JP2023129146A - Remote operation system and remote control method of manipulator - Google Patents

Abstract

To provide a remote operation system which enables easy remote operation of a manipulator, and to provide a remote operation method of the manipulator.SOLUTION: A remote operation system (1) includes: a master operation device (22) including an operation part; a manipulator (a slave arm 21) which is mounted on a movable platform (13) capable of moving feely and includes a work tool (4) for conducting predetermined work to a work object (a structure 51); a contact member (a contact damper 3) which is attached to the manipulator so as to protrude from the manipulator and contacts with the work object; and a control device (2) which feeds back reaction force exerted on the contact member by the work object to the master operation device to remotely control the manipulator so that the manipulator responds to a movement of the operation part.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a remote control system and a method for remotely controlling a manipulator. The present disclosure particularly relates to a remote control system and a method for remotely controlling a manipulator mounted on an unstable movable platform (elevating platform) such as an elevated working platform. The remote control includes a technique of controlling a manipulator using a control unit of a master control device as a master-slave system using so-called bilateral control.

Conventionally, a manipulator (robot arm) such as an industrial robot is installed on a fixed surface or a stable pedestal, and the position of the tip of the arm is controlled along a trajectory taught in advance. It is assumed that the position of the object to be worked on by such a robot arm remains the same as during teaching. Therefore, it is difficult to apply this method to work in which the position of the workpiece changes or to irregular work. Here, for non-routine or non-routine work that is difficult to automate, there are cases in which a master operating device is manually operated to remotely control a slave manipulator using so-called master-slave remote control.

For example, the technology in Patent Document 1 uses a preset upper limit to prevent a large slave reaction force from being generated on the input grip (master operating device) when the end effector at the tip of the slave manipulator comes into contact with a highly rigid object. When it exceeds the value, the upper limit value is returned to the input grip.

Furthermore, for example, the technology disclosed in Patent Document 2 uses an external force acting on a slave manipulator mounted on the upper end of a boom extending from the vehicle as a reaction force to perform feedback control on a master manipulator mounted on the vehicle side. . The technology disclosed in Patent Document 2 detects obstacles on the path leading to the work point, sets an avoidance point to avoid the obstacle, and increases the reaction force when the slave manipulator exceeds the avoidance point, thereby preventing contact. can be prevented.

Japanese Patent Application Publication No. 08-229858 Japanese Patent Application Publication No. 08-300277

Here, in the technique of Patent Document 1, the reaction force transmitted to the slave manipulator is detected, but the reaction force due to contact with the object of interest is detected. Therefore, the technique of Patent Document 1 cannot cope with sudden reaction force when coming into contact with an unexpected obstacle. Further, since an upper limit value is set for the reaction force to be transmitted to the master operating device, for example, when an unexpectedly large reaction force is received, a reaction force exceeding the upper limit value cannot be felt.

In the technique disclosed in Patent Document 2, the distance to an obstacle on a route leading to a work point is determined using a visual device. However, depending on the viewing angle, the image quality (resolution) of the visual device, and the time delay between photographing and projection, it is possible to misjudge the distance.

Furthermore, when the slave manipulator is mounted on an unfixed mobile platform (for example, an elevated work platform), there is also the problem that the slave manipulator mounted on the boom shakes due to sudden reaction force and movement of the mobile platform. In the case of remote control, the arm tip position is controlled while checking the camera image attached to the slave manipulator side on the monitor in the control room, but it may be difficult to capture the position of the workpiece due to shaking, so the operation is difficult. It required skill and was not easy.

An object of the present disclosure, which has been made in view of the above circumstances, is to provide a remote control system and a remote control method for a manipulator that enable easy remote control of a manipulator.

A remote control system according to an embodiment of the present disclosure includes:
a master operating device including an operating section;
a manipulator that is mounted on a movable moving platform and includes a work tool that performs a predetermined work on a work target;
a contact member attached to the manipulator so as to protrude from the manipulator and comes into contact with the workpiece;
The control device includes a control device that feeds back a reaction force that the contact member receives from the work object to the master operating device, and remotely controls the manipulator in response to the movement of the operating section.

A method for remotely controlling a manipulator according to an embodiment of the present disclosure includes:
A method for remotely controlling a manipulator including a work tool mounted on a movable moving platform and performing a predetermined work on a work target, the method comprising:
remotely controlling the manipulator to correspond to the movement of the operating section of the master operating device;
bringing a contact member attached to the manipulator into contact with the workpiece so as to protrude from the manipulator;
The method includes a step of feeding back a reaction force that the contact member receives from the work object to the master operating device.

According to the present disclosure, it is possible to provide a remote control system and a method for remotely controlling a manipulator that allow easy remote control of a manipulator.

FIG. 1 is a diagram showing a remote control system according to an embodiment of the present disclosure. FIG. 2 is a partially enlarged view of a remote control system according to an embodiment of the present disclosure. FIG. 3 is a partially enlarged view showing a modification of the remote control system shown in FIG. 2. FIG.

EMBODIMENT OF THE INVENTION Hereinafter, a remote control system and a remote control method for a manipulator according to embodiments of the present disclosure will be described with reference to the drawings. In each figure, the same or corresponding parts are given the same reference numerals. Descriptions of the same or corresponding parts will be omitted or simplified as appropriate.

<First embodiment>
(System configuration)
As shown in FIG. 1, a remote control system 1 according to the present embodiment is used when performing a predetermined work on a structure 51 as a work object, and is an example of a manipulator (robot arm). It includes a slave arm 21, a master operating device 22, a control device 2, and a contact member. The slave arm 21 is mounted on a movable platform 13 at the tip of the boom 12 of the aerial work vehicle 11. The movable table 13 is configured to be movable. Here, the remote control system 1 may be any system that remotely controls a manipulator mounted on a movable platform, and is not limited to the configuration as the aerial work vehicle 11.

The slave arm 21 is, for example, a vertically articulated robot arm having degrees of freedom in six axial directions. However, the manipulator is not limited to a robot arm and may have any structure and shape as long as it is remotely controlled by the master operating device 22.

The master operating device 22 includes an operating section for operating the slave arm 21. As shown in FIG. 1, the master operating device 22 (control device 2) and the slave arm 21 are connected by a cable 23, and the master operating device 22 remotely controls the slave arm 21 (master-slave remote control). Ru. The operating unit is not limited to a specific configuration, but may be, for example, a vertically articulated robot arm similar to the slave arm 21. By making the operating section of the master operating device 22 and the slave arm 21 have the same shape, it becomes relatively easy to assemble the remote operating system 1, which is a master-slave control system. However, the master and slave do not necessarily have to be similar in shape. Furthermore, it is not necessary that the master and slave have the same degree of freedom. Further, the operating unit may be a rotary controller such as a jog shuttle, as another example.

The control device 2 controls the master operating device 22 and feeds back the position (angle) and reaction force of the slave arm 21 to the master operating device 22. Specifically, the position of the slave arm 21 whose trajectory is calculated from the angle of the arm and the reaction force acting on the slave arm 21 can be transmitted in both directions through bilateral control. When the slave arm 21 is a vertical multi-joint type robot arm, it is preferable that the torque of a drive motor provided at each joint is transmitted to the master operating device 22 as a reaction force. The master operating device 22 and the control device 2 may be provided in the operating room 14. The operation room 14 may further include a monitor that displays images from a camera installed on the slave arm 21.

A working tool 4 for performing a predetermined work on the structure 51 is attached to the tip of the slave arm 21 . Examples of the work tool 4 include an inspection device, a cleaning device, a painting device, etc. used in high-place work. Examples of the predetermined work include inspection, cleaning, and painting. The work tool 4 is also called an end effector. Further, the structure 51 that is the object to be worked on includes, for example, a steel structure such as an under-girder structure of a bridge, but is not limited to a steel structure.

Further, a contact member is attached to the slave arm 21 so as to project from the slave arm 21 . In this embodiment, the contact member is attached to the third joint from the tip of the slave arm 21. Thereby, the working tool 4 attached to the tip of the slave arm 21 is movable in three axial directions while the contact member is in contact with the structure 51. Here, it is preferable that the working tool 4 is movable in at least two axial directions while the contact member is in contact with the structure 51.

The contact member is a member that comes into contact with the workpiece. It is preferable that the contact member has buffering performance in order to soften the impact upon contact. In this embodiment, the contact member is a damper (contact damper 3) with buffering performance. The buffering performance may be achieved by providing a damper as in this embodiment, or may be achieved by using an elastic material such as rubber. The contact member may have any size or shape as long as it protrudes from the slave arm 21 and contacts (abuts) the structure 51 before the slave arm 21 does, such as a bar-shaped rod, a probe, or a curved shield-shaped cover ( (See contact cover 5 in FIG. 2), a cushion-shaped block, etc. The reaction force generated when the contact member (contact damper 3 ) contacts the structure 51 is transmitted to the slave arm 21 and transmitted to the master operating device 22 via the control device 2 . Further, the contact member (contact damper 3) that contacts the structure 51 can stabilize the posture of the slave arm 21 with respect to the structure 51 when working with the slave arm 21. Here, a sensor such as a contact sensor may be attached to the tip (portion that contacts the structure 51) of the contact member (contact damper 3), and the detection result of the sensor may be transmitted to the control device 2.

Further, it is preferable that the tip of the contact damper 3 is provided with a sliding body that slides along the structure 51 or a joint that is joined to the structure 51. Examples of the sliding body include rollers. Further, examples of the joined body include an electromagnet, a suction device, a suspension hook, and the like. In this way, by providing a sliding body or a joint at the tip of the contact damper 3 and bringing the sliding body or joint into contact with the structure 51, the reaction force received by the contact damper 3 can be transmitted smoothly and accurately. . Moreover, the contact damper 3 can be moved or fixed stably.

A contact member protruding from the slave arm 21 (manipulator) is provided, and by operating the contact member with the master operating device 22 while contacting the structure 51 (work object), the movable table 13 can be moved or swayed. Even in an unstable case, the posture of the slave arm 21 can be stabilized. Further, since the contact member contacts the structure 51 before the slave arm 21, it is possible to prevent a sudden reaction force from being generated on the slave arm 21. Further, since the reaction force applied to the contact member is fed back to the master operating device 22, it becomes possible to easily remotely control the slave arm 21 without relying solely on position control using a camera image or a distance sensor.

(Remote control method)
The procedure for performing work using the remote control system 1 according to this embodiment (remote control method for a manipulator) will be explained below. In this embodiment, the method for remotely controlling a manipulator includes a first operating step, a second operating step, and a third operating step.

In the first operation step, the entire movable platform 13 is raised by the boom 12 of the aerial work vehicle 11, and the slave arm 21 is brought close to the structure 51. At this time, the tip of the slave arm 21 is bent as much as possible to make the slave arm 21 compact. In the first operation step, the movable table 13 is brought close to the structure 51 to the extent that it can come into contact with the structure 51 by extending the tip of the slave arm 21 . Here, in the first operation step, position control may be performed using a camera image or a distance sensor.

In the second operation step, the operating section of the master operating device 22 is operated by the operator, and the slave arm 21 is remotely controlled in response to the movement of the operating section. Further, in the second operation step, the contact damper 3 attached to the slave arm 21 so as to protrude from the slave arm 21 is gradually extended by extending the slave arm 21. The contact damper 3 then comes into contact with the structure 51 that is the object to be worked on. The slave arm 21 is supported by contact of the contact damper 3 with the structure 51.

In the third operation step, the reaction force that the contact damper 3 receives from the structure 51 is fed back to the master operation device 22. That is, the operator senses the reaction force that the contact damper 3 receives through the operating section. For example, the operator can move the work tool 4 to the target position (work position) of the structure 51 by remotely controlling the slave arm 21 while adjusting the force so that the reaction force is within a certain range. can. That is, in the third operation step, the slave arm 21 is further remotely operated in response to the movement of the operation section of the master operation device 22 to which the reaction force is fed back. Here, even after the slave arm 21 reaches the working position, by keeping the contact damper 3 in contact with the structure 51 and leaning so that the slave arm 21's own weight is supported by the structure 51, the slave arm The tip of 21 can be stabilized. The operator can determine the position of the tip of the slave arm 21 with respect to the structure 51 of the work tool 4 and perform a predetermined work in a stable state.

According to the above procedure, when the slave arm 21 approaches the structure 51, by bringing the contact damper 3 into contact with the structure 51, the slave arm 21 collides with the structure 51, causing a sudden reaction to the slave arm 21. force can be prevented from occurring. Furthermore, when working with the slave arm 21, the slave arm 21 can be moved along the structure 51 while maintaining the relative position (distance) between the slave arm 21 and the structure 51. Therefore, even if the moving table 13 is unstable due to movement or shaking, the posture of the slave arm 21 can be stabilized, and the slave arm 21 can be stabilized without relying solely on position control using a camera image or a distance sensor. can be easily controlled remotely.

<Second embodiment>
FIG. 2 is a partially enlarged view of the remote control system 1 according to the second embodiment of the present disclosure. The parts of the aerial work vehicle 11 that are omitted in FIG. 2 are the same as those in FIG. 1. The remote control system 1 according to this embodiment differs from the first embodiment in the configuration, number, and position of contact members. In order to avoid redundant explanation, configurations different from the first embodiment will be explained below. In this embodiment, a contact damper 3 is attached to the tip of the slave arm 21. Specifically, the contact damper 3 is attached near the working tool 4 attached to the tip of the slave arm 21. Thereby, when working with the working tool 4, the contact damper 3 can stably maintain the posture of the working tool 4.

Further, in this embodiment, the contact member includes a contact cover 5 in addition to the contact damper 3. A plurality of contact covers 5 are attached to the slave arm 21. The contact cover 5 has a shield-shaped curved contact surface. Further, the contact cover 5 is attached to each of the plurality of joints of the slave arm 21, so that the reaction force when the contact cover 5 contacts the structure 51 is transmitted to the joint portion of the arm. Here, it is preferable that a plurality of contact covers 5 are attached to one joint, and it is preferable that the contact covers 5 are attached so that the contact surface faces the outside of the joint of the arm (outside in the bending direction). Further, the contact cover 5 may be moved so as to rotate according to the bending of the joint. Further, when attaching a plurality of contact covers 5 to one joint, the plurality of contact covers 5 may be moved with a space between them, or the contact covers 5 may be overlapped with each other according to the bending of the joint. It's good.

Further, as shown in FIG. 3, the contact member may be constituted by a contact cover 5 having a damper structure 6 with a damping function similar to the contact damper 3. In the example of FIG. 3, all contact members, including the contact damper 3, have a damper structure 6.

The remote control system 1 according to this embodiment is particularly suitable for use when the structure 51 has a complicated shape and the working area is narrow. By attaching a plurality of contact members to the slave arm 21 and protecting the joint part in particular with the contact cover 5, the slave arm 21 collides with a part of the structure 51 other than the working area, and a sudden reaction force is generated on the slave arm 21. This can be prevented. Further, since the slave arm 21 can be supported by a plurality of contact members, the attitude of the slave arm 21 with respect to the structure 51 can be further stabilized. Here, the number of contact members shown in FIGS. 2 and 3 is just an example, and the contact member only needs to be attached to at least one of the plurality of joints.

Hereinafter, the effects of the present disclosure will be specifically explained based on Examples, but the present disclosure is not limited to these Examples.

(Example)
In this example, the remote control system 1 shown in FIG. 2 was used. As the slave arm 21, a vertically articulated robot arm having six degrees of freedom joints was used. The vertical articulated robot arm used as the slave arm 21 has a main body weight of 40 kg, a maximum reach length of 1300 mm, and a maximum payload of 12 kg.

As the master operating device 22, a vertically articulated robot arm having six degrees of freedom joints was used.

The aerial work vehicle 11 was a general work vehicle used for maintenance inspections, cleaning work, etc. at steel plants. The maximum height of boom 12 was 50 m. Further, the maximum load capacity of the aerial work vehicle 11 was 200 kg.

As the working tool 4, a high pressure washer (cleaning nozzle) with a water pressure of 100 MPa was attached to the tip of the slave arm 21. The high pressure washer weighs 5 kg and can be carried by hand. This high-pressure washer can be used to complete the work for about an hour without any problems, even if the work is done manually. A high-pressure washer attached to the tip of the slave arm 21 was used to clean the steel structure of dust and remove rust from the surface.

For comparison, manual work was performed using the same high-pressure washer. In manual work using a high-pressure washer, when the mobile platform 13 of the aerial work vehicle 11 is raised to a height of 40 m, it sways about ±100 mm due to the influence of the wind, resulting in uneven cleaning and cleaning. occurred.

As an example, the slave arm 21 to which the contact damper 3 was attached was mounted on the same moving platform 13 and raised to a height of 40 m. While the moving platform 13 was shaking, when the slave arm 21 was extended using the master operating device 22 and the contact cover 5 at the joint was pressed against a steel structure, the shaking of the slave arm 21 could be suppressed. Ta.

While the height of the movable table 13 remained unchanged, the slave arm 21 was placed against the steel structure by the contact cover 5, and the movable table 13 was moved horizontally by 1 m. At this time, in the operation of the master operating device 22, the force was adjusted so that the reaction force from the slave arm 21 was within a certain range.

The movement of the moving platform 13 was stopped in the target work area. In the target work area, cleaning and cleaning work was performed on an area of 50 cm x 50 cm of the steel structure only by remote control of the slave arm 21.

The image from the camera attached to the slave arm 21 was displayed on the monitor in the control room 14, but during the work, the steel structure could hardly be seen due to the water film from the high-pressure washer. However, by remote control while keeping the reaction force from the contact damper 3 constant, the distance between the high-pressure washer and the steel structure could be kept constant, and the cleaning and cleaning operations could be performed stably.

As described above, the remote control system 1 and the manipulator remote control method according to the embodiment of the present disclosure have the above-described configuration and steps to stabilize the posture of the manipulator with respect to the work object when the manipulator is remotely controlled. This prevents sudden force from acting on the manipulator. Therefore, the remote control system 1 and the remote control method for a manipulator according to the embodiment of the present disclosure enable the manipulator to be easily remotely controlled.

Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various changes or modifications based on the present disclosure. It should therefore be noted that these variations or modifications are included within the scope of this disclosure. For example, the functions included in each component or each step can be rearranged to avoid logical contradictions, and multiple components or steps can be combined or divided into one. It is. Embodiments according to the present disclosure can also be realized as a program executed by a processor included in the device or a storage medium recording the program. It is to be understood that these are also encompassed within the scope of the present disclosure.

Although the above embodiments have mainly been described using high-place work as an example, the remote control system 1 and the remote control method of the manipulator according to the embodiments of the present disclosure can be applied not only to high places but also to difficult places, high-temperature environments, and dusty environments. It can be used in all types of work performed in buildings or structures that are difficult to access.

1 Remote control system 2 Control device 3 Contact damper (contact member)
4 Work tools (end effector)
5 Contact cover (contact member)
6 Damper structure 11 Aerial work platform 12 Boom 13 Mobile platform (aerial work platform)
14 Operation room 21 Slave arm (manipulator)
22 Master operating device 23 Cable 51 Structure (work object)

Claims (6)

a master operating device including an operating section;
a manipulator that is mounted on a movable moving platform and includes a work tool that performs a predetermined work on a work target;
a contact member attached to the manipulator so as to protrude from the manipulator and comes into contact with the workpiece;
A remote control system comprising: a control device that feeds back a reaction force that the contact member receives from the work object to the master control device, and remotely controls the manipulator in response to movement of the control section. The remote control system according to claim 1, wherein the contact member has a damper structure. 3. The remote control system according to claim 1, wherein a sliding body that slides along the work object or a joint that joins the work object is provided at a tip of the contact member. The remote control system according to any one of claims 1 to 3, wherein the working tool and the contact member are attached to a tip of the manipulator. The manipulator includes a plurality of joints,
The remote control system according to any one of claims 1 to 4, wherein the contact member is attached to at least one of the plurality of joints. A method for remotely controlling a manipulator including a work tool mounted on a movable moving platform and performing a predetermined work on a work target, the method comprising:
remotely controlling the manipulator to correspond to the movement of the operating section of the master operating device;
bringing a contact member attached to the manipulator into contact with the workpiece so as to protrude from the manipulator;
A method for remotely operating a manipulator, comprising the step of feeding back a reaction force that the contact member receives from the work object to the master operating device.

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