JP2006167867A - Remote control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control device capable of reducing a burden on a worker by detecting a distance between a slave hand and a working object by a distance detecting means and changing an operation form in accordance with the distance. <P>SOLUTION: The slave hand 11 is hydraulically driven by operation of a master hand 1 operated by an operator. Images of the slave hand 11 and the working object A are picked up by image pickup means 21a, 21b and the distance between them is computed. An automatic motion mode including a driving motion to make the slave hand 11 approach the working object A regardless of the operation of the master hand 1 is selected in the case when the computed distance is higher than a specified value, while a manual motion mode capable of driving the slave hand 11 in accordance with the operation of the master hand 1 is selected in the case when the distance is lower than the specified value. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a remote control device that can be applied to, for example, a master / slave hand device that remotely controls a slave hand that holds an object by movement of the master hand.

  Master / slave hands are used in environments where humans cannot move freely, such as outer space and oceans, or in fields such as remote surgery for diagnosing or excising living tissue, or in areas where dangerous materials are handled, etc. It is used in various fields.

  As is well known, this master-slave hand is such that the movement of the master hand is faithfully transmitted to the slave hand. In addition to this, the gripping force that the slave hand acts on the work object ( A device that is devised so that the sense of force) is fed back to the master hand has been proposed. As a result, the operator can obtain a feeling of working directly on the object.

As described above, those configured to feed back a force sense to the master hand are disclosed in Patent Documents 1 to 3 shown below.
JP-A-6-324622 JP-A-8-131447 JP 11-167419 A

  By the way, according to the master-slave hand as described above, when trying to approach the work object, the master hand must be operated while maintaining the same posture as the slave hand. That is, even if the distance between the slave hand and the work object is relatively long, or even when the slave hand is close to the work object, the same level of remote operation is performed. Prior to gripping the work object by the hand, a burden is placed on the worker and the work efficiency is lowered.

  The present invention has been made paying attention to the above-mentioned problems, so that the distance between the slave hand and the work object can be detected by the distance detecting means, and the operation mode of the remote operation can be changed according to the distance. It is an object of the present invention to provide a remote control device that can be configured and can reduce the burden on an operator.

  A remote control device according to a first invention made to solve the above-mentioned problems is a remote control device that drives a slave hand based on an operation of a master hand, and is operated by the slave hand and the slave hand. Based on the distance detection means for detecting the distance to the work object and the distance between the slave hand and the work object obtained by the distance detection means, the drive operation of the slave hand is set to the automatic operation mode or the manual operation mode. When the distance between the slave hand obtained by the distance detecting means and the work object is equal to or greater than a predetermined value, an operation mode selection means for selecting is provided and the slave for the work object regardless of the operation of the master hand. An automatic operation mode including a driving operation for bringing a hand closer is selected, and the distance is less than a predetermined value. In case, characterized in that the manual operation mode can be driven slave hand based on the operation of the master hand is configured to be selected.

  In the second invention, the operation mode selection means selects the manual operation mode by a specific operation in the master hand regardless of the selection status of the automatic operation mode or the manual operation mode by the distance detection means. It is desirable to be configured as described above.

  In addition to the above-described configuration, the remote control device according to the present invention includes, in the third invention, feedback means for providing the master hand with a reaction force corresponding to a load applied to the work object by the slave hand. It is desirable that

  On the other hand, in a preferred embodiment, the fourth invention is configured such that the operation resistance of the master hand is changed according to the distance between the slave hand obtained by the distance detection means and the work object.

  In the remote control device according to this embodiment, a fifth invention is characterized in that the distance detecting means preferably includes a video reproducing means for providing a video image obtained by the imaging means to an operator of a master hand, and the distance The display mode of the video displayed by the video playback means is changed according to the distance between the slave hand obtained by the detection means and the work object.

  According to the remote control device of the first invention described above, the distance detection means for detecting the distance between the slave hand and the work object is provided, and when the distance detected by the distance detection means is equal to or greater than a predetermined value, An automatic operation mode including a driving operation for bringing the slave hand closer to the work object regardless of the operation of the master hand is selected. Therefore, the operator is freed from the problem that the master hand must be operated with a predetermined posture for remotely operating the slave hand, even though the distance between the master hand and the work object is considerably large.

  Further, according to the remote operation device of the second invention, the manual operation mode is selected by a specific operation on the master hand, so that an accurate remote operation according to the operator's intention is selected. It is also possible.

  In addition, according to the remote control device of the third invention, since the feedback means corresponding to the load applied to the work object by the slave hand is provided to the master hand, the operator can move the object to the object. In contrast, it is possible to obtain a feeling of working directly.

  Furthermore, according to the remote control device of the fourth invention, the operation resistance of the master hand is changed according to the distance between the slave hand obtained by the distance detection means and the work object. When the slave hand approaches the work target, the operator can give a more delicate operation to the slave hand via the master hand.

  Furthermore, according to the remote control device of the fifth invention, the slave hand and the work object are imaged by the imaging means and the distance between them is detected. Since the display mode of the video is changed accordingly, the state of the slave hand can be grasped more accurately, and accurate remote operation can be supported.

  Hereinafter, a remote control device according to the present invention will be described based on the embodiments shown in the drawings. FIG. 1 shows the first embodiment. In this embodiment, an example is shown in which a glove worn on the hand of an operator functions as a master hand. That is, in FIG. 1, reference numeral 1 indicates a master hand formed in a glove shape, and reference numeral 2 schematically indicates an operator's hand wearing the master hand.

  In the glove-shaped master hand 1, reaction force generating means 3a and 3b are accommodated at positions corresponding to the operator's thumb and forefinger, for example, and applied to the work symmetry on the slave hand side described later. A reaction force corresponding to the load is fed back to the operator side via the controller 9.

  Further, a position / posture sensor 4 for detecting the position and posture of the master hand 1 is provided, and a sensor output from the position / posture sensor 4 is supplied to the controller 9. Further, a manual mode selection sensor 5 is provided on the master hand 1 side, and the sensor output from the manual mode selection sensor 5 is similarly supplied to the controller 9. The manual mode selection sensor 5 generates a sensor output by executing a specific operation on the master hand 1 side, that is, an operation of bending the inward of a little finger of an operator who is not much involved in remote operation, for example. Is configured to do.

  Further, when the position and posture of the master hand 1 are operated, an operation resistance applying means 6 for providing resistance to the operation is provided, and an operation resistance to be described later is applied from the controller 6 to the operation resistance applying means 6. A signal is supplied.

  On the other hand, reference numeral 11 denotes a slave hand. In the embodiment shown in FIG. 1, an example in which the work object A is gripped by the slave hand 11 is shown. As an example, the slave hand 11 has a plurality of joint portions 13a and 13b attached to both ends of a hand body 12 formed in a U-shape, and the finger portions 14a and 14b are further connected via the joint portions 13a and 13b. A multi-fingered hand is constructed. The joint portions 13a and 13b are driven by, for example, hydraulic control from the controller 9, and operate so as to grip the work object A by the finger portions 14a and 14b.

  Further, load sensors 15a and 15b are attached to the finger portions 14a and 14b, respectively, and a load applied to the work object when the work object A is gripped by the finger parts 14a and 14b is detected to be a controller. 9 is configured to supply to 9. The hand body 12 constituting the slave hand 11 is configured such that its position and posture are controlled by a position / posture control unit 17. The position / posture control unit 17 is also driven by, for example, hydraulic control from the controller 9.

  Further, on the slave hand 11 side, a pair of imaging means (video cameras) 21a and 21b for imaging the slave hand 11 and the work object A, and the slave hand 11 and the work object A using these video outputs. Distance calculating means 22 for calculating the distance to The imaging means 21a and 21b function as a so-called stereo camera, and by processing these video outputs by the distance calculation means 22, the distance between the slave hand 11 and the work object A is calculated. The controller 9 is configured to be supplied. Therefore, here, the configuration of the pair of imaging means 21a and 21b and the distance calculation means 22 is referred to as a distance detection means.

  The video signals picked up by the image pickup means 21a and 21b are supplied as a monitor output to the TV monitor 7 as the video reproduction means installed on the master hand 1 side via the controller 9, and the TV monitor. 7 for reproduction.

  In the above-described embodiment shown in FIG. 1, the manual operation mode and the automatic operation mode are selected as will be described in detail later. The following description is based on the case where the former manual operation mode is selected.

  In the configuration shown in FIG. 1, when the position and posture of the globe-shaped master hand 1 are changed, the sensor output (position / posture information) from the position / posture sensor 4 is supplied to the controller 9. . In response to this, the controller 9 executes hydraulic control on the position / posture control unit 17 in the slave hand 11 and executes control corresponding to the position and posture on the master hand 1 side. That is, here, a well-known master / slave operation is executed.

  When the slave hand 11 is moved closest to the work object A by the above-described operation, and the glove-shaped master hand 1 performs an operation of grasping the work object A, information on the motion vector is output from the master hand 1. This is sent to the controller 9 as gripping force information. Based on this gripping force information, the controller 9 executes hydraulic pressure control, thereby driving the joint portions 13a and 13b in the slave hand 11 and performing an operation of gripping the work object A by the finger portions 14a and 14b.

  When the operation of grasping the work object A by the finger portions 14a and 14b is executed, sensor outputs from the load sensors 15a and 15b attached to the finger portions 14a and 14b are supplied to the controller 9. In the controller 9, a reaction force drive signal corresponding to the load is generated in the reaction force feedback means 9a. This reaction force drive signal is supplied to the reaction force generating means 3a and 3b accommodated in the master hand 1, and the reaction force generating means 3a and 3b are driven against the operator's hand 2 by being driven. Acts as a force stimulus.

  As the reaction force generating means 3a and 3b, an actuator that applies pressure to an operator's hand (especially the thumb and index finger) or a vibrator means that applies a low-frequency vibration signal can be employed. In this case, control is performed such that the pressure applied to the finger or the level of the vibration signal is changed according to the level of the reaction force drive signal supplied from the reaction force feedback means 9a. As a result, the operator can feel as if he / she is directly working on the object A.

  The above description is the basic operation of the master / slave operation performed in the manual operation mode as described above. Here, the information corresponding to the distance between the slave hand 11 and the work object A obtained by the distance detecting means comprising the imaging means 21a and 21b and the distance calculating means 22 is supplied to the operation mode selecting means 9b in the controller 9. Is done. In the operation mode selection means 9b, the automatic operation mode is selected when the distance between the slave hand 11 and the work object A is a predetermined value or more.

  When the automatic operation mode described above is selected, a driving operation for bringing the slave hand 11 closer to the work target A is executed regardless of the operation of the master hand 1 described above. Therefore, in a state where this automatic operation mode is selected, the operator is freed from the problem that the master hand 1 must be operated with a predetermined posture in order to remotely operate the slave hand 11.

  When the distance detection unit detects that the distance between the slave hand 11 and the work object A has reached a predetermined value, the operation mode selection unit 9b in the controller 9 performs the automatic operation described above. The operation to switch from the mode to the manual operation mode is executed. Therefore, after the slave hand 11 comes close to the work object A in the automatic operation mode, the operation mode is switched to the manual operation mode.

  Therefore, as described above, by operating the position and posture of the master hand 1 and further performing the operation of grasping the work object, the fingers 14a and 14b of the slave hand 11 move the work object A according to the movement. The grabbing action will be executed. In this way, when the operation of grasping the work object A by the slave hand 11 is executed, the reaction force generating means 3a and 3b are driven based on the sensor outputs from the load sensors 15a and 15b as described above, and the operator Acts so that a reaction force is applied to the hand.

  Here, as described above, the manual mode selection sensor 5 is provided on the master hand 1 side, and this performs, for example, an operation of bending an operator's little finger inward in a state where the automatic operation mode is set. Thus, a sensor output is generated, and the operation mode selection means 9b in the controller 9 operates to receive the sensor output and switch to the manual operation mode. Thus, by configuring so that the automatic operation mode can be arbitrarily switched to the manual operation mode, it is possible to execute an accurate remote operation according to the operator's intention.

  Further, as described above, when switching to the manual operation mode based on the sensor output of the manual mode selection sensor 5, the operation resistance applying means 6 operates to operate the position and posture of the master hand 1. The operation resistance is changed. FIG. 3 shows an example in which the operating resistance is changed, and the horizontal axis represents the relationship between the slave hand 11 and the work object A obtained by the distance detecting means including the imaging means 21a and 21b and the distance calculating means 22. The distance indicates the operating resistance applied to the master hand 1 by the operating resistance applying means 6.

  As shown in FIG. 3, the operation resistance of the master hand 1 is controlled to increase as the slave hand 11 approaches the work target A, in other words, as the distance decreases. Therefore, when the slave hand 11 approaches the work target A, the operator can give a more delicate operation to the slave hand via the master hand 1.

  Further, on the television monitor 7 installed on the master hand 1 side, the video of the slave hand 11 and the work object A is reproduced, so that the master hand operator can work while confirming this video. it can. In this case, it is preferable that the display mode of the video image on the television monitor 7 is changed when the distance obtained by the distance detecting means becomes a predetermined value or less.

  That is, when the distance falls below a predetermined value, the operator can work with the slave hand 1 by adopting means for changing the display mode such as changing the color tone of the entire screen from blue to orange. The state with the object A can be grasped more accurately, and it is possible to support the execution of an accurate remote operation. Note that the change in the display mode described above can not only change the color tone of the entire screen but also employ other means.

  FIG. 2 shows a second embodiment of the remote control device according to the present invention. In this embodiment, a so-called joystick functions as a master hand. In FIG. 2, parts that perform the same functions as those shown in FIG. 1 already described are denoted by the same reference numerals. Therefore, the detailed description is abbreviate | omitted.

  In the embodiment shown in FIG. 2, reaction force generating means 3a and 3b are attached to the grip portion of the joystick that constitutes the master hand 1, whereby the slave hand 11 side with respect to the operator's thumb and forefinger, for example. The reaction force at is fed back. In the embodiment shown in FIG. 2, sensor output (position / posture information) is supplied from the position / posture sensor 4 to the controller 9 by moving the joystick back and forth, right and left and up and down. .

  Therefore, when the configuration shown in FIG. 2 is set to the manual operation mode, the controller 9 receives the sensor output from the position / posture sensor 4 and outputs it to the position / posture control unit 17 in the slave hand 11. The hydraulic control is executed, and the master / slave operation corresponding to the position and posture on the master hand 1 side is executed.

  In the embodiment shown in FIG. 2, the pressure for gripping the grip portion of the joystick constituting the master hand 1 is supplied to the controller 9 as gripping force information. The controller 9 receives this gripping force information and executes hydraulic pressure control, thereby driving the joint portions 13a and 13b in the slave hand 11 and executing an operation of gripping the work object A by the finger portions 14a and 14b. Made.

  Further, in the embodiment shown in FIG. 2, an operation button 5 as a manual mode selection sensor is arranged on the operation plate adjacent to the joystick constituting the master hand 1. Therefore, when the operator operates the operation button 5 with the operator's little finger, for example, who is not much involved in the remote operation, the operation mode selection means 9b in the controller 9 operates to switch from the automatic operation mode to the manual operation mode.

  Further, as described above, when the automatic operation mode is switched to the manual operation mode, the operation resistance applying means 6 arranged on the master hand 1 side operates to operate the position and posture of the joystick as the master hand 1. When the operation resistance is changed, the operation resistance is changed. The operation resistance is changed as shown in FIG. 3 described above.

  The embodiment shown in FIG. 2 described above is a master hand 1 using a joystick instead of the glove-shaped master hand 1 shown in FIG. 1, and thus the configuration shown in FIG. 2 has already been described. The same effect as the structure shown in FIG. 1 can be obtained.

  In the embodiment described above, an example is shown in which a pair of imaging means (video cameras) 21a and 21b is used as the distance detection means, but this uses two-dimensional images from one video camera. It is also possible to employ a proximity sensor (radar) using ultrasonic waves.

BRIEF DESCRIPTION OF THE DRAWINGS It is the whole block diagram which showed 1st Embodiment of the remote control apparatus concerning this invention. It is the whole block diagram which showed 2nd Embodiment similarly. FIG. 3 is a characteristic diagram illustrating an example of an operation resistance force applied to a master hand employed in the configuration illustrated in FIGS. 1 and 2.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Master hand 2 Operator's hand 3a, 3b Reaction force generation means 4 Position / attitude sensor 5 Manual mode selection sensor 6 Operation resistance provision means 9 Controller 9a Reaction force feedback means 9b Operation mode selection means 11 Slave hand 12 Hand main body 13a, 13b Joint part 14a, 14b Finger part 15a, 15b Load sensor 21a, 21b Imaging means (video camera)
22 Distance calculation means A Work object

Claims (5)

A remote control device for driving a slave hand based on an operation of a master hand, the distance detection means for detecting the distance between the slave hand and a work object operated by the slave hand, and the distance detection means An operation mode selection means for selecting the driving operation of the slave hand to the automatic operation mode or the manual operation mode based on the distance between the slave hand and the work object to be operated,
In the case where the distance between the slave hand obtained by the distance detection means and the work object is a predetermined value or more, an automatic operation mode including a driving operation for bringing the slave hand closer to the work object regardless of the operation of the master hand. Is selected, and the manual operation mode capable of driving the slave hand based on the operation of the master hand is selected when the distance is less than a predetermined value. apparatus.   The operation mode selection means is configured such that the manual operation mode is selected by a specific operation in the master hand regardless of the selection state of the automatic operation mode or the manual operation mode by the distance detection means. The remote control device according to claim 1, wherein:   The remote control device according to claim 1, further comprising feedback means for applying a reaction force corresponding to a load applied to the work object by the slave hand to the master hand.   The operation resistance of the master hand is configured to be changed according to the distance between the slave hand and the work object obtained by the distance detection means. The remote control device according to claim 1.   The distance detection means includes an image pickup means for picking up an image of the slave hand and a work object and detecting a distance between the two, and a video reproduction means for providing a video obtained by the image pickup means to an operator of the master hand. The display mode of the video displayed by the video playback means is changed according to the distance between the slave hand obtained by the distance detection means and the work object. The remote control device according to any one of claims 1 to 4.

Images