side can deal with this by switching from the relaying satellite robot 4 to wireless when communication from the target robot is interrupted by an obstacle. Since the wireless signal is modulated by the satellite robot 4 that relays, there is no fear of interference and expansion is easily possible.

Next, a basic control flow of the distributed work robot system according to this embodiment will be described. (1) The operator inputs a work request to the management / supervision robot 7 via the operation panel 8. (2) The management / supervision robot 7 has an internal database
43, an action plan (work procedure, work method work plan, movement route, etc.) is generated, and a robot required for work is selected. For example, two work robots, a transfer robot, a satellite robot, and a power supply robot.

(3) The management / supervision robot 7 outputs a processing instruction to each work robot based on the action plan. (4) Each work robot executes processing based on the instruction data of the management / supervision robot 7. Further, the processing state data is transmitted to the operation panel 8 and the management / supervision robot 7.

(5) When the work robot has moved to the front of the work target, the management / supervision robot 7 instructs the satellite robot 4 to move to a position where an image can be taken that shows the relationship between the work robot and the target. Is output. (6) The satellite robot 4 moves based on the instruction data of the supervision robot 7 and takes a video to understand the relationship between the work robot and the object, and the operation panel 8 together with the state data.
Or to the supervision robot 7.

(7) The management / supervision robot 7 performs image processing from the image sent from the satellite robot, obtains the positional relationship between the work robot and the object, makes a concrete work plan, and performs the work. Instruct the work robot to work. (8) When two work robots perform one work, for example, lifting and moving an object, one work robot instructed by the supervision robot 7 instructs another work robot to control the timing. And perform the work.

(9) When the battery is running low during the work, the work robot outputs the state to the supervision robot 7, and the supervision robot 7 obtains permission.
The robot moves to the power supply robot 6 to supply power. (10) The power supply robot 6 receives the instruction from the supervision robot 7 and connects the power socket to the work robot,
Perform power supply processing.

(11) With the current manipulator, when the work becomes impossible, for example, when the work roll is short, work requiring force, or work for replacing parts,
The state is output from the work robot to the supervision robot 7, and with the permission of the supervision robot 7, the robot moves to the transfer robot 5 to exchange manipulators and parts.

An embodiment of the distributed work robot system according to the present invention is as follows. (1) A plurality of work robots equipped with a manipulator and a moving mechanism, and a carrying robot equipped with a moving mechanism for carrying assembled parts and tools during disassembly and assembly work and for using them on a stand. A satellite robot equipped with a moving mechanism that monitors the work status of the work robot and the transfer robot and whether they interfere with each other or between the robot and the structure, and work instructions for the work robot, the transfer robot, and the satellite robot. A robot for management and supervision with a moving mechanism that
A power supply robot equipped with a moving mechanism that supplies power to the transfer robot, satellite robot, and supervision robot, and status data of the work robot, transfer robot, satellite robot, and power supply robot, and the supervision robot A communication function that wirelessly communicates command data, etc. between robots, a remote operation panel, and a communication robot equipped with a moving mechanism that performs data communication between each robot are combined to disassemble and disassemble equipment in plants. Perform assembly work.

(2) Combining a satellite robot equipped with an aerial movement mechanism for monitoring the work of the work robot or the transfer robot and communicating work instruction data from the satellite robot to the work robot or the transfer robot.

(3) A satellite robot equipped with a mechanism for monitoring the work of the work robot and the transfer robot and moving a monorail track for communicating work instruction data from the satellite robot to the work robot and the transfer robot. Combining.

(4) The first work robot should be replaced with a manipulator section suitable for the work by the second work robot according to the work content.

(5) In response to the work request from the operator,
To create an action plan for a work robot or a transfer robot using a database that stores map data, work procedures, and work methods in a plant with a management / supervision robot, create instruction data, and control hierarchically.

[0040]

According to the present invention, a plurality of robots whose functions are work, transport, monitoring, supervision, power supply, and communication are used for miniaturization, and work in a narrow space is possible. It is possible. In addition, it is possible for a plurality of work robots to perform a work for a work that cannot be performed by a single robot while keeping timing.

Particularly, by using a robot having a monitoring function, the positional relationship between the work robot and the object or structure, and the positional relationship between the work robots can be obtained, so that reliable and high-speed processing can be performed. In addition, a replacement robot or a manipulator suitable for work can be mounted on the transfer robot to facilitate difficult work and improve processing efficiency.

[Brief description of drawings]

FIG. 1 is a block diagram showing a main part of an embodiment of a distributed work robot system according to the present invention.

FIG. 2 is a configuration diagram of the work robot in FIG.

FIG. 3 is a configuration diagram of a satellite robot having both a monitoring function and a communication relay function in FIG.

FIG. 4 is a configuration diagram of the transfer robot in FIG.

FIG. 5 is a configuration diagram of the management / supervision robot in FIG. 1.

6 is a configuration diagram of the power supply robot in FIG.

FIG. 7 is a block diagram showing a communication network between robots according to the present invention and between operation panel robots.

[Explanation of symbols]

1 ... Work object, 2 ... 1st work robot, 3 ... 2nd
Work robot, 4 ... satellite robot (monitoring function + communication relay function), 5 ... transfer robot, 6 ... power supply robot, 7 ... management / supervision robot, 8 ... operation panel, 9
(9a, 9b, 9c) ... Antenna, 11, 12 ... Manipulator, 13 ... Manipulator controller, 14 ... Leg moving mechanism, 15 ... Movement controller, 16 ... Transceiver, 17 ... CP
U, 18 ... Battery, 21 ... Helicopter, 22 ... Movement controller, 23 ... TV camera, 24 ... Pan head, 25 ... Pan head controller, 26 ... Lens drive mechanism, 27 ... Lens controller,
28 ... CPU, 29 ... Battery, 30 ... Transceiver, 31 ... Leg moving mechanism, 32 ... Movement controller, 33 ... Transceiver, 34 ... CP
U, 35 ... Battery, 41 ... Leg moving mechanism, 42 ... Movement controller, 43 ... Database, 44 ... CPU, 45 ... Image processing device, 46 ... Transceiver, 47 ... Battery, 51 ... Power plug, 52
... charger, 53 ... battery, 54 ... power plug, 55 ... manipulator, 56 ... manipulator controller, 57 ... leg moving mechanism, 58 ... movement controller, 59 ... transceiver, 60 ... power switch, 61 ... CPU.

Claims (3)

(57) [Claims] [Claim 1] and the working robot, the working robot
Power supplies and the satellite robot have a communication function and monitoring function, the supervising robot which manages the working robot and the satellite robot, the work robot, the power to the satellite robot and supervision robot with A distributed work robot system comprising a supply robot. 2. The satellite robot moves in space
A moving body and a movement for controlling the movement and attitude of this moving body
Capture the working status of the controller and the work robot.
And a TV camera that
The distributed work robot system according to claim 1. 3. The robot and the communication function are remote from each other.
2. An operation panel for performing remote operation is provided.
The distributed work robot system described.