JP2019042880A - Method for terminating motion of master-slave robot - Google Patents

Abstract

To execute motion termination process in a short time without executing complicated motion termination process.SOLUTION: A method for terminating a motion a master-slave robot that moves a slave-side robot by following a motion of a master-side robot displays a virtual termination switch in a specified position on an image that is acquired by the slave-side robot and operates the master-side robot; thus, a motion of the master-slave robot is terminated when the slave-side robot executes a specified operation to the virtual termination switch.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an operation end method for a master-slave robot.

  A master-slave robot that operates a slave-side robot following the operation of the master-side robot is known (for example, see Patent Document 1).

JP-A-2015-199135

  The master-slave robot as described above performs an operation end process according to a voice command, for example. However, in the operation end process using a voice command, if the voice recognition of the voice command fails, the operation end process may not be performed properly. Further, there is a possibility that an unintended voice is erroneously recognized and the operation end process is executed. If complicated processing is incorporated in order to prevent such misrecognition, there is a problem that it takes time to complete the operation.

  The present invention has been made to solve such a problem, and provides an operation end method for a master-slave robot capable of performing an operation end process in a short time without performing a complicated operation end process. Main purpose.

In order to achieve the above object, one embodiment of the present invention provides:
A master-slave robot operation end method for operating the slave-side robot following the operation of the master-side robot,
Display a virtual end switch at a specified position on the image acquired by the slave robot,
By operating the master side robot, when the slave side robot performs a specified operation on the end switch, the operation of the master slave robot is terminated.
This is the master slave robot operation end method.

  ADVANTAGE OF THE INVENTION According to this invention, the operation | movement completion method of the master slave robot which can perform an operation | movement completion process in a short time can be provided, without performing a complicated operation | movement completion process.

It is a figure which shows schematic structure of the master slave robot which concerns on Embodiment 1 of this invention. 1 is a block diagram showing a schematic system configuration of a master slave robot according to a first embodiment of the present invention. It is a figure which shows an example of the virtual end switch displayed on the prescribed position on the image acquired by the slave side robot. It is a flowchart which shows an example of the flow of the operation | movement completion method of the master slave robot 1 which concerns on Embodiment 1 of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a master-slave robot according to Embodiment 1 of the present invention. FIG. 2 is a block diagram showing a schematic system configuration of the master-slave robot according to the first embodiment of the present invention.

  The master-slave robot 1 according to the first embodiment follows the operation of the master-side robot 2 that is operated by the operator, the slave-side robot 3 that is disposed away from the master-side robot 2, and the operation of the master-side robot 2. And a control unit 4 that performs bilateral (bidirectional force feedback type) control for operating the slave robot 3.

  For example, as shown in FIG. 1, the slave robot 3 is configured as a biped and two-armed humanoid robot. Each leg and arm includes a plurality of links 31 and a joint portion 32 that rotatably connects the links 31. Each joint portion 32 is provided with an actuator 33 that drives each joint portion 32. The actuator 33 is, for example, a motor drive, a hydraulic drive, a pneumatic drive, or the like. Each joint portion 32 is provided with an angle sensor 34 that detects a rotation angle (hereinafter referred to as a joint angle) of each joint portion 32. Each joint portion 32 is provided with a torque sensor 35 that detects the torque of each joint portion 32 (hereinafter referred to as joint torque). Note that the slave robot 3 may be a legged robot having a plurality of joints or a robot arm.

  The slave robot 3 is provided with an environment recognition sensor 36 that acquires environmental information around the slave robot 3 such as visual information, auditory information, and tactile information. The environment recognition sensor 36 acquires environment information during the operation of the slave robot 3, for example. The environment recognition sensor 36 is, for example, a stereo camera, a depth camera, a microphone, a capacitive tactile sensor, or the like. The environment recognition sensor 36 outputs the acquired environment information to the master robot 2 via the control unit 4.

  The master side robot 2 functions as an operation unit through which an operator inputs operation information for the slave side robot 3 via the master side robot 2. The slave robot 3 operates in accordance with the operation information input to the master robot 2. The master side robot 2 is arranged at a position away from the slave side robot 3. The master side robot 2 feeds back force information such as force and moment in the slave side robot 3 or each joint torque to an operator who operates the master side robot 2.

  For example, as shown in FIG. 1, the master-side robot 2 includes an upper limb mounting unit 20 that is mounted on the upper limb of the operator, a seat unit 21 that holds the operator's body, and a lower limb mounted on the lower limb of the operator. A visual transmission device 23 for transmitting visual information from the slave robot 3 to the operator, and an auditory transmission device 24 for transmitting auditory information from the slave robot 3 to the operator.

  For example, the upper limb mounting unit 20 includes a plurality of links 25 and joints 26 that rotatably connect the links 25. Each joint portion 26 is provided with an actuator 27 that drives each joint portion 26. The actuator 27 is, for example, a motor drive, a hydraulic drive, a pneumatic drive, or the like. Each joint portion 26 is provided with an angle sensor 28 that detects each joint angle. Each joint portion 26 is provided with a torque sensor 29 that detects each joint torque. The angle sensor 28 and the torque sensor 29 of each joint part 26 of the upper limb mounting part 20 detect the movement of the operator's upper limb.

  For example, the lower limb mounting unit 22 includes a plurality of links 25 and joints 26 that rotatably connect the links 25. Each joint portion 26 is provided with an actuator 27 that drives each joint portion 26. The actuator 27 is, for example, a motor drive, a hydraulic drive, a pneumatic drive, or the like. Each joint portion 26 is provided with an angle sensor 28 that detects each joint angle. Each joint portion 26 is provided with a torque sensor 29 that detects each joint torque. The angle sensor 28 and the torque sensor 29 of each joint portion 26 of the lower limb wearing portion 22 detect the movement of the operator's lower limb.

  The visual transmission device 23 is configured as, for example, a VR (Virtual Reality) goggle that displays an image acquired by the environment recognition sensor 36 such as a camera disposed in the slave robot 3 in two dimensions or three dimensions. The visual transmission device 23 is attached to the eyes of the operator. The operator can see the periphery of the slave robot 3 from the viewpoint of the slave robot 3 by viewing the display image of the visual transmission device 23.

  The auditory transmission device 24 is configured as a headphone that outputs sound acquired by an environment recognition sensor 36 such as a microphone disposed in the slave robot 3, for example. The auditory transmission device 24 is attached to an operator's ear. The operator can hear the sound around the slave robot 3 by listening to the sound of the auditory transmission device 24.

  For example, the control unit 4 performs bilateral control for operating the slave side robot 3 following the operation of the master side robot 2. In the bilateral control, the control unit 4 performs control for operating the slave side robot 3 in the same manner as the operation of the master side robot 2 when the operator operates the master side robot 2. At this time, the control unit 4 feeds back force information applied to the slave side robot 3 to the operator via the master side robot 2. That is, the control unit 4 controls the master side robot 2 so that a force similar to the force applied to the slave side robot 3 is generated in the master side robot 2.

  For example, the control unit 4 calculates the target position and orientation of the slave robot 3 using forward kinematics based on each joint angle detected by the angle sensor 28 of the master robot 2. Based on the calculated position and orientation, the control unit 4 calculates a target joint angle of each joint unit 32 of the slave robot 3 using inverse kinematics. The control unit 4 outputs a command signal corresponding to the calculated target joint angle to the actuator 33 of each joint unit 32 of the slave side robot 3 to perform PID control and the like. At the same time, the control unit 4 generates the same force as the joint torque of each joint portion 32 of the slave side robot 3 based on the joint torque detected by the torque sensor 35 of each joint portion 32 of the slave side robot 3. In addition, the actuator 27 of each joint portion 26 of the master side robot 2 is controlled to perform PID control or the like.

  In this way, in the bilateral control, the control unit 4 causes the force information applied to the slave robot 3 to follow the operation of the slave robot 3 while following the operation of the master robot 2 operated by the operator. Feedback can be provided to the operator via the master side robot 2.

  In the present embodiment, since the operator is seated on the seat portion 21, the lower limb attachment portion 22 attached to the operator's lower limb does not move, but the control unit 4, for example, performs a leg-spreading operation of the lower limb attachment portion 22. Accordingly, walking control for moving the slave robot 3 is performed. The bilateral control method is an example, and the present invention is not limited to this.

  As described above, for example, the operator refers to the environment information (such as image information around the slave robot 3) acquired by the environment recognition sensor 36 and operates the master robot 2 to make the slave robot 3 feel like Remote operation is possible with a sense of presence as if you were directly operating. At the same time, the operator can detect the reaction force generated in the actual slave robot 3 by himself / herself.

  The control unit 4 includes, for example, a CPU (Central Processing Unit) 41 that performs arithmetic processing and the like, and a ROM (Read Only Memory) and a RAM (Random Access Memory) that store arithmetic programs executed by the CPU 41. The hardware is mainly composed of a microcomputer including a memory 42 and an interface unit (I / F) 43 for inputting / outputting signals to / from the outside. The CPU 41, the memory 42, and the interface unit 43 are connected to each other via a data bus or the like.

  By the way, as described above, the operator is restrained in both hands and legs by the master side robot, and further receives the visual and auditory information from the slave side robot and performs the operation. For this reason, the operator performs the operation as if he / she transferred to the slave robot.

  Conventionally, in this state, it is difficult for the operator himself to operate the end switch for performing the operation end process of the master slave robot disposed in the vicinity of the master side robot. This is because the function of the operator's body is dedicated to the operation of the master side robot.

  Further, the end switch is usually disposed outside the operating range of the upper and lower limbs of the operator. This is because disposing the end switch within the operation range narrows the movable range of the master side and slave side robots. For this reason, it is difficult for the operator himself to operate the end switch. Even if it is arranged within the movement range at the expense of the movable range of the master side and slave side robots, the operator sees the image from the slave side robot from the viewpoint of the slave side robot. It is difficult to confirm the position of the actual end switch arranged in For example, there is a possibility that the operator breaks the end switch itself while searching for the end switch without checking the exact position of the end switch. Therefore, it is necessary to have another operator assist the operation of the end switch of the master slave robot.

  As a method for performing the operation end process of the master-slave robot only by the operator, for example, a method of performing the operation end process according to a voice command is conceivable. However, in the operation end process using a voice command, if the voice recognition of the voice command fails, the operation end process may not be performed properly. Further, there is a possibility that an unintended voice is erroneously recognized and the operation end process is executed. In order to prevent such misrecognition, if complicated processing such as making a voice command a long word number is incorporated, there is a problem that it takes time to complete the operation.

  In contrast, the master-slave robot 1 according to the first embodiment displays a virtual end switch X1 at a specified position on the image X acquired by the slave-side robot 3 (FIG. 3), and operates the master-side robot 2. Thus, when the slave robot 3 performs a specified operation on the end switch, the operation of the master slave robot 1 is ended.

  As a result, the virtual end switch X1 is displayed, and the operation end process is performed only in response to the operation of the end switch X1, so that the operation end process can be performed in a short time without performing a complicated end process.

  Further, the master slave robot 1 displays a virtual end switch X1 at a specified position on the image X acquired by the slave robot 3 and operates the master robot 2 in response to a predetermined trigger, for example. When the slave robot 3 performs a specified operation on the end switch, the operation of the master slave robot 1 may be ended.

  As a result, the operation end process is performed by a predetermined trigger and the operator's prescribed operation, so that it is possible to prevent an operation end process using an erroneous method such as a voice command voice recognition failure or an unintended voice misrecognition.

The predetermined trigger is, for example, a voice command, a predetermined operation of the operator, or the like.
For example, the control unit 4 has a microphone 44 for receiving voice commands. The voice command is a voice indicating the end of the operation of the master slave robot 1 by the operator, and is a simple language such as “preparation for stop” or “end of operation”. For example, the voice command is previously set in a memory or the like, and can be arbitrarily changed.

  The control unit 4 performs voice recognition processing on the operator's voice acquired by the microphone 44 and determines whether or not it matches a predetermined voice command preset in the memory 42. If the control unit 4 determines that they match, the control unit 4 displays a virtual end switch X1 at a specified position on the display image X of the visual transmission device 23 in accordance with the voice command. Thus, the operator can operate the master side robot 2 while confirming the display image of the visual transmission device 23 easily and safely, so that the slave side robot 3 can operate the end switch X1. it can.

  The specified position is, for example, a position on the body surface of the slave robot 3 that does not interfere with normal work, more specifically, a position corresponding to a human navel (near the waist of the slave robot 3). Is preferred.

  This is assumed to be a case where there is an obstacle in the real space around the slave robot 3 and the virtual end switch X1 is in the vicinity or in a hidden position. In this case, the slave robot 3 tries to operate the virtual end switch X1 and touches the obstacle in the real space to destroy the obstacle in the real space, or the obstacle in the real space interferes with the virtual space. There is a possibility that the end switch X1 cannot be operated. However, as described above, the end switch X1 is arranged on the body surface of the slave robot 3, so that the obstacle does not get in the way, and the slave robot 3 operates the end switch X1 safely and reliably. Can do. The specified position is an example and is not limited to this, and can be set to an arbitrary position on the display image of the visual transmission device 23, for example.

  When the virtual end switch X1 is displayed at the specified position on the display image X of the visual transmission device 23 in response to the voice command, the operator operates the master side robot 2 so that the slave side robot 3 A specified operation is performed on the end switch X1.

  The control unit 4 determines whether the slave-side robot 3 has performed a specified operation on the end switch X1 based on the joint angle of each joint portion 32 of the slave-side robot 3 and the specified position of the end switch X1. . The prescribed operation is, for example, a long press of the end switch (about 3 seconds) or a predetermined number of times.

  The control unit 4 may feed back the virtual force when the slave robot 3 performs the prescribed operation to the virtual end switch X1 to the operator via the master robot 2. For example, the control unit 4 may feed back the virtual switch reaction force to the operator via the master-side robot 2 when the slave-side robot 3 performs a long press operation on the virtual end switch X1. Good. As the virtual switch reaction force, a reaction force generated by a normal switch operation may be used. Thereby, the erroneous operation of the master side robot 2 by the operator can be suppressed.

  When the control unit 4 determines that the slave robot 3 has performed the specified operation on the end switch X1, the control unit 4 starts the operation end process of the master slave robot 1. As described above, the operation end process of the master slave robot 1 is executed only when the two-step end operation of the voice command and the virtual end switch X1 is performed, so that a safe and reliable operation end process can be performed. .

  After determining that the slave robot 3 has performed the specified operation on the end switch X1, the control unit 4 starts the operation end process of the master slave robot 1 only when the confirmation voice command is received again. Also good. For example, the confirmation voice command is a word for reconfirming the end of the operation, such as “Are you sure to end?” Or “OK”. By executing the operation end process of the master-slave robot 1 only when the three-stage end operation is performed in this way, a safer and more reliable operation end process can be performed.

  For example, when the control unit 4 starts the operation end process of the master-slave robot 1, it controls the actuator 33 of each joint unit 32 of the slave-side robot 3 to move the slave-side robot 3 to a preset storage location. Or autonomously shift to a safe stop state such as holding a stable posture on the spot. At the same time, the control unit 4 controls the actuators 27 of the joints 26 of the master side robot 2 so that the master side robot 2 can be easily attached to and detached from the upper limb mounting unit 20 and the lower limb mounting unit 22 by the operator. Slowly control.

  In addition, when the control part 4 starts the operation | movement completion process of the master slave robot 1, it has shifted the slave side robot 3 to the safe stop state autonomously, However, It is not limited to this. The operator may move the slave robot 3 to a safe stop state using an operation device such as a keyboard or a joystick after removing the upper limb mounting unit 20 and the lower limb mounting unit 22.

  FIG. 4 is a flowchart showing an example of a flow of the operation end method of the master slave robot 1 according to the first embodiment.

  The control unit 4 determines whether or not a voice command is input through the microphone (step S101).

  If the control unit 4 determines that a voice command has been input (YES in step S101), the virtual end switch X1 is displayed at a specified position on the display image X of the visual transmission device 23 in accordance with the voice command (step S101). S102).

  The control unit 4 determines whether the slave robot 3 has performed a pressing operation on the end switch X1 (step S103). When it is determined that the slave robot 3 has performed a pressing operation on the end switch X1 (YES in step S103), the control unit 4 determines whether or not the pressing operation has been performed for 3 seconds or more (step S104). .

  When it is determined that the pressing operation is 3 seconds or more (YES in step S104), the control unit 4 controls the actuator 33 of each joint unit 32 of the slave side robot 3 to set the slave side robot 3 in advance. The safety stop position is moved (step S105).

  The control unit 4 controls the actuator 27 of each joint unit 26 of the master side robot 2 to control the master side robot 2 to a standard position and posture in which the operator can easily attach and detach the upper limb mounting unit 20 and the lower limb mounting unit 22. To do. The operator removes the upper limb mounting unit 20 and the lower limb mounting unit 22 of the master side robot 2 (step S106).

  The operator performs a storage operation on the slave robot 3 using an operation device or the like (step 107), and ends this process.

  When it is determined that the slave-side robot 3 has not performed a pressing operation on the end switch (NO in step S103), the control unit 4 determines whether 10 seconds have elapsed after the virtual end switch is displayed ( Step S108).

  When it is determined that 10 seconds have elapsed after the display of the virtual end switch (YES in step S108), the control unit 4 returns to the above (step S101). On the other hand, when it is determined that 10 seconds have not elapsed since the display of the virtual end switch (NO in step S108), the control unit 4 returns to (step S102).

  As described above, the master slave robot 1 according to the first embodiment displays the virtual end switch at the specified position on the image acquired by the slave robot 3 and operates the master robot 2 in accordance with the voice command. Thus, when the slave robot 3 performs a prescribed operation on the end switch, the operation of the master slave robot 1 is ended. In this way, the virtual end switch is displayed in response to the voice command, and only the operation end process is performed in response to the operation of the end switch. Therefore, the operation end process is performed in a short time without performing complicated end processing. be able to.

Embodiment 2
In Embodiment 2 of the present invention, the master slave robot 1 displays virtual end switches at two specified positions on the image acquired by the slave robot 3. When the operator operates the master side robot 2, the slave side robot 3 completes the operation of the master / slave robot 1 when the slave side robot 3 simultaneously performs a prescribed operation on the two end switches. This substantially means that the operation of the master slave robot 1 is ended when the slave robot 3 takes a specific pose.

  For example, it is assumed that the specified position is the position of the left and right hips of the slave robot 3, and the specified operation is a long press for 3 seconds. In this case, the control unit 4 performs the operation end process of the master-slave robot 1 when the slave-side robot 3 is stopped for 3 seconds with both hands on the hips.

  Further, it is assumed that the specified position is the position of the left and right upper arms of the slave robot 3, and the specified operation is a long press for 3 seconds. In this case, the control unit 4 performs an operation end process of the master-slave robot 1 when the slave-side robot 3 is stopped for 3 seconds in a state where both hands are crossed.

  For example, it is preferable not to use the voice recognition command when the operator performs a narration of the operation explanation while actually operating the master side robot 2. In such a case, the operation end method of the master slave robot 1 according to the second embodiment is effective.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above embodiment, the control unit 4 performs bilateral control that feeds back the force generated in the slave side robot 3 to the master side robot 2 while operating the slave side robot 3 following the operation of the master side robot 2. However, it is not limited to this. The control unit 4 may perform the unilateral control in which the slave side robot 3 is operated following the operation of the master side robot 2 and the force generated in the slave side robot 3 is not fed back to the master side robot 2.

  In the above embodiment, the master-slave robot 1 displays a virtual end switch at a specified position on the image acquired by the slave-side robot 3 in response to a predetermined trigger. However, the present invention is not limited to this.

  The master-slave robot 1 may always display a virtual end switch at a specified position on the image acquired by the slave-side robot 3 (such as a position that does not interfere with the operation of the edge of the image).

  The master slave robot 1 displays a plurality (for example, two or three) of virtual end switches at specified positions on the image acquired by the slave robot 3 and operates the master robot 2 to The operation may be ended when the slave robot 3 performs a specified operation on all the end switches.

  More specifically, the master-slave robot 1 displays a virtual first end switch at a specified position on the image acquired by the slave-side robot 3 and operates the master-side robot 2 to thereby operate the slave-side robot 3. When a specified operation is performed on the first end switch, a virtual second end switch is displayed at a specified position on the image. The master slave robot 1 may end the operation by operating the master side robot 2 and when the slave side robot 3 performs a specified operation on the second end switch.

The master-slave robot 1 displays a virtual end switch at a specified position on the image acquired by the slave-side robot 3 and operates the master-side robot 2 so that the slave-side robot 3 performs a specified operation on the end switch. Further, the operation may be terminated when a voice command is received.
You may combine the structure of the said embodiment arbitrarily.

  DESCRIPTION OF SYMBOLS 1 Master slave robot, 2 Master side robot, 3 Slave side robot, 4 Control part, 20 Upper limb mounting part, 21 Seat part, 22 Lower limbs mounting part, 23 Visual transmission apparatus, 24 Auditory transmission apparatus, 25 link, 26 Joint part, 27 Actuator, 28 Angle sensor, 29 Torque sensor, 31 Link, 32 Joint part, 33 Actuator, 34 Angle sensor, 35 Torque sensor, 36 Environment recognition sensor

Claims (1)

A master-slave robot operation end method for operating the slave-side robot following the operation of the master-side robot,
Display a virtual end switch at a specified position on the image acquired by the slave robot,
By operating the master side robot, when the slave side robot performs a specified operation on the end switch, the operation of the master slave robot is terminated.
Master-slave robot operation end method.

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