JP2015205370A - manipulator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manipulator system capable of sufficiently moving joysticks in all directions when switched from speed control to position control, and also improving working efficiency.SOLUTION: A manipulator system 1 moves joysticks 13 and 14 from a neutral position P and accordingly performs movement control of capillaries 20 and 40. When the movement control of the capillary 20 by the joysticks 13 and 14 is switched from speed control to position control, the manipulator system 1 starts the position control at a point in time that the joysticks 13 and 14 enter a predetermined first operation region R1 lying around the neutral position P, including the neutral position P.

Description

  The present invention relates to a manipulator system.

  For example, a manipulator system has been conventionally used for handling fine objects such as an operation of manipulating cells and an operation of removing fine foreign substances (see Patent Document 1). In this manipulator system, a joystick is tilted from a neutral position, and operation members such as needles and capillaries are moved and controlled accordingly.

  In the manipulator system described above, in order to improve the operability of the operation member by the joystick, speed control for moving the operation member at a speed corresponding to the tilt angle of the joystick and position control for moving the operation member to a position corresponding to the tilt angle of the joystick. There are things that can be switched to. In this type of manipulator system, the operator operates the operation member by appropriately switching between speed control and position control. Generally, speed control is convenient when the operation member is moved largely, and position control is convenient when the operation member is moved small.

  By the way, when the speed control is switched to the position control, for example, if it is immediately switched by an input signal from a button or the like, the position control is started from that state. For example, if the joystick is greatly inclined at this time, the amount of physical movement by which the joystick can be subsequently moved in the inclined direction is reduced (see Patent Document 2).

JP 2008-22214 A Japanese Patent No. 2687866

  Therefore, when switching from speed control to position control, it is considered that the position control is started after the joystick is once returned to the neutral position.

  However, if it is attempted to start position control after simply returning the joystick to the neutral position, it may take time for the operator to search for the neutral position, which is not preferable in terms of work efficiency.

  The present application has been made in view of such points, and it is intended to provide a manipulator system that can move a joystick in a sufficient amount in any direction when switching from speed control to position control, and can also improve work efficiency. For that purpose.

  In order to achieve the above object, the present invention provides a manipulator system in which a joystick is moved from a neutral position and the operation member is controlled to move accordingly, and the movement control of the operation member by the joystick is controlled from speed control to position control. And a manipulator system configured to start position control when the joystick enters a predetermined first operation region around the neutral position including the neutral position.

  The position when the position control is started and the joystick enters the first operation area may be set as the control origin.

  You may make it correct | amend the origin on the said control to the neutral position of the said joystick.

  The control origin may be corrected after the joystick first stops after the start of the position control.

  When the movement control of the operation member by the joystick is switched from the speed control to the position control, if the joystick is in the first operation area, the position control may be started immediately.

  The position when the joystick is in the first operation area and the position control is immediately started may be set as the control origin.

  When the movement control of the operation member by the joystick is switched from position control to speed control, the joystick enters a predetermined second operation area around the neutral position including the neutral position, and then the second operation area. You may make it start speed control when it comes out outside.

  The speed control may be enabled when the joystick is outside the second operation area.

  According to the present invention, when the speed control is switched to the position control, the joystick can be moved in a sufficient amount in all directions, and the work efficiency can be improved.

It is a schematic diagram which shows the outline of a structure of a manipulator system. It is explanatory drawing of a joystick. It is a block diagram including the controller of a manipulator system. It is a flowchart at the time of control start. It is a flowchart which shows an example of the control at the time of switching to a position control mode. It is explanatory drawing which shows the 1st operation area | region around the neutral position of a joystick. It is explanatory drawing which shows the position where position control is started. It is explanatory drawing which shows a mode that the joystick was moved by position control. It is a flowchart which shows an example of the control at the time of switching to speed control mode. It is explanatory drawing which shows a mode that it enters into a 2nd operation area | region from the outer side of a 2nd operation area | region, and comes out of the 2nd operation area | region again. It is explanatory drawing which shows the mode of entering / exiting to the 2nd operation area | region.

  Hereinafter, an example of a preferred embodiment of the present invention will be described with reference to the drawings. Note that the positional relationship such as up, down, left, and right in the drawing is based on the positional relationship shown in the drawing unless otherwise specified. The dimensional ratios in the drawings are not limited to the illustrated ratios. Furthermore, the following embodiment is an illustration for explaining the present invention, and is not intended to limit the present invention only to the embodiment. The present invention can be variously modified without departing from the gist thereof.

  FIG. 1 is an explanatory diagram showing an outline of the configuration of a manipulator system 1 according to the present embodiment. The manipulator system 1 includes, for example, a pair of manipulators 10 and 11, a microscope unit 12, joysticks 13 and 14, a display device 15, a controller (control device) 16, a work table (not shown), and the like. .

  The manipulator 10 includes, for example, a tubular or needle-like capillary 20 as an operating member at the tip, a pipette 21 that holds the capillary 20, a Z-axis table 22 for moving the pipette 21 in the Z-axis direction, and a pipette 21 that is X An XY axis table 23 for moving in the −Y axis direction is provided.

  The Z-axis table 22 can move the capillary 20 at the tip of the pipette 21 up and down by a Z-axis drive device 30. The XY axis table 23 can move the capillary 20 at the tip of the pipette 21 in the X direction and the Y direction by an XY axis driving device 31. Further, a piezoelectric actuator is provided between the pipette 21 and the Z-axis table 22, and the pipette 21 can be finely moved back and forth (in the axial direction of the pipette 21) with respect to the Z-axis table 22.

  Similar to the manipulator 10, the manipulator 11 includes a capillary 40, a pipette 41, a Z-axis table 42, an XY axis table 43, a Z-axis drive device 44, an XY-axis drive device 45, and the like. The manipulator 10 is used, for example, to hold the work piece by the capillary 20, and the manipulator 11 is used, for example, to work the work piece by the capillary 40.

  The microscope unit 12 includes, for example, a camera 50 as an imaging unit and a microscope 51. As a result, the work on the work table can be photographed or enlarged. Note that the microscope unit 12 may be provided with a light source for irradiating the work with light.

  The joysticks 13 and 14 include a handle 60 that can be tilted in any direction from the neutral position P shown in FIG. The handle 60 is provided with a button 61 as switching means for switching between speed control and position control of the capillaries 20 and 40. Speed control is performed when the button 61 is pressed, and position control is performed when the button 61 is released. In addition, the joysticks 13 and 14 include the above-described various driving devices and various buttons (not shown) for executing various functions of the manipulator system 1. The joysticks 13 and 14 have, for example, an angle sensor, and can detect the tilt angle of the handle 60 and output it to the controller 16 described later. For example, the joystick 13 operates the manipulator 10 side, and the joystick 14 operates the manipulator 11 side.

  The display device 15 is, for example, a tablet PC such as a touch panel or a liquid crystal display, and can display a microscope image acquired by the camera 50 and various control screens. The display device 15 may display speed control and position control switching information and the like.

  The work table is provided at the center of the manipulators 10 and 11, and can fix, for example, a petri dish 70 in which work pieces are stored.

  The controller 16 is a computer including, for example, a CPU and a memory, and can execute various controls based on a predetermined program. FIG. 3 is a block diagram showing signal input / output to / from the controller 16. The controller 16 can receive signals output from, for example, the joysticks 13 and 14, the display device 15, and the camera 50, and can output drive signals and the like to the manipulators 10 and 11.

  More specifically, the controller 16 performs the following control. The controller 16 moves the joysticks 13 and 14 from the neutral position P and controls the movement of the capillaries 20 and 40 that are operation members accordingly. When the control is started as shown in FIG. 4, it is confirmed whether or not the button 61 of the joysticks 13 and 14 is pressed, that is, whether or not a signal when the button 61 is pressed is output.

  When the button 61 is pressed, the speed control mode is set, and when the button 61 is not pressed, the position control mode is set.

  For example, in the speed control mode, the capillaries 20 and 40 move at a speed corresponding to the magnitude (angle) by which the operator tilts the joysticks 13 and 14. That is, when the joysticks 13 and 14 are tilted greatly, the capillaries 20 and 40 move at a large speed in the tilted direction, and when the joysticks 13 and 14 are tilted small, the capillaries 20 and 40 move at a small speed in the tilted direction. To do. When the tilt of the joysticks 13 and 14 is returned, the movement of the capillaries 20 and 40 stops.

  In the position control mode, the capillaries 20 and 40 move to positions corresponding to the magnitude (angle) of the tilt of the joysticks 13 and 14 by the operator. That is, the capillaries 20 and 40 move and stop according to the amount of tilting the joysticks 13 and 14.

  The controller 16 executes the following control when switching from the speed control mode to the position control mode and when switching from the position control mode to the speed control mode.

  FIG. 5 shows a flowchart of control performed when the speed control mode is switched to the position control mode. When the operator's finger is released from the button 61 and the controller 16 no longer detects the output signal from the button 61, the speed control mode is switched to the position control mode. When the mode is switched to the position control mode, first, it is confirmed whether or not the joysticks 13 and 14 are in the predetermined first operation region R1 including the neutral position P. The operation area R1 is a circular area centered on the neutral position P of the joysticks 13 and 14 as shown in FIG. 6, for example, and the size thereof can be set arbitrarily. Note that the coordinates in the figure represent the magnitude and direction of the tilt angle of the joystick in XY coordinates.

  If the joysticks 13 and 14 are not within the predetermined operation region R1, the operator returns the joysticks 13 and 14 to the neutral position P side, and position control is disabled until the joysticks 13 and 14 enter the operation region R1 (joystick 13 and 14, the capillaries 20 and 40 do not move). When the joysticks 13 and 14 enter the predetermined operation region R1, the position control becomes valid at that time and the position control is started. At this time, as shown in FIG. 7, the position control is performed using the position where the joysticks 13 and 14 enter the predetermined operation region R1 and the position control is started, for example, (X ′, Y ′) as the origin on the control (software coordinates). I do. That is, in this operation, the position (X ′, Y ′) on the hardware coordinates with the neutral position P as the origin is the origin on the software coordinates, and the joysticks 13 and 14 are tilted from the origin on the software coordinates. The capillaries 20 and 40 move to positions corresponding to the angle amount and the tilt direction. At this time, the origin on the hardware coordinates temporarily differs from the origin on the software coordinates.

  After the joysticks 13 and 14 are first stopped after the start of the position control, the control origin is corrected to the neutral position P. For example, as shown in FIG. 8, when the joysticks 13 and 14 are moved to, for example, the position (C, D) on the hardware coordinates during the next operation, the software is set so that the position (C, D) is also on the software coordinates. Correct the coordinates. Therefore, the subsequent operation of the joysticks 13 and 14 is performed in a state where the origin on the hardware coordinates (neutral position P) coincides with the origin on the software coordinates. Note that the operation amount of the joysticks 13 and 14 and the operation amount of the capillaries 20 and 40 are different only in the operation at the time of correction. However, there is no problem by setting the operation region R1 so that the difference is so small that the operator cannot feel. .

  On the other hand, when the joysticks 13 and 14 are in the predetermined operation area R1 when the position control mode is switched, the position control is immediately enabled and the position control is started. At this time, the position control is performed with the position where the position control is started as the control origin (the origin on the software coordinates). That is, the capillaries 20 and 40 move to positions corresponding to the tilt angle amount and tilt direction from the origin on the software coordinates of the joysticks 13 and 14. After that, the origin on the software coordinates may be corrected to return to the neutral position P or may not be corrected.

  Next, FIG. 9 shows a flowchart of control performed when the position control mode is switched to the speed control mode. When the button 61 is pressed by the operator and an output signal from the button 61 is detected by the controller 16, the position control mode is switched to the speed control mode. First, it is confirmed whether or not the joysticks 13 and 14 are in a predetermined second operation region R2 including the neutral position P. For example, as shown in FIG. 10, the operation region R2 is a circular region centered on the neutral position P of the joysticks 13 and 14, and the size thereof can be arbitrarily set. The first operation area R1 and the second operation area R2 may be the same or different. The first operation region R1 may be wider or narrower than the first operation region R2.

  When the joysticks 13 and 14 are not within the predetermined operation region R2, the operator returns the joysticks 13 and 14 to the neutral position P side, and speed control is disabled until the joysticks 13 and 14 enter the operation region R2 (capillary 20 and 40 do not move). When the operation of the operator returns the joysticks 13 and 14 and the joysticks 13 and 14 enter the predetermined operation region R2, next, whether the joysticks 13 and 14 have exited the predetermined operation region R2 with the speed control disabled. It is confirmed whether or not. When the joysticks 13 and 14 are not out of the predetermined operation area R2, the invalidity of the speed control is maintained until the joysticks 13 and 14 come out of the operation area R2 by the operation of the operator. That is, the speed control is not performed as long as the joysticks 13 and 14 are within the operation region R2.

  When the joysticks 13 and 14 are out of the predetermined operation region R2, the speed control is valid at that time and the speed control is started. Thereafter, the speed control is enabled when the joysticks 13 and 14 are outside the predetermined operation area R2, and is disabled when the joysticks 13 and 14 enter the operation area R2. Therefore, the operation area R2 becomes a so-called dead zone, and the speed control becomes invalid every time the operation area R2 is entered by the operator's operation as shown in FIG. Thus, after the operator tilts the joysticks 13 and 14 to move the capillaries 20 and 40, the movement of the capillaries 20 and 40 can be stopped by returning the joysticks 13 and 14 to the dead zone in the operation region R2.

  According to the present embodiment, when the movement control of the capillaries 20 and 40 by the joysticks 13 and 14 is switched from the speed control to the position control, the joysticks 13 and 14 have the predetermined positions around the neutral position including the neutral position P. Position control is started when the first operation region R1 is entered. As a result, even if the joysticks 13 and 14 are greatly inclined in the speed control, for example, the position control is started after returning to the operation region R1 close to the neutral position P. Therefore, the joystick is used in the subsequent position control. 13, 14 can be moved a sufficient amount in all directions. Further, when the joysticks 13 and 14 are returned to the neutral position P side, they need only be returned to the predetermined operation region R1, so that the operator does not need to search for the neutral position P, and the work efficiency can be improved.

  In the present embodiment, since the position when the position control is started when the joysticks 13 and 14 enter the first operation region R1 is used as the control origin, the joysticks 13 and 14 enter the operation region R1. Then, the position control is performed as it is, and the capillaries 20 and 40 can be suitably operated. Further, since the control origin is corrected to the neutral position P thereafter, the control origin can be prevented from gradually shifting from the neutral position P while switching to the position control a plurality of times.

  Since the control origin is corrected after the joysticks 13 and 14 are first stopped after the start of the position control, the positional deviation between the control origin and the neutral position P (the origin on the hardware coordinates) is early. Can be eliminated. Note that “after first stopping” includes the time before the next operation of the joysticks 13 and 14 and the time of the next operation.

  In the present embodiment, when the movement control is switched from the speed control to the position control, if the joysticks 13 and 14 are within the operation region R1, the position control can be started immediately. At that time, the position when the position control is started is set as the control origin. Therefore, the capillaries 20 and 40 can be operated immediately and preferably. Note that the control origin in this case may be corrected to the neutral position P thereafter.

  In the present embodiment, when the position control is switched to the speed control, when the joysticks 13 and 14 enter the predetermined second operation region R2 including the neutral position P, and then go outside the operation region R2, Since the speed control is started, even if the joysticks 13 and 14 are greatly tilted by the position control, the speed control is started after returning to the operation region R2 close to the neutral position P. In speed control, the joysticks 13 and 14 can be moved by a sufficient amount in all directions.

  Further, since the speed control is effective when the joysticks 13 and 14 are outside the operation region R2, a dead zone that does not react to the operation of the joysticks 13 and 14 is provided around the neutral position P, and the capillary during speed control is provided. 20 and 40 can be easily stopped.

  The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious for those skilled in the art that various modifications or modifications can be conceived within the scope of the idea described in the claims, and these naturally belong to the technical scope of the present invention. It is understood.

  For example, the configuration of the manipulator system 1 described in the above embodiment is not limited to this. The manipulator system 1 can work while looking directly at the microscope, or can work while looking at the display device 15. The manipulator system 1 may be one in which the joysticks 13 and 14 remotely operate the capillaries 20 and 40 through wire, wireless, or a network. The operation member is not limited to the capillary, but may be other members depending on the purpose. The shapes of the operation regions R1 and R2 are not necessarily circular, and may be other shapes such as a square. Further, the neutral position P is not necessarily the center of the operation areas R1 and R2.

  The present invention is useful in providing a manipulator system capable of moving a joystick in a sufficient amount in all directions when switching from speed control to position control and improving work efficiency.

DESCRIPTION OF SYMBOLS 1 Manipulator system 10, 11 Manipulator 12 Microscope unit 13, 14 Joystick 15 Display apparatus 16 Controller 20, 40 Capillary P Neutral position R1, R2 Operation area

Claims (8)

A manipulator system that moves a joystick from a neutral position and controls movement of an operation member accordingly,
When the movement control of the operation member by the joystick is switched from speed control to position control, the position control is started when the joystick enters a predetermined first operation region around the neutral position including the neutral position. A manipulator system configured to   2. The manipulator system according to claim 1, wherein the position control is started, and a position when the joystick enters the first operation area is set as a control origin.   The manipulator system according to claim 2, wherein the control origin is corrected to a neutral position of the joystick.   The manipulator system according to claim 3, wherein the control origin is corrected after the joystick first stops after the start of the position control.   5. When the movement control of the operation member by the joystick is switched from speed control to position control, if the joystick is in the first operation area, the position control is immediately started. The manipulator system described in.   The manipulator system according to claim 5, wherein a position when the joystick is in the first operation area and the position control is immediately started is set as a control origin.   When the movement control of the operation member by the joystick is switched from position control to speed control, the joystick enters a predetermined second operation area around the neutral position including the neutral position, and then the second operation area. The manipulator system according to any one of claims 1 to 6, wherein speed control is started at the time when the outer side of the manipulator is moved outside.   The manipulator system according to claim 7, wherein the speed control is effective when the joystick is outside the second operation area.

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