JP2005271094A - Robot remote control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot remote control system, which looks round the environment in the whole periphery of a robot, easily operates the robot, and improves the safety. <P>SOLUTION: This remote control system 10 includes: the robot 12; and a remote control device 16. The robot 12 includes a omnibearing visual sensor 18, thereby obtaining an omnibearing image of the periphery of the robot 12 before starting to act and transmitting the image to a control computer 92. The remote control device 16 functions as an omnibearing display, and the control computer 92 gives the received omnibearing image to a projector 100 to be projected on a semi-spherical mirror 98, and projects the omnibearing image on the inner surface of a spherical screen 96. An operator 14 operates a console part 94 while watching the omnibearing image inside the spherical screen 96, and the control computer 96 transmits the operation input data to the robot 12. The robot controls its operation according to the received operation input data. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot remote control system, and more particularly to a robot remote control system that includes, for example, a robot and a remote control device and displays a situation around the robot.

  An example of this type of conventional robot remote control system is disclosed in Non-Patent Document 1. This Non-Patent Document 1 introduces a system for performing a surrogate operation of a construction machine of a type in which a humanoid robot HRP-1S is remotely operated and seated and operated. In a portable remote control device in which a robot is operated, three displays are installed in front of the operator, and the operator moves the robot while watching images from a robot-mounted camera displayed on at least one of these displays. Manipulate.

Non-Patent Document 2 introduces a system called “super cockpit” as a remote operation platform for a robot. In this system, the robot's head is equipped with a built-in stereo camera and a total of eight CCD cameras, and a nine large screen covering a horizontal viewing angle of 150 degrees and a vertical viewing angle of 117 degrees is provided in front of the operator. 3D video from the viewpoint of the robot is displayed on the screen.
"Press Release (4) Realization of construction machinery surrogate operation by humanoid robot", Home> Press Release> Working humanoid robot [online], April 10, 2002, National Institute of Advanced Industrial Science and Technology, [Heisei Search on March 16, 2016], Internet <URL: http://www.aist.go.jp/aist_j/press_release/pr20020410/hrp/pr20020410_4.html> “MSTC releases platform for research project on human cooperation / coexistence robot”, ASCII24 / News / Technology / Device, [online], April 7, 2000, ASCII, [March 13, 2004] ] Internet <URL: http://ascii24.com/news/i/tech/article/2000/04/07/608220-000.html>

  In the systems of Non-Patent Documents 1 and 2 described above, the view in front of the robot is only displayed on a display or screen provided in front of the operator. Therefore, in order to see the surroundings other than the front of the robot, the operator has to change the field of view of the camera by moving or turning the robot, for example, and the operation is troublesome. Further, in this case, since the surrounding situation is not grasped, the surrounding danger level is not known, and there is a danger in the operation of the robot. In particular, when there is a high possibility that a person exists around, such as a communication robot, there is a strong possibility that the person may collide with a person unless the surrounding situation is grasped.

  Therefore, a main object of the present invention is to provide a robot remote control system that is easy to operate a robot.

  Another object of the present invention is to provide a robot remote control system capable of improving safety.

  The invention of claim 1 is a robot remote control system including a robot and a remote control device, and the robot includes an omnidirectional visual sensor for acquiring visual information in all directions around the robot, and an omnidirectional visual sensor. A first transmission unit that transmits the acquired visual information to the remote control device, a first reception unit that receives the operation input information transmitted from the remote control device, and controls the operation of the robot based on the received operation input information The remote control device includes: a second receiving unit that receives the transmitted visual information; an omnidirectional display unit that displays an omnidirectional image based on the received visual information; and an omnidirectional display unit. A robot remote control system comprising: operating means arranged at a visible position and operated by an operator; and second transmitting means for transmitting operation input information obtained by operating the operating means to the robot It is.

  In the invention of claim 1, the robot remote control system includes a robot and a remote control device. The robot includes an omnidirectional visual sensor, and the omnidirectional visual sensor obtains visual information in all directions around the robot. The first transmission means transmits visual information acquired by the omnidirectional visual sensor to the remote control device. In the remote control device, the second receiving means receives the transmitted visual information. Then, the omnidirectional display means displays an omnidirectional image based on the received visual information. The operation means is operated by an operator and is disposed at a position where the omnidirectional display means can be seen. Therefore, the operator can operate the operation means by looking at the omnidirectional image around the robot displayed on the omnidirectional display means. Then, the second transmission means transmits operation input information by operation of the operation means to the robot. In the robot, the operation input information transmitted from the first receiving means is received. The control means controls the operation of the robot based on the received operation input information. Therefore, according to the first aspect of the invention, the operator can control the robot so that the state of the entire periphery of the robot can be viewed from the viewpoint of the robot, and therefore, the robot can be easily operated.

  The invention of claim 2 is dependent on the invention of claim 1, and the robot acquires visual information with an omnidirectional visual sensor before controlling the operation by the control means, and the visual information is obtained by the first transmission means. Send.

  According to the invention of claim 2, in the robot, the visual information is acquired by the omnidirectional visual sensor and the visual information is transmitted by the first transmitting means before the control means performs the motion control of the robot based on the operation input information. . Therefore, according to the invention of claim 2, in the remote control device, the omnidirectional image around the robot is displayed by the omnidirectional display means before the action of the robot is started. Therefore, the operator can check the surrounding situation of the robot before operating the robot, so that it is possible to avoid, for example, the robot from colliding with the surrounding human beings and objects or falling down, thereby improving safety. It can be improved.

  The invention of claim 3 is dependent on the invention of claim 1 or 2, and the robot includes a communication robot having a function of performing communication using at least one of gesture and voice.

  In the invention of claim 3, a communication robot having a function of performing communication using at least one of gesture and voice can be applied. Therefore, according to the third aspect of the present invention, the operator can look over the entire surroundings from the viewpoint of the communication robot and operate, so that it can communicate with a human or the like in the feeling of the robot. Therefore, operation is easy and communication is easy.

  The invention of claim 4 is dependent on any one of the inventions of claims 1 to 3, wherein the omnidirectional display means includes a full screen on which an omnidirectional image is displayed, and the operation means is disposed in an internal space of the full screen. .

  In the invention of claim 4, the omnidirectional display means includes a full screen such as a spherical screen, and the operation means is disposed in the internal space of the full screen. Therefore, according to the invention of claim 4, the operator can operate the operation means inside the full screen on which the omnidirectional image is displayed. Therefore, the operator can control the robot as if it is present at the robot's place by looking over the entire surroundings of the robot displayed around him, so that the robot can be operated easily. can do.

  According to the present invention, the omnidirectional image acquired by the omnidirectional visual sensor provided in the robot is displayed on the omnidirectional display unit on which the operation unit is arranged. The robot can be controlled by looking around the entire periphery of the robot from the viewpoint of the robot. Accordingly, since the operator operates as if he / she has transferred to the robot, the robot can be easily controlled. In addition, since the robot can be operated after grasping the situation around the robot, safety can be improved.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  Referring to FIG. 1, a remote control system 10 of this embodiment includes a robot 12 that is an operation target, and a remote control device 16 for an operator 14 to operate the robot 12.

  This robot 12 is provided with an omnidirectional visual sensor 18 capable of imaging in all directions in the circumferential direction of 360 degrees. The omnidirectional image acquired by the omnidirectional visual sensor 18 is transmitted from the robot 12 to the remote control device 16, and the remote control device 16 provides the operator 14 with an image showing the entire surroundings of the robot 12. .

  The robot 12 is an interaction-oriented communication robot mainly intended to communicate with a communication target such as the human 1, and has a function of communicating with the human 1 using at least one of gesture and voice. .

  The robot 12 is not limited to a communication robot. In other embodiments, the robot 12 may be a robot that does not have a communication function such as a working humanoid robot.

  More specifically, referring to FIG. 2, the robot 12 includes a carriage 20, and wheels 22 for moving the robot 12 are provided on the lower surface of the carriage 20. The wheel 22 is driven by a wheel motor 24 (see FIG. 3), and the carriage 20, that is, the robot 12, can be moved in any direction, front, back, left, and right.

  Although omitted in FIG. 2, a collision sensor 26 (see FIG. 3) is attached to the front surface of the carriage 20, and the collision sensor 26 detects contact of a person and other obstacles with the carriage 20. That is, when contact with an obstacle is detected while the robot 12 is moving, the driving of the wheels 22 is immediately stopped and the movement of the robot 12 is suddenly stopped.

  A polygonal column sensor mounting panel 28 is provided on the carriage 20, and an ultrasonic distance sensor 30 is mounted on each surface of the sensor mounting panel 28. In this embodiment, 24 ultrasonic distance sensors 30 are provided so as to extend around 360 degrees. The ultrasonic distance sensor 30 measures a distance mainly from a person around the robot 12.

  Further, on the carriage 20, the lower part is surrounded by the sensor mounting panel 28 so that the body of the robot 12 stands upright. This body is composed of a lower body 32 and an upper body 34, and the lower body 32 and the upper body 34 are connected to each other by a connecting portion 36. Although illustration is omitted, the connecting portion 36 has a built-in lifting mechanism, and the height of the upper body 32, that is, the height of the back of the robot 12 can be changed by using this lifting mechanism. The lifting mechanism is driven by a waist motor 38 (see FIG. 3), as will be described later.

  A microphone 40 is provided substantially at the center of the upper body 34. The microphone 40 captures ambient sounds, particularly voices of people who are communication targets. The installation position of the microphone 40 is not limited to the upper body 34 and can be changed as appropriate.

  Further, an omnidirectional visual sensor 18 capable of detecting omnidirectional visual information at a time is provided on the back surface of the upper body 34 by means of a rod-shaped fixture, and from the top of the head so that the situation around the robot 10 can be imaged. Is also disposed above. The omnidirectional visual sensor 18 has a structure in which, for example, a hyperboloid mirror that reflects 360 ° in the circumferential direction is supported by cylindrical glass, and a conical protrusion for eliminating internal reflection by the cylindrical glass at the center of the mirror surface. Is mounted downward. A peephole for a camera is provided below the tip of the protrusion, and a camera using a solid-state image sensor such as a CCD or CMOS is provided via a lens. In this omnidirectional visual sensor 18, an image of 360 ° surrounding reflected by the hyperboloid mirror is acquired by the camera through the peephole and the lens. Since the internal reflection by the cylindrical glass can be eliminated by the projection on the mirror surface, it is possible to eliminate the ghost image and obtain an actual image. The omnidirectional visual sensor 18 can use, for example, a product of Viston Co., Ltd. (http://www.vstone.co.jp/).

  Upper arms 44R and 44L are provided on both shoulders of the upper trunk 34 so as to be displaceable with respect to the trunk by shoulder joints 42R and 42L, respectively. The shoulder joints 42R and 42L have three axes of freedom. The shoulder joint 42R can control the angle of the upper arm 44R around each of the X axis, the Y axis, and the Z axis. On the other hand, the shoulder joint 42L can control the angle of the upper arm 44L around each of the A axis, the B axis, and the C axis. Also, forearms 48R and 48L are provided at the tips of the upper arms 44R and 44L via uniaxial elbow joints 46R and 46L, respectively. The elbow joints 46R and 46L can control the angles of the forearms 48R and 48L around the axes of the W axis and the D axis, respectively. Hands 50R and 50L are fixedly provided at the tips of the forearms 48R and 48L, respectively. However, when a finger or palm function is required, it is possible to use a human hand instead of a spherical shape. Each axis in each joint of the right arm and the left arm is controlled by a motor (not shown). That is, four motors for each of the right arm and the left arm are represented as a right arm motor 52 and a left arm motor 54, respectively, in FIG.

  Although not shown in FIG. 2, a touch sensor 56 (inclusively in FIG. 3) is provided on the shoulder portion of the upper body 34 including the shoulder joints 42R and 42L, the upper arms 44R and 44L, and the forearms 48R and 48L. These touch sensors 56 detect whether or not a person has touched each part of the robot 10.

  Above the center of the upper body 34, a head 60 is attached via a neck joint 58 so as to be able to be elevated and rotated like a human head. The neck joint 58 has three degrees of freedom, and the angle can be controlled around each of the S, T, and U axes. The three-axis neck joint 58 is controlled by three motors, that is, a head motor 62 shown in FIG.

  The head 60 is provided with a speaker 64 at a position corresponding to a human mouth. The speaker 64 is used for the robot 12 to communicate by voice to people around it.

  In addition, two eyeball portions 66R and 66L are provided at positions corresponding to “eyes” on the front surface of the head 60. Eyeball portions 66R and 66L include eye cameras 68R and 68L, respectively. The eyeball part 66R and the eyeball part 66L may be collectively indicated by the eyeball part 66. Further, the eye camera 68R and the eye camera 68L are collectively shown as an eye camera 68 in FIG.

  The eye camera 68 takes a picture of a person's face and other parts or objects approaching the robot 10 and captures the video signal. As the eye camera 68, a camera similar to the omnidirectional visual sensor 18 described above can be used. The eye camera 68 is fixed in the eyeball part 66, and the eyeball part 66 is attached to a predetermined position in the head 60 via an eyeball support part (not shown) so as to be able to be elevated and rotated. The eyeball support unit has two degrees of freedom and can be controlled in angle around each of the α axis and the β axis. The two-axis eyeball support portions of the eyeball portions 66R and 66L are respectively controlled by two motors, that is, the right eyeball motor 70 and the left eyeball motor 72 shown in FIG.

  FIG. 3 is a block diagram showing an electrical configuration of the robot 12. With reference to FIG. 3, the robot 12 includes a CPU 74. The CPU 74 is also called a microcomputer or a processor, and is responsible for overall control of the robot 12. The CPU 74 is connected to the memory 78, the motor control board 80, the sensor input / output board 82, the audio input / output board 84, and the communication LAN board 86 via the bus 76.

  Although not shown, the memory 78 includes a ROM, an HDD, and a RAM. The ROM and HDD store a control program for the robot 12 in advance, and the RAM is used as a work memory and a buffer memory. The control program is, for example, a program for detecting information detected by each sensor or camera, a program for communicating with an external computer, that is, a control computer 92 of the remote control device 16, communication behavior or movement based on the received operation input information, etc. Including a program for controlling the operation. The memory 78 also stores data for executing an operation such as a communication action. The data is, for example, voice data or voice data (voice data) to be generated from the speaker 64 when executing each action. Composite data) and angle data for presenting a predetermined gesture. Note that angle data and audio data of each operation such as predetermined communication behavior are stored in the memory 78 in association with each identifier.

  The robot 12 can take various actions as follows as an example of the predetermined communication action. For example, say "Hello". Say "Let's shake hands" and push one arm forward. Say “Hug me” and spread your arms and hug them in front of you.

  The motor control board 80 is configured by a DSP, for example, and controls driving of each motor such as each arm, head, and eyeball. That is, the motor control board 80 receives two control data from the CPU 74 and controls two motors for controlling the respective angles of the two axes of the right eyeball portion 66R (in FIG. 3, collectively shown as “right eyeball motor”) 70. Control the rotation angle. Similarly, the motor control board 80 receives control data from the CPU 74, and controls two angles of the two axes of the left eyeball portion 66L (in FIG. 3, collectively shown as “left eyeball motor”). The rotation angle of 72 is controlled. The motor control board 80 receives control data from the CPU 74, and controls three motors for controlling the angles of the three axes of the right shoulder joint 42R and one motor for controlling the angles of the one axis of the right elbow joint 46R. The rotational angles of the four motors (collectively shown as “right arm motor” in FIG. 3) 52 are adjusted. Similarly, the motor control board 80 receives control data from the CPU 74, three motors for controlling the angles of the three axes of the left shoulder joint 42L, and one motor for controlling the angles of the one axis of the left elbow joint 46L. The rotational angles of the four motors (collectively shown as “left arm motor” in FIG. 3) 54 are adjusted. Further, the motor control board 80 receives control data from the CPU 74, and controls three motors 62 that collectively control the angles of the three axes of the neck joint 58 (shown collectively as "head motors" in FIG. 3) 62. Control the rotation angle. Furthermore, the motor control board 80 receives control data from the CPU 74 and controls the rotation angle of two motors 24 (hereinafter collectively referred to as “wheel motors”) 24 that drive the waist motor 38 and the wheels 22. To do.

  Note that the motors described above in this embodiment are stepping motors or pulse motors, respectively, in order to simplify the control, except for the wheel motors 24. However, like the wheel motors 24, they may be direct current motors.

  Similarly, the sensor input / output board 82 is constituted by a DSP, and takes in signals from each sensor and camera and gives them to the CPU 74. That is, the video signal from the omnidirectional visual sensor 18 is subjected to predetermined processing by the sensor input / output board 82 as required, and then input to the CPU 74. Further, data relating to the reflection time (distance information) from each of the ultrasonic distance sensors 30 is input to the CPU 74 through the sensor input / output board 82. Similarly, the video signal from the eye camera 68 is input to the CPU 74 after being subjected to predetermined processing as necessary. Further, signals from the plurality of touch sensors 56 are given to the CPU 74 via the sensor input / output board 82. Further, a signal from the collision sensor 26 is also given to the CPU 74 in the same manner.

  Similarly, the voice input / output board 84 is configured by a DSP, and voice or voice in accordance with voice synthesis data provided from the CPU 74 is output from the speaker 64. Also, the voice input from the microphone 40 is taken into the CPU 74 via the voice input / output board 82.

  Similarly, the communication LAN board 86 is configured by a DSP and connected to the wireless communication device 88. The communication LAN board 86 and the wireless communication device 88 are connected to a network 90 (FIG. 1) such as a LAN or the Internet via a wireless LAN access point (not shown). In this embodiment, the robot 12 can communicate with the remote control device 16 via the network 90. Specifically, the communication LAN board 86 transmits visual information detected by the omnidirectional visual sensor 18 to the remote control device 16. The communication LAN board 86 receives control information from the remote control device 16 and provides the received data to the CPU 74. Note that the robot 12 and the remote control device 16 may be configured to directly communicate with each other wirelessly.

  Returning to FIG. 1, the remote control device 16 is an interface for the operator 14 to remotely operate the robot 12, and includes a control computer 92 that controls the overall operation of the device 16. An operation unit 94 that is actually operated by an operator is connected to the control computer 92. The remote control device 16 also functions as an omnidirectional display that presents an image of the entire periphery of the robot 12 at a remote location to the operator 14. The omnidirectional display is one of the immersive displays. For example, “Personal Omnidirectional Visualizer” (http://ed-02.ams.eng.osaka-u.ac.jp/orig/homepages2/japanese/projects/key_devices /html/pov.htm) applies. That is, the remote control device 16 includes a spherical screen 96 made of FRP or the like that has a size (for example, a diameter of about 2 m) that a human can enter therein and whose inner surface is a full screen. A hemispherical mirror 98 made of stainless steel and the projector 100 are provided in the internal space of the spherical screen 96.

  The control computer 92 may be a PC or a workstation. Although not shown, the control computer 92 includes a CPU. A memory, an input / output interface, and the like are connected to the CPU, and an operation unit 94, the projector 100, a communication device, and the like are connected to the CPU via the input / output interface. The memory stores a program for controlling the operation of the control computer 92 and necessary data. The program includes, for example, a program for detecting an operation input from the operation unit 94, a program for communicating with the robot 12, and a program for displaying an image using the projector 100. The control computer 92 is connected to a network 90 such as the Internet via an input / output interface and a communication device, and can transmit / receive data to / from the robot 12. Specifically, the control computer 92 transmits control information including operation input data from the operation unit 94 to the robot 12. Further, the control computer 92 receives visual information including omnidirectional image data from the robot 12.

  The operation unit 94 includes means such as operation switches, operation buttons, or joysticks operated by the operator 14. The operation unit 94 is arranged in the internal space of the spherical screen 96, that is, arranged at a position where an omnidirectional image can be seen. However, the operation unit 94 may be formed so as to be portable or portable by the operator 14 or may be fixedly provided in the spherical screen 96. Further, the operation unit 94 may be connected to the control computer 92 either by wire or wirelessly. The operation unit 94 gives an operation input signal corresponding to the operation by the operator 14 to the control computer 92. The operator 14 can operate the robot 12 by operating the operation unit 94. For example, the angle of each axis of each joint of the robot 12 and the movement by the wheel motor 24 can be controlled. Alternatively, it is possible to execute predetermined communication behavior including preset gestures and utterances.

  The projector 100 is disposed in a predetermined position in the spherical screen 96, for example, behind a chair on which the operator 14 sits. The hemispherical mirror 98 is installed at a predetermined position on the inner surface above the spherical screen 96. The projector 100 is connected to the control computer 92 by wire or wirelessly, and image data is given by the control computer 92. This image data is an omnidirectional image around the robot 12 acquired by the omnidirectional visual sensor 18 provided in the robot 12. Projector 100 projects the image (omnidirectional image) onto hemispherical mirror 98 based on the given image data. The projection light reflected by the hemispherical mirror 98 is projected on the inner surface of the spherical screen 96. That is, the 360-degree view of the robot 12 in the circumferential direction is displayed on the spherical screen 96 as it is. Accordingly, the operator 14 can operate the robot 12 by operating the operation unit 94 while viewing the 360-degree omnidirectional image of the robot 12 projected on the spherical screen 96 around 360 degrees. it can.

  The arrangement of the hemispherical mirror 98 and the projector 100 is adjusted so that the resolution on the spherical screen 96 is optimal. Further, the control computer 92 corrects the image information from the robot 12 so that the projected image displayed on the spherical screen 96 is not distorted. That is, the view around the robot 12 is displayed on the spherical screen 96 without distortion.

  In the remote control system 10, the robot 12 and the remote control device 16 are arranged at locations separated from each other. The robot 12 is disposed instead of a place where the operator 14 cannot go, such as a conference hall, a work place, or a sightseeing spot. Then, the operator 14 enters the spherical screen 96 of the remote control device 16 and operates the robot 12. The operator 14 can visually experience the situation of the place where the robot 12 exists from the image acquired by the omnidirectional visual sensor 18 provided in the robot 12 and displayed on the spherical screen 96.

  When performing remote operation of the robot 12, first, the robot 12 (CPU 74) uses the omnidirectional visual sensor 18 to display an omnidirectional image around the robot 12 before starting an operation such as a communication action based on the operation input. To get. Then, the robot 12 transmits the acquired omnidirectional image data to the control computer 92 of the remote control device 16. The acquisition and transmission of this omnidirectional image is repeatedly executed, for example, at a constant cycle.

  In response to the data transmission of the robot 12, the control computer 92 receives the omnidirectional image data. Then, the control computer 92 corrects the received omnidirectional image data and gives the image data to the projector 100. The projector 100 projects the image on the hemispherical mirror 98 based on the given image data.

  In this way, on the spherical screen 96, images of all directions around the robot 12 acquired by the omnidirectional visual sensor 18 of the robot 12 are displayed in real time. Therefore, the operator 14 can look over the entire surroundings of the robot 12 displayed on the spherical screen 96 in real time, and can operate the robot 12 while looking at the environment around the robot 12 in real time.

  When there is an operation input from the operation unit 92, the control computer 92 detects operation input data. Then, the control computer 92 transmits control information including operation input data to the robot 12. For example, when the operator 14 directly operates each part of the robot 12, operation input data including angle control data of each motor is transmitted. When an operation for instructing execution of a predetermined communication action is performed, operation input data including the identifier of the action is transmitted.

  In response to data transmission from the control computer 92, the robot 12 receives control information. Then, the robot 12 controls the operation based on the control information (operation input data). For example, when the control data of each motor is received, the CPU 74 of the robot 12 controls each motor based on the data and operates each part or wheel 22 or the like. Further, when the execution instruction data of the predetermined communication action is received, the CPU 74 of the robot 12 reads out data for executing the corresponding communication action from the memory 78 based on the identifier and executes the action. A part or the like is operated, or a predetermined sound is output from the speaker 64.

  In this way, the operator 14 can operate the robot 12 while looking around the environment around the robot 12 displayed on the spherical screen 96 from the viewpoint of the robot 12. Therefore, the operator 14 can operate the robot 12 easily because the operator 14 operates as if the robot 12 is in the place where the robot 12 is present, or as if the operator 14 was transferred to the robot.

  Further, since the omnidirectional image is first acquired and displayed on the omnidirectional display before the robot 12 starts to act, the operator 14 actually moves the robot 12 by operating the operation unit 94. It is possible to confirm the environment in which the robot 12 is present and the surrounding situation before making it turn, turning for confirmation of the surrounding situation, or executing a communication action. Therefore, for example, it is possible to avoid the robot 12 from colliding with surrounding humans or objects, or to fall, and the safety can be improved.

  Furthermore, when the robot 12 is a communication robot, the operator 14 can operate the robot 12 by looking over the entire image from the viewpoint of the robot 12 in the space of the omnidirectional display. It is possible to communicate with a human or the like with the feeling of the robot 12 as if it were the robot 12. Therefore, it is easy to operate and communication is facilitated.

  FIG. 4 shows the operation of the remote control system 10. Referring to FIG. 4, CPU 74 of robot 12 first acquires an omnidirectional image detected by omnidirectional visual sensor 18 via sensor input / output board 82 and temporarily stores it in memory 78 in step S1. . Next, in step S <b> 3, the robot 12 transmits the acquired omnidirectional image data to the remote control device 16 via the network 90 using the communication LAN board 86 and the wireless communication device 88.

  In response to this, in step S21, the CPU of the control computer 92 of the remote control device 16 receives the omnidirectional image data and temporarily stores it in the memory. In step S23, an omnidirectional image is projected. Specifically, the control computer 92 corrects the received omnidirectional image data, gives the omnidirectional image data to the projector 100, and causes the projector 100 to project the omnidirectional image onto the hemispherical mirror 98. As a result, an omnidirectional image is displayed on the inner surface of the spherical screen 96.

  Subsequently, when there is an operation input from the operation unit 94, the control computer 92 detects the operation input data and temporarily stores it in the memory in step S25. In step S27, control data including operation input data is transmitted to the robot 12 via the network 90.

  In response to this, the robot 12 receives operation input data using the wireless communication device 88 and the communication LAN board 86 and temporarily stores them in the memory 78 in step S5. In step S7, the robot 12 controls the operation based on the received operation input data. For example, when the operation input data is communication action execution instruction data, the CPU 74 reads out the corresponding angle control data and audio data from the memory 78 based on the identifier of the communication action, and the motor control board 80. The motors are controlled via the voice and the voice is output from the speaker 64 via the voice input / output board 84. On the other hand, if the operation input data is directly input angle control data, the CPU 74 controls each motor via the motor control board 80 based on the angle control data.

  Further, the control computer 92 of the remote control device 16 repeats the processing from step S21 to step S27 until it is determined in step S29 that the process is terminated. For example, when the operator 14 performs an operation for instructing the end of the remote operation, “YES” is determined in the step S29. Further, the robot 12 repeats the processing from step S1 to step S7 until it is determined in step S9 that the process is finished. For example, when operation input data for instructing termination is received from the control computer 92, “YES” is determined in the step S9.

It is an illustration figure which shows the outline | summary of the remote control system of one Example of this invention. It is an external view which shows an example of the robot of FIG. FIG. 3 is a block diagram illustrating an electrical configuration of the robot of FIG. 2. It is a flowchart which shows operation | movement of the remote control system of FIG. 1 Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Robot remote control system 12 ... Robot 16 ... Remote control apparatus 18 ... Omnidirectional visual sensor 74 ... CPU
DESCRIPTION OF SYMBOLS 78 ... Memory 80 ... Motor control board 82 ... Sensor input / output board 84 ... Audio | voice input / output board 86 ... Communication LAN board 92 ... Control computer 94 ... Operation part 96 ... Spherical screen 98 ... Hemispherical mirror 100 ... Projector

Claims (4)

A robot remote control system including a robot and a remote control device,
The robot is
An omnidirectional visual sensor for acquiring visual information in all directions around the robot;
First transmission means for transmitting visual information acquired by the omnidirectional visual sensor to the remote control device;
First receiving means for receiving operation input information transmitted from the remote control device;
Control means for controlling the operation of the robot based on the received operation input information,
The remote control device is:
Second receiving means for receiving the transmitted visual information;
Omnidirectional display means for displaying an omnidirectional image based on the received visual information;
Operation means arranged at a position where the omnidirectional display means can be seen and operated by an operator;
A robot remote control system, comprising: second transmission means for transmitting operation input information by operation of the operation means to the robot.   The robot remote control system according to claim 1, wherein the robot acquires the visual information by the omnidirectional visual sensor and transmits the visual information by the first transmission unit before controlling the operation by the control unit. .   The robot remote control system according to claim 1, wherein the robot includes a communication robot having a function of performing communication using at least one of gesture and voice. The omnidirectional display means includes a full screen on which an omnidirectional image is displayed,
The robot remote control system according to any one of claims 1 to 3, wherein the operation means is disposed in an internal space of the entire screen.

Images