JP2005169561A - Remote control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control device capable of presenting an appropriate inner force sense to an operator while dispensing with the adjustment of hardware and software even if the operator changes. <P>SOLUTION: This remote control device is provided with a master hand 3 directly operated by the operator; a stimulation generating means 9 provided at the master hand 3 to generate stimulation given to the operator; a force sensor 7 provided at a slave hand 2 to detect the grip force of the slave hand 2; and a stimulation intensity setting means 11 for setting a stimulation intensity signal fed back to the operator. The stimulation generating means 11 generates stimulation with intensity based on the stimulation intensity signal. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a remote control device applicable to, for example, a master / slave hand device that operates a slave hand that grips an object by remote control.

  In landmine removal work, landmines are often detected and removed manually by removal workers. However, since manual landmine removal involves danger to workers, a method using a landmine removal robot or the like from a remote location has attracted attention as means for ensuring the safety of workers. In order to obtain a form close to manual work in such a robot, it is necessary to grasp and remove landmines with a robot hand, and a master / slave hand is used for this robot hand.

  This master / slave hand is generally used to perform work in an environment where humans cannot move freely, such as outer space or the ocean, or in remote surgery. The master / slave hand has a function in which the movement of the master hand (operation means) is transmitted to the slave hand (working means), and the force sense of the slave hand is presented to the master hand. That is, the master-side operator can obtain a feeling that the operator is directly working on the work target.

With regard to force sense presentation to such a master hand, for example, in Patent Document 1 (Japanese Patent Laid-Open No. 11-167419), a force sense presentation device capable of performing fine work without hindering the free movement of an operator is disclosed. It is disclosed.
FIG. 5 shows a schematic configuration diagram of the force sense presentation device disclosed in Patent Document 1. As shown in FIG. A force sense presentation device 51 in the figure corresponds to a master hand, a glove 52 attached to an operator's hand, and a pump 57 for injecting a compressive fluid 54 into an empty space 53 formed on the surface of the glove 52. And a controller 58 for controlling the pump 57. The controller 58 is configured to control each pump 57 in accordance with the movement of each joint portion of the hand.

  The globe 52 is formed of a highly stretchable material, and the vacant space 53 is formed in a portion corresponding to the joint portion of the hand on the globe 52. If the compressive fluid 54 is not injected into the vacant chambers 53, the operator can bend the joint without resistance. However, when the compressible fluid 54 is injected into the vacant chamber by the pump 57, the vacant chamber is gradually filled, and pressure is applied to the operator's hand at that site. For this reason, when an operator tries to bend a joint, it is configured to receive a large reaction force at this portion.

According to the force sense presentation device 51 configured as described above, the controller 58 controls the pump 57 in synchronization with the load applied to the work target by the slave hand, and injects the compressible fluid 54 into the glove 52 so as to be applied to the finger. A tactile sensation (force sensation) can be felt.
Further, when the slave hand is remotely operated, the glove 52 is formed of a highly stretchable material, so that fine work can be performed.

JP-A-11-167419 (page 3, left column, line 43 to right column, line 46, FIG. 1, FIG. 2, FIG. 3)

As described above, when the force sense presentation device 51 disclosed in Patent Document 1 is used, a tactile sensation close to an actual tactile sensation can be felt by the hand, and fine work can be performed.
By the way, in the force sense presentation device 51 disclosed in Patent Document 1, a glove (force sense presentation means) matching the shape of the operator's hand is used as the master hand. However, in such a force sense presentation method, when the operator changes, the size of the hand is expected to change, and there is a possibility that the position of the joint may be shifted by the operator. Therefore, it is necessary to adjust the size of hardware such as the globe 52 and the software setting of the controller 13 for each operator, and there is a problem that efficient work cannot be performed.

  The present invention has been made under the circumstances as described above. Even if the operator changes, the present invention eliminates the need for hardware and software adjustment, and can provide an appropriate force sense to the operator. An object is to provide an operating device.

In order to solve the above-mentioned problems, a remote operation device according to the present invention is a remote operation device in which an operator remotely operates a work means via an operation means, and is provided in the operation means and is a stimulus given to the operator A stimulus generating means for generating a force, a force sensor provided in the working means for detecting a load on a work target by the working means, and a stimulus intensity signal to be fed back to an operator based on the load detected by the force sensor And a stimulus intensity setting unit that generates a stimulus having an intensity based on the stimulus intensity signal, wherein the operation unit is respectively attached to an operator's finger and the stimulus Stimulus generated by the stimulus generating means included in each operation unit as well as having a plurality of operation units having generation means, the working means operating in conjunction with the operation of each operation unit , Characterized in that given to wearing the operating portion of the respective fingers.
By comprising in this way, a force sense can be given as a stimulus with respect to an operator's tactile sense. That is, the operator can feel the magnitude of the force sense in a pseudo manner by the intensity of the stimulus only by giving the operator's finger a stimulus having an intensity corresponding to the load.
For this reason, a common operation means can be used regardless of the size and shape of the operator's hand. Even if the operator changes, the operation means can perform complicated calibration such as hardware and software settings. do not need. Further, a force sense can be presented to the operator with a relatively simple configuration.

The remote operation device according to the present invention is a remote operation device in which an operator remotely operates a work unit via an operation unit, and is provided in the operation unit and generates a stimulus to be given to the operator. A force sensor that is provided in the working means and detects a load on the work target by the working means, and a stimulus intensity setting means that sets a stimulus intensity signal to be fed back to the operator based on the load detected by the force sensor; And the stimulus generating means generates a stimulus having an intensity based on the stimulus intensity signal, wherein the operation means has a substantially dome-shaped operation part having elasticity, and an operator operates the operation. The working means operates in conjunction with the deformation of the operation part caused by applying a load to the part, and the stimulus generated by the stimulus generation means operates the operation part. That the operator of may be given to the hand.
With this configuration as well, when the operator changes in the same manner, a force sense can be uniformly presented to the operator as a stimulus intensity.

Further, the stimulus intensity setting means has a warning stimulus intensity setting mode for setting a stimulus intensity signal so that the stimulus generating means generates a stimulus that warns the operator that the load by the working means is excessive, When the load detected by the force sensor is equal to or greater than a predetermined threshold value, it is desirable to set the warning stimulus intensity setting mode and output the set constant stimulus intensity signal to the stimulus generating means.
In this way, the operator can recognize that the load by the working means, for example, the gripping force is excessive, so that the operator can work efficiently in handling sensitive items. It becomes possible.

The stimulation intensity setting unit further includes a normal stimulation intensity setting mode when the load applied by the working unit is within an allowable range, and the normal stimulation intensity setting mode is lower than that in the warning stimulation intensity setting mode. It is desirable to set a stimulus intensity signal having a constant intensity and output it to the stimulus generator.
In this way, since it is roughly divided into two stimulus intensities, the operator can easily perceive whether the load by the working means, for example, the gripping force is excessive.
Alternatively, the stimulus intensity setting means further has a normal stimulus intensity setting mode when the load by the working means is within an allowable range, and in the normal stimulus intensity setting mode, the stimulus intensity setting means is proportional to the load detected by the force sensor. A strong stimulus intensity signal may be set and output to the stimulus generating means.
In this way, for example, a stimulus having an intensity corresponding to the gripping force can be given to the operator's tactile sense as a force sense.

  The stimulus generating means generates heat with either a means for generating low frequency vibration, a means for generating heat, a means for generating pressure by gas or liquid, or a means for generating pressure by gas or liquid. It is desirable that it is a means to do.

ADVANTAGE OF THE INVENTION According to this invention, even if an operator changes, the adjustment of hardware and software is unnecessary, and the remote control apparatus which can show an appropriate force sense to an operator can be provided.
In addition, since a stimulus is applied to the operator's finger as a force sensation, particularly to the fingertip, the sensation is applied to a sensitive part, and a more effective force sensation can be presented.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram showing an overall configuration of a master / slave hand device which is an embodiment of a remote control device according to the present invention. As shown in FIG. 1, the master / slave hand device 1 includes a slave hand 2 that is a working means for gripping a gripping target B by remote operation, and a master hand 3 that is an operating means attached to the hand of an operator M. And a controller 4 for controlling these hands.

The slave hand 2 includes a hand main body 6, a force sensor 7 attached to the tip of each finger of the hand main body 6, and a hydraulic valve 5 that controls the hydraulic pressure of the hand main body 6. Although not shown, a hydraulic pump that supplies oil to the hand main body 6 is provided, and the hydraulic valve 6 is provided in an oil supply path between the hydraulic pump and the hand main body 6.
The hand main body 6 is configured such that a finger portion 6b is rotatable by hydraulic pressure via a joint portion 6a, and a load on the gripping target B is determined by hydraulic control of the hydraulic valve 5. The force sensor 7 is configured to output a load when gripping the gripping object B as a gripping force (for example, N (Newton) unit).

  The master hand 3 includes a finger glove 8 as an operation unit to be attached to each finger of the operator M, and stimulus generation means 9 provided in close contact with the finger of the operator M in each finger glove 8. Consists of. The finger glove 8 is configured to output information on each motion vector when the operator M moves his / her finger while the finger glove 8 is attached to the finger of the operator M.

  Further, the controller 4 has a hydraulic valve control amount calculating means 10 for controlling the operation of the hydraulic valve 5 of the slave hand 2 and a stimulus intensity setting means 11 for setting the stimulus intensity of the stimulus generating means 9 of the master hand 3. Yes. The hydraulic valve control amount calculation means 10 controls the hydraulic valve 5 based on the vector amount output by the finger glove 8, and the stimulation intensity setting means 11 determines the gripping force output by the force sensor 7. Based on this, the intensity of the stimulus generated by the stimulus generating means 9 is set.

As described above, the stimulation intensity setting unit 11 sets the stimulation intensity based on the gripping force output from the force sensor 7. FIG. 2 is a graph showing an example of the relationship between the gripping force that is the output signal of the force sensor 7 and the stimulus intensity set by the stimulus intensity setting means 11.
As shown on the horizontal axis of FIG. 2, until the gripping force reaches the threshold T (allowable gripping force), the stimulus intensity signal from the stimulus intensity setting means 11 is set linearly in proportion to the gripping force, and the slave hand 2 A stimulus having a strength corresponding to the gripping force to be gripped is applied to the finger of the operator M. That is, in normal times when work can be performed safely, this relationship is established between the gripping force and the stimulus intensity (normal stimulus intensity setting mode).

  On the other hand, when the gripping force is equal to or greater than the threshold T (dangerous gripping force), the stimulus intensity signal is set by the stimulus intensity setting unit 11 so that the stimulus generation unit 9 causes a reflex response to the operator M. A high-intensity stimulus is generated (warning stimulus intensity setting mode). In other words, while the gripping force of the slave hand 2 is within the allowable gripping force, the work can be performed normally. However, when the gripping force is a dangerous gripping force, the operator M indicates that the gripping force by the slave hand 2 is excessive. The stimulus generator 9 gives a high-intensity stimulus to the operator M. When it is necessary to pay attention only to the dangerous gripping force, as shown in FIG. 3, the stimulus strength signal to be set is a constant strength lower than that in the warning stimulus strength setting mode between the allowable gripping forces. It is good also as a setting.

  The stimulus generating means 9 is preferably a low frequency vibration generating means using electricity, a means for generating heat such as a heater, a pressure generating means using gas or liquid, or a combination of them.

  Next, the overall operation will be described. When the operator M grips the gripping target B with the slave hand 2 using the master / slave hand device 1 having the above-described configuration, the operator M performs the gripping operation by attaching the master hand 3 to the finger and moving the finger. . As a result, the motion vector amount is output from the finger glove 8 to the hydraulic valve control amount calculation means 10. The hydraulic valve control amount calculation means 10 controls the hydraulic valve 5 based on the vector amount, and the slave hand 2 moves the finger portion 6b by the operation of the hydraulic valve 5 so as to grip the gripping target B.

On the other hand, the force sensor 7 provided at the tip of the finger portion 6 b detects the gripping force when contacting the gripping target B, and outputs the detected gripping force to the stimulus intensity setting unit 11. The stimulus intensity setting means 11 sets the stimulus intensity to be fed back to the master hand 3 based on the received gripping force, and outputs the set stimulus intensity signal to the stimulus generating means 9 of the master hand 3.
The stimulus generator 9 generates a stimulus based on the received stimulus intensity signal. As a result, the operator M feels the stimulus generated by the stimulus generating means 9 by touch and feels the strength of the stimulus as the magnitude of the force sense.

According to the embodiment described above, the operation of the master hand 3 by the operator is performed by the operation of the finger glove 8 at the tip of the finger, and the generation of the stimulus that conveys the force sense to the operator as a stimulus is simulated. Means are provided in the finger glove 8. For this reason, even if an operator changes, it can respond only by attaching the finger glove 8 to a finger tip, and adjustment of hardware and software can be made unnecessary.
Further, when the gripping force by the slave hand reaches the dangerous gripping force, a high-intensity stimulus is presented to the operator, so that the operator can immediately recognize it as a warning. As a result, the operator can efficiently perform work in the handling of an object that requires caution.
In FIG. 1 and FIG. 4 in the above embodiment, the number of fingers in the slave hand 2 and the master hand 3 is shown as two examples with one hand, but is not limited to this. For example, five fingers with one hand You may comprise the finger glove 8 and the finger part 6b so that it may respond | correspond.

  In the above-described embodiment, the master hand 3 is configured by the finger glove 8 and the stimulus generating means 9. However, the configuration is not limited to this. For example, as shown in FIG. You may comprise with the air chamber 12 which is an operation part, and the stimulus generation means 13 connected to this. In this case, when the operator M's hand is placed on the air chamber 12 and the operator M performs an operation of gripping, the air chamber 12 is deformed. At this time, the deformation of the air chamber 12 is output to the hydraulic valve control amount calculation means 10 as vector amount information.

  Further, the stimulus generating means 13 is configured to present the stimulus intensity to the operator M by converting the stimulus intensity into the hardness of the air chamber 12. At this time, if the gripping force detected by the force sensor 7 is a dangerous gripping force, the air chamber 12 may be hardened to such an extent that it is difficult to deform. Alternatively, the stimulus generation means 13 may be provided with a heater (not shown) so that the stimulus intensity is converted into the hardness of the air chamber 12 and the stimulus intensity is converted into heat.

  In the above-described embodiment, an example of a work for gripping a work target has been described. However, the present invention is not limited to this, and the remote control device of the present invention is also applied to a work that pushes or pulls a work target. can do.

  The present invention can be suitably used for, for example, a master / slave hand device that operates a slave hand that grips an object by remote control.

FIG. 1 is a schematic diagram showing an overall configuration of a master / slave hand device which is an embodiment of a remote control device according to the present invention. FIG. 2 is a graph showing an example of the relationship between the output signal of the force sensor and the stimulus intensity of the master / slave hand device of FIG. FIG. 3 is a graph showing another example of the relationship between the output signal of the force sensor of the master / slave hand device of FIG. 1 and the stimulus intensity. FIG. 4 is a schematic diagram showing an overall configuration of a master / slave hand device which is another embodiment of the remote control device according to the present invention. FIG. 5 is an overall schematic diagram of a conventional force sense presentation device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Master / slave hand apparatus 2 Slave hand 3 Master hand 4 Controller 5 Hydraulic valve 7 Force sensor 9 Stimulus generation means 10 Hydraulic valve control amount calculation means 11 Stimulus intensity setting means

Claims (9)

A remote operation device in which an operator remotely operates the working means via the operating means,
A stimulus generating means for generating a stimulus to be given to an operator, provided in the operating means, a force sensor for detecting a load on a work target by the working means, and a load detected by the force sensor. A stimulus intensity setting means for setting a stimulus intensity signal to be fed back to the operator, and the stimulus generating means is a remote control device for generating a stimulus having an intensity based on the stimulus intensity signal.
The operation means includes a plurality of operation units that are respectively attached to an operator's finger and have the stimulus generation means.
The remote control device characterized in that the working means operate in conjunction with the operation of each operation section, and the stimulus generated by the stimulus generation means included in each operation section is given to a finger equipped with each operation section. . A remote operation device in which an operator remotely operates the working means via the operating means,
A stimulus generating means for generating a stimulus to be given to an operator, provided in the operating means, a force sensor for detecting a load on a work target by the working means, and a load detected by the force sensor. A stimulus intensity setting means for setting a stimulus intensity signal to be fed back to the operator, and the stimulus generating means is a remote control device for generating a stimulus having an intensity based on the stimulus intensity signal.
The operation means has a substantially dome-shaped operation portion having elasticity,
The working means operates in conjunction with the deformation of the operation part caused by the operator applying a load to the operation part, and the stimulus generated by the stimulus generation means is a hand of the operator who operates the operation part. Remote control device characterized by being given to. The stimulus intensity setting means has a warning stimulus intensity setting mode for setting a stimulus intensity signal so that the stimulus generating means generates a stimulus for warning an operator that the load by the working means is excessive,
2. The apparatus according to claim 1, wherein when the load detected by the force sensor is equal to or greater than a predetermined threshold, the warning stimulus intensity setting mode is set and the set constant stimulus intensity signal is output to the stimulus generating means. The remote control device according to claim 2. The stimulus intensity setting means further has a normal stimulus intensity setting mode when the load by the working means is within an allowable range,
4. The remote operation according to claim 3, wherein in the normal stimulus intensity setting mode, a stimulus intensity signal having a constant intensity lower than that in the warning stimulus intensity setting mode is set and output to the stimulus generating means. apparatus. The stimulus intensity setting means further has a normal stimulus intensity setting mode when the load by the working means is within an allowable range,
4. The remote control device according to claim 3, wherein in the normal stimulus intensity setting mode, a stimulus intensity signal having an intensity proportional to the load detected by the force sensor is set and output to the stimulus generating means. .   The remote control device according to any one of claims 1 to 5, wherein the stimulus generation means is means for generating low-frequency vibrations.   The remote control device according to any one of claims 1 to 5, wherein the stimulus generating means is means for generating heat.   The remote control device according to any one of claims 1 to 5, wherein the stimulus generating means is means for generating pressure by gas or liquid.   The remote control device according to any one of claims 1 to 5, wherein the stimulus generation means is a means for generating pressure by gas or liquid and a means for generating heat.

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