JPH0811071A - Controller for manipulator - Google Patents
Controller for manipulatorInfo
- Publication number
- JPH0811071A JPH0811071A JP6171894A JP17189494A JPH0811071A JP H0811071 A JPH0811071 A JP H0811071A JP 6171894 A JP6171894 A JP 6171894A JP 17189494 A JP17189494 A JP 17189494A JP H0811071 A JPH0811071 A JP H0811071A
- Authority
- JP
- Japan
- Prior art keywords
- slave manipulator
- camera
- surveillance camera
- manipulator
- slave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、遠隔操作を行うマスタ
ースレーブマニピュレータの制御装置に関し、特に、制
御装置のスレーブマニピュレータの作業空間各軸移動量
演算を行うものに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a master-slave manipulator which is remotely operated, and more particularly to a device for calculating a movement amount of each axis of a work space of a slave manipulator of the control device.
【０００２】[0002]
【従来の技術】非構造環境下などにおいて監視カメラを
用いてスレーブマニピュレータをジョイスティックやマ
スターアームを用いて遠隔操縦することによって作業を
行うとき、スレーブマニピュレータのエンドエフェクタ
を作業対象物にある距離まで接近させる場合は、広角で
環境周囲の映像を捉えながらマニピュレータのエンドエ
フェクタを移動させ、作業対象物にアプローチして実際
に作業を行う場合は、ズームカメラに切り換えるか、ズ
ームアップ操作することによって作業対象物を大きく捉
え、慎重な作業を行っている。この時、スレーブマニピ
ュレータの移動速度はオペレータによるジョイスティッ
クやマスターアームの操作量に対して一定に設定してい
るか、あるいは、速度切り換えスイッチによってオペレ
ータがスイッチ操作することによって移動速度を切り換
えている。また、カメラのズーム率に対応してオペレー
タの操作量に対するスレーブマニピュレータの移動速度
の割合を変化させる方法もある（特開平４−１０１７８
８号公報）。そしてこの時、移動方向はいずれの場合も
オペレータの操作方向に対し常に一定である。2. Description of the Related Art When working by operating a slave manipulator remotely with a joystick or a master arm using a surveillance camera in an unstructured environment, the end effector of the slave manipulator approaches a work object to a certain distance. To do this, move the end effector of the manipulator while capturing a wide-angle image of the surroundings of the environment.When approaching the work object and actually performing the work, switch to the zoom camera or perform the zoom-up operation. They take big things and carry out careful work. At this time, the moving speed of the slave manipulator is set to be constant with respect to the operation amount of the joystick or the master arm by the operator, or the moving speed is switched by the operator operating the speed changeover switch. There is also a method of changing the ratio of the moving speed of the slave manipulator to the operation amount of the operator according to the zoom ratio of the camera (Japanese Patent Laid-Open No. 4-10178).
No. 8). At this time, the movement direction is always constant with respect to the operation direction of the operator in any case.
【０００３】[0003]
【発明が解決しようとする課題】ところが、オペレータ
がジョイスティック、あるいはマスターアームを使って
スレーブマニピュレータに動作指令を与えるときに、カ
メラの焦点距離を変化させると作業対象物の像の大きさ
が変わるために、ＴＶモニタに映し出されたスレーブマ
ニピュレータの手先位置（位置決め制御の対象点であ
り、以下制御点という）の動作速度とオペレータの操作
感覚が一致しないという問題があった。また、ズーム率
によってマスタとスレーブの移動速度の割合を変化させ
る方法では、スレーブの制御点に全く関係なく移動速度
の割合を変化させてしまうので、モニタ上のスレーブマ
ニピュレータ制御点の移動速度は必ずしも一定になると
は限らない。また、カメラ座標系とロボット座標系の奥
行き方向が一致していない時に、ＴＶモニタ上の移動速
度と移動方向がオペレータの操作量と操作方向に一致せ
ず、これによってもオペレータの操作感覚を紛らわすこ
とになる。本発明は上記の問題を解決するためになされ
たもので、オペレータの操作量と操作方向に対応して、
ＴＶモニタ上のスレーブマニピュレータ制御点の移動速
度が、カメラの焦点距離やカメラからスレーブマニピュ
レータ制御点までの距離、あるいはカメラの姿勢が変化
しても常に設定した値に一定となるようなマニピュレー
タの制御装置を提供することを目的とする。However, when the operator gives an operation command to the slave manipulator using the joystick or the master arm, the size of the image of the work object changes when the focal length of the camera is changed. In addition, there is a problem in that the operation speed of the hand position of the slave manipulator (a target point of positioning control, which will be referred to as a control point hereinafter) displayed on the TV monitor does not match the operation feeling of the operator. Further, in the method of changing the ratio of the moving speed of the master and the slave depending on the zoom ratio, since the ratio of the moving speed is changed irrespective of the control point of the slave, the moving speed of the slave manipulator control point on the monitor is not always required. It is not always constant. Further, when the depth directions of the camera coordinate system and the robot coordinate system do not match, the moving speed and moving direction on the TV monitor do not match the operation amount and operating direction of the operator, which also confuses the operator's operational feeling. It will be. The present invention has been made to solve the above problems, and corresponds to the operation amount and operation direction of the operator,
Control of the manipulator so that the moving speed of the slave manipulator control point on the TV monitor is always constant at the set value even if the focal length of the camera, the distance from the camera to the slave manipulator control point, or the attitude of the camera changes. The purpose is to provide a device.
【０００４】[0004]
【課題を解決するための手段】本発明の目的を達成する
ために、本発明は、ズーム機構と位置・姿勢変更機能を
有する監視カメラによって捉えられた映像をＴＶモニタ
で見ながらオペレータがジョイスティックあるいはマス
ターアームを使って遠隔作業を行うマスタースレーブ方
式のマニピュレータの制御装置において、前記監視カメ
ラの焦点距離と、前記監視カメラから前記スレーブマニ
ピュレータの手先位置までの距離を検出し、前記監視カ
メラの焦点距離と前記監視カメラから前記スレーブマニ
ピュレータの手先位置までの距離の比に比例した速度で
前記スレーブマニピュレータの手先位置が移動するよう
な動作指令を出力すること手段を設けたことを特徴とす
るマニピュレータの制御装置。In order to achieve the object of the present invention, according to the present invention, an operator operates a joystick while watching an image captured by a surveillance camera having a zoom mechanism and a position / orientation changing function on a TV monitor. In a controller of a master-slave manipulator that performs remote work using a master arm, the focal length of the surveillance camera and the distance from the surveillance camera to the hand position of the slave manipulator are detected, and the focal length of the surveillance camera is detected. And a manipulator control means for outputting an operation command for moving the hand position of the slave manipulator at a speed proportional to the ratio of the distance from the surveillance camera to the hand position of the slave manipulator. apparatus.
【０００５】[0005]
【作用】上記手段により、オペレータによるジョイステ
ィックまたはマスターアームの操作量や操作方向に対す
るＴＶモニタ上のスレーブマニピュレータ制御点の移動
速度が、カメラの焦点距離やカメラからスレーブマニピ
ュレータまでの距離、あるいはカメラの姿勢が変化して
も、常に設定した値に一定となるため、どのような状況
でもＴＶモニタに映し出されたスレーブマニピュレータ
のエンドエフェクタの動作とオペレータの操作感覚が一
致する。By the above means, the moving speed of the slave manipulator control point on the TV monitor with respect to the operation amount and the operation direction of the joystick or the master arm by the operator, the focal length of the camera, the distance from the camera to the slave manipulator, or the posture of the camera. Even if changes, the value is always constant to the set value, so that the operation of the end effector of the slave manipulator displayed on the TV monitor and the operation feeling of the operator are the same in any situation.
【０００６】[0006]
【実施例】以下、本発明の実施例を図に基づいて説明す
る。図１は本発明の実施例の構成を示す図であり、スレ
ーブ側は、スレーブマニピュレータ１とそれを監視する
ズーム機能と位置・姿勢変更機能を有するカメラ装置
３、そしてこれらの制御を行うスレーブ制御装置４から
構成されている。また、マスタ側はカメラ装置３の捉え
た映像を映し出すＴＶモニタ５とスレーブマニピュレー
タ１を操作するジョイスティック６とズームスイッチや
カメラ方向制御を行うためのスイッチを含む操作卓７
と、これらを制御するマスタ制御装置８から構成されて
いる。なお、カメラ装置の焦点距離と位置・姿勢は、オ
ペレータが作業（スレーブマニピュレータの移動）に伴
って、適宜設定しなおすものを想定しているが、スレー
ブマニピュレータの移動に伴って自動的に焦点距離と位
置・姿勢がある時間間隔毎に設定されるものでもよい。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of an embodiment of the present invention. A slave side is a slave manipulator 1, a camera device 3 having a zoom function and a position / orientation changing function for monitoring the slave manipulator 1, and a slave control for controlling these. It is composed of a device 4. On the master side, a TV monitor 5 for displaying the image captured by the camera device 3, a joystick 6 for operating the slave manipulator 1, an operation console 7 including a zoom switch and a switch for controlling the camera direction.
And a master control device 8 for controlling them. It is assumed that the operator sets the focal length and position / orientation of the camera device appropriately in accordance with the work (movement of the slave manipulator). However, the focal length is automatically changed with the movement of the slave manipulator. The position and orientation may be set at certain time intervals.
【０００７】次に本装置の動作を説明する。カメラ装置
３が捉えた映像をＴＶモニタ５を見ながらオペレータ９
がジョイスティック６を操作する。ジョイスティック６
の操作量と操作方向はマスタ制御装置８に入力されて、
スレーブ制御装置４に送出される。スレーブ制御装置４
はカメラ装置３からカメラの焦点距離と姿勢量を検出
し、ジョイスティック６の操作量と操作方向からスレー
ブマニピュレータ制御点２のカメラ座標系での移動速度
を演算し、ロボット座標系へ座標変換した後、関節空間
各軸の速度へ変換してスレーブマニピュレータ１への指
令を行う。Next, the operation of this apparatus will be described. The operator 9 looks at the image captured by the camera device 3 while watching the TV monitor 5.
Operates the joystick 6. Joystick 6
The operation amount and the operation direction of are input to the master control device 8,
It is sent to the slave control device 4. Slave controller 4
Detects the focal length and attitude amount of the camera from the camera device 3, calculates the moving speed of the slave manipulator control point 2 in the camera coordinate system from the operation amount and operation direction of the joystick 6, and after coordinate conversion to the robot coordinate system. , The joint space is converted into the velocity of each axis and a command is given to the slave manipulator 1.
【０００８】図２は本発明の演算フローチャートを示
す。オペレータはまず、操作卓においてＴＶモニタ上の
スレーブマニピュレータ制御点の速度を設定する（ステ
ップ１）。そして、オペレータがジョイスティックを操
作するとき、カメラ装置から現在の焦点距離と姿勢を検
出し（ステップ２）、現在のカメラ装置からスレーブマ
ニピュレータ制御点までの距離を検出し（ステップ
３）、スレーブマニピュレータ制御点のカメラ座標系で
の各軸移動速度を計算し（ステップ４）、その後、ロボ
ット座標系へ座標変換し（ステップ５）、各関節角へ変
換してスレーブマニピュレータへ動作指令を出力する
（ステップ６）。FIG. 2 shows a calculation flowchart of the present invention. The operator first sets the speed of the slave manipulator control point on the TV monitor at the console (step 1). Then, when the operator operates the joystick, the current focal length and posture are detected from the camera device (step 2), the distance from the current camera device to the slave manipulator control point is detected (step 3), and the slave manipulator control is performed. The moving speed of each axis in the camera coordinate system of the point is calculated (step 4), then the coordinates are converted to the robot coordinate system (step 5), the joint angles are converted, and the operation command is output to the slave manipulator (step). 6).
【０００９】ここで本発明の移動速度の演算方法を詳し
く説明する。カメラ撮像面上（ＣＣＤ素子上）の速度Ｖ
S は、式（１）に示すように、ＴＶモニタ上でのスレー
ブマニピュレータ制御点の移動速度ＶM に、ＴＶモニタ
の画面の大きさに比例した定数ＫM を乗じたものであ
る。 ＶS ＝ ＫM ・ＶM ……（１）Now, the method of calculating the moving speed of the present invention will be described in detail. Velocity V on camera image pickup surface (on CCD element)
S is obtained by multiplying the moving speed V M of the slave manipulator control point on the TV monitor by a constant K M proportional to the size of the screen of the TV monitor, as shown in Expression (1). V S = K M · V M ...... (1)
【００１０】本発明では、実空間（カメラ座標系）での
速度ＶC を、式（２）に示すように、前記ＶS にカメラ
レンズ中心からスレーブマニピュレータ制御点２までの
距離ＤR とカメラの焦点距離ｆS の比を乗じ、さらにジ
ョイスティックの操作量に比例した定数ＫJ （ＫJ ≦
１）を乗じたものとする所に特徴がある。 ＶC ＝（ＤR ／ｆS ）・ＶS ・ＫJ ……（２） すなわち、スレーブマニピュレータの制御点の実際の指
令速度ＶC は、 ＶC ＝（ＤR ・ＫM ・ＫJ ・ＶM ）／ｆS とするものである。なお、ＫJ は、ジョイスティックの
操作量（倒し角度等）に従って速度指令を変化できる形
式の場合のものであり、最大操作量の場合１となる。速
度指令が一定の形式のものではＫJ ＝１となる。According to the present invention, the velocity V C in the real space (camera coordinate system) is expressed by the equation (2) where V S is the distance D R from the camera lens center to the slave manipulator control point 2 and the camera. Multiplied by the ratio of the focal length f S of the joystick, and further a constant K J (K J ≦
The feature is that it is multiplied by 1). V C = (D R / f S ) · V S · K J (2) That is, the actual command speed V C of the control point of the slave manipulator is V C = (D R · K M · K J · V M ) / f S. It should be noted that K J is in the case where the speed command can be changed according to the operation amount (tilt angle, etc.) of the joystick, and is 1 in the case of the maximum operation amount. If the speed command has a constant format, K J = 1.
【００１１】図３はカメラ座標系での速度ＶC と焦点距
離ｆS 、カメラからスレーブマニピュレータ制御点まで
の距離ＤR の比との関係を示しており、焦点距離ｆS が
大きくなるにつれて、または、カメラからスレーブマニ
ピュレータ制御点までの距離ＤR が小さくなるにつれ
て、スレーブマニピュレータのカメラ座標系での移動速
度ＶC は小さくなる。また、ジョイスティックの操作量
に応じて速度ＶC は変化する。 そしてこのカメラ座標
系での速度ＶC をロボット座標系での速度ＶR へ、カメ
ラの姿勢量によって計算された変換行列Ｔによって変換
して動作指令を出力する。。 ＶT ＝ Ｔ・ＶC このようにすると、オペレータによるジョイスティック
の操作によって、ある操作量に対するスレーブマニピュ
レータ制御点の移動速度ＶR は、カメラの焦点距離や姿
勢、カメラからスレーブマニピュレータ制御点までの距
離に応じて変化する。しかしながら、結果的にはＴＶモ
ニタ上のスレーブマニピュレータ制御点の移動速度はあ
らかじめ設定した値に一定となり、また。ジョイスティ
ックの操作方向とＴＶモニタ上の移動方向は一致する。FIG. 3 shows the relationship between the velocity V C in the camera coordinate system and the focal length f S , and the ratio of the distance D R from the camera to the slave manipulator control point. As the focal length f S increases, Alternatively, as the distance D R from the camera to the slave manipulator control point decreases, the moving speed V C of the slave manipulator in the camera coordinate system decreases. Further, the speed V C changes according to the operation amount of the joystick. Then, the speed V C in the camera coordinate system is converted into the speed V R in the robot coordinate system by the conversion matrix T calculated by the posture amount of the camera, and the operation command is output. . V T = T · V C In this way, the moving speed V R of the slave manipulator control point with respect to a certain operation amount by the operation of the joystick by the operator is the focal length and posture of the camera, and the distance from the camera to the slave manipulator control point. Change according to. However, as a result, the moving speed of the slave manipulator control point on the TV monitor becomes constant at a preset value, and also. The operating direction of the joystick matches the moving direction on the TV monitor.
【００１２】[0012]
【発明の効果】以上述べたように、本発明によれば、オ
ペレータによるジョイスティックまたはマスターアーム
の操作量や操作方向に対するＴＶモニタ上のスレーブマ
ニピュレータ制御点の移動速度が、カメラの焦点距離や
カメラからスレーブマニピュレータまでの距離、あるい
はカメラの姿勢が変化しても（オペレータの意思で変化
させた場合も）、常に設定した値に一定となるため、ど
のような状況でもＴＶモニタに映し出されたスレーブマ
ニピュレータのエンドエフェクタの動作とオペレータの
操作感覚が一致し、これによって、オペレータの負担が
軽減でき、作業の能率と安全性が向上するという効果が
ある。As described above, according to the present invention, the moving speed of the slave manipulator control point on the TV monitor with respect to the operation amount and the operation direction of the joystick or the master arm by the operator is determined by the focal length of the camera or the camera. Even if the distance to the slave manipulator or the posture of the camera changes (even if it is changed by the operator's intention), the value always remains the set value, so the slave manipulator displayed on the TV monitor in any situation. The operation of the end effector and the operation feeling of the operator coincide with each other, which has the effect of reducing the burden on the operator and improving the work efficiency and safety.
【図１】 本発明の実施例である遠隔作業用マニピュレ
ータ制御装置の構成図FIG. 1 is a configuration diagram of a manipulator control device for remote work according to an embodiment of the present invention.
【図２】実施例の制御フローチャートを示す図FIG. 2 is a diagram showing a control flowchart of the embodiment.
【図３】カメラの焦点距離とカメラからスレーブマニピ
ュレータ制御点までの距離の比、あるいはジョイスティ
ックの操作量に応じたカメラ座標系でのスレーブマニピ
ュレータ制御点の移動速度を示した図FIG. 3 is a diagram showing the ratio of the focal length of the camera to the distance from the camera to the slave manipulator control point, or the moving speed of the slave manipulator control point in the camera coordinate system according to the operation amount of the joystick.
１ スレーブマニピュレータ ２ スレーブマニピュレータ制御点 ３ カメラ装置 ４ スレーブ制御装置 ５ ＴＶモニタ ６ ジョイスティック ７ 操作卓 ８ マスタ制御装置 ９ オペレータ 1 Slave Manipulator 2 Slave Manipulator Control Point 3 Camera Device 4 Slave Control Device 5 TV Monitor 6 Joystick 7 Operation Console 8 Master Control Device 9 Operator
Claims (3)
る監視カメラによって捉えられた映像をＴＶモニタで見
ながらオペレータがジョイスティックあるいはマスター
アームを使って遠隔作業を行うマスタースレーブ方式の
マニピュレータの制御装置において、 前記監視カメラの焦点距離と、前記監視カメラから前記
スレーブマニピュレータの手先位置までの距離を検出
し、前記監視カメラの焦点距離と前記監視カメラから前
記スレーブマニピュレータの手先位置までの距離の比に
比例した速度で前記スレーブマニピュレータの手先位置
が移動するような動作指令を出力する手段を設けたこと
を特徴とするマニピュレータの制御装置。1. A controller of a master-slave type manipulator in which an operator remotely operates by using a joystick or a master arm while watching an image captured by a surveillance camera having a zoom mechanism and a position / orientation changing function on a TV monitor. The focal length of the surveillance camera and the distance from the surveillance camera to the hand position of the slave manipulator are detected, and are proportional to the ratio of the focal length of the surveillance camera and the distance from the surveillance camera to the hand position of the slave manipulator. A manipulator control device comprising means for outputting an operation command such that the hand position of the slave manipulator moves at a predetermined speed.
る監視カメラによって捉えられた映像をＴＶモニタで見
ながらオペレータがジョイスティックあるいはマスター
アームを使って遠隔作業を行うマスタースレーブ方式の
マニピュレータの制御装置において、 前記監視カメラの焦点距離と、前記監視カメラから前記
スレーブマニピュレータの手先位置までの距離を検出
し、前記監視カメラの焦点距離と前記監視カメラから前
記スレーブマニピュレータの手先位置までの距離の比を
ジョイスティックあるいはマスターアームで与える指令
速度に乗じる手段を設けたことを特徴とするマニピュレ
ータの制御装置。2. A controller for a master-slave manipulator in which an operator uses a joystick or a master arm to perform remote work while viewing an image captured by a surveillance camera having a zoom mechanism and a position / orientation changing function on a TV monitor. , A focal length of the surveillance camera and a distance from the surveillance camera to a hand position of the slave manipulator are detected, and a ratio of the focal length of the surveillance camera and the distance from the surveillance camera to the hand position of the slave manipulator is a joystick. Alternatively, the manipulator control device is provided with means for multiplying a command speed given by the master arm.
ティックあるいはマスターアームによる動作指令に対す
るＴＶモニタ上での前記スレーブマニピュレータの移動
方向が常に一致するように座標変換を行う請求項１また
は２記載のマニピュレータ制御装置。3. The manipulator according to claim 1, wherein coordinate conversion is performed from the attitude amount of the surveillance camera so that the moving direction of the slave manipulator on the TV monitor in response to an operation command from a joystick or a master arm always matches. Control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6171894A JPH0811071A (en) | 1994-06-29 | 1994-06-29 | Controller for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6171894A JPH0811071A (en) | 1994-06-29 | 1994-06-29 | Controller for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0811071A true JPH0811071A (en) | 1996-01-16 |
Family
ID=15931788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6171894A Pending JPH0811071A (en) | 1994-06-29 | 1994-06-29 | Controller for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0811071A (en) |
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| US6359647B1 (en) * | 1998-08-07 | 2002-03-19 | Philips Electronics North America Corporation | Automated camera handoff system for figure tracking in a multiple camera system |
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-
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- 1994-06-29 JP JP6171894A patent/JPH0811071A/en active Pending
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