JP2528032B2 - Remote control device for self-propelled robot with four-divided independent turning track frame - Google Patents

Description

Detailed Description of the Invention

[Industrial applications]

The present invention relates to a remote control device for a self-propelled robot equipped with a four-division independent turning track frame,
In a self-propelled robot equipped with a four-division independent turning type truck frame used for outdoor transportation of rescue equipment, medicines and foods for the rescue of wide-area disasters such as landslides, or hazardous material treatment in nuclear facilities, the four truck frames of the robot The present invention relates to a remote control device for a self-propelled robot having a four-divided independent turning track frame, which is suitable for freely remotely controlling the position (i.e., the position of the robot).

[Prior art]

For example, like the disaster relief robot previously proposed by the present inventors (see Japanese Patent Application No. Hei 2-210922), the operator remotely controls the four truck frames so that they are independent of each other. There is a self-propelled robot in which the posture itself of the robot can be freely controlled by freely turning the truck frame at a desired angle and controlling the posture of each track frame. To be more specific, each of the four positions at the bottom, front, back, left and right of the lower part of the robot body is provided with a track frame around which crawlers are wound, and the crawlers are driven in the robot body so that the robot can run by itself. Two drive motors and four swing motors for swinging each track frame to freely change the posture of each track frame are incorporated, and these drive motors and swing motors are independently operated by a remote control device. It is configured to operate (hereinafter, simply “robot” refers to such a “self-propelled robot equipped with a four-division independent turning track frame”, and “track frame attitude” refers to “robot attitude”). Shall also refer to). Therefore, conventionally, remote control of the posture of each track frame of such a robot is performed by an operator rotating four knobs for posture control of the track frame arranged on a flat plate surface on a controller in the remote control device of the robot. Has been done. Each rotation angle of these knobs represents the turning angle of each track frame of the robot, that is, the posture of each tarrac frame. In detail, these knobs are usually potentiometers,
When the operator rotates each of these knobs by a desired angle, each rotation angle becomes a turning angle command signal for each track frame and is oscillated by the robot, and each track frame receives each command based on each turning angle command signal. Each track frame can be swung up to the turning angle.

[Problems to be Solved by the Invention]

However, as described above, the four knobs for manipulating each track frame attitude on the manipulator in the conventional robot remote control device are merely arranged on the flat plate surface on the manipulator. Therefore, if a robot with a three-dimensional shape is to be remotely controlled by the knobs arranged in such a plane, the operator must always remember the driving posture of the robot and operate the posture of each track frame while driving. I have to. Such a recall operation is not particularly troublesome as long as the robot operates on a flat and well-visibility place and slowly. However, when the robot operates in a place where the atmosphere is not maintained, such as in a disaster area, such a recall operation has a disadvantage that it cannot immediately respond to a momentary operation delay or operation error. Further, according to the conventional configuration, there is also a problem that the actual turning angle of each track frame and the rotation angle of each knob corresponding to each track are different from each other. Furthermore, even if the actual turning angle of the track frame is about to stop (or stops) at a position that does not reach the commanded turning angle due to turning resistance generated in each track frame by an external load, Since this information is not fed back to the knob, the operator also has the inconvenience of being unable to perform delicate and timely remote control. That is, according to the above-mentioned conventional configuration, there is a drawback that the robot cannot be remotely controlled while intuitively experiencing the posture of each track frame. As a result, the robot falls into a fall accident or a rollover accident during operation. The present invention addresses the above-mentioned problems of the conventional technology, and intuitively grasps the attitude of each track frame and responds even when remote control is performed in an undeveloped operation site such as a disaster area. An object of the present invention is to provide a remote control device for a self-propelled robot equipped with a four-divided independent turning track frame, which enables remote control with good performance, delicateness, and timeliness.

[Means and Actions for Solving the Problems]

In order to achieve the above object, a remote control device for a self-propelled robot equipped with a four-division independent turning track frame according to the present invention is provided with four knobs for operating the track frame attitude on a controller in the remote control device. The configuration is similar to the arrangement of the four track frames in the robot. With such a configuration, the operator can feel the four track frames from the four knobs, and thus the rotation angles of the knobs can be intuitively felt as the postures of the track frames. That is, the responsiveness in remote control can be improved. Further, in the above configuration, the track frame attitude control means in the remote control device is a bilateral control means. With this configuration, in addition to the above-described operation, the rotation angles of the four knobs and the turning angles of the four track frames are sensually always coincident with each other, and remote control is timely. In addition, the operator intuitively feels the turning resistance of each track frame due to an external load through these four knobs.

【Example】

The most preferred embodiment of the present invention will be described in detail below with reference to FIGS. A typical embodiment of the invention of claim 1 is shown in FIG. In the figure, the remote controller 1 has four rotation angle detectors 2a, 2b, 2c and 2d built therein.
The knobs 3a, 3b, 3c, 3d for operating the track frame attitude are attached to the respective rotary shafts. As shown in FIG. 2, the four rotation angle detectors 2a, 2b, 2c, and 2d are operated by the operator by the four track frames 5a of the robot body 8,
This is for setting a target value of each turning angle when manually controlling the turning angles of 5b, 5c, and 5d. The four knobs 3a, 3b, 3c, 3d have flat shapes as shown in FIG. 1, and mark marks 4a, 4b, 4c, 4d are marked at one end in the longitudinal direction. The robot body 8 has two track frames 5a, 5b, 5c, and 5d, which are similar to each other, and are arranged at two positions on both sides of the controller 1. The marks 4a, 4b, 4c, 4d are provided for the operator to easily confirm in which direction of the rotation angle detectors 2a, 2b, 2c, 2d the 360 degrees. In another embodiment, each of the knobs 3a, 3b, 3c, 3d
There is one in which the shape thereof is similar to the shape of the track frames 5a, 5b, 5c, 5d. Further, as shown in FIG. 6 which will be described later, the configuration may be such that they are installed diagonally on both side surfaces of the control device 101, and further, it may be arranged according to the stereoscopic effect of the robot. According to the above-described embodiment, if the operator observes these four knobs 3a, 3b, 3c, and 3d on the manipulator 1 (actually, observing the manipulator 1 itself), the operator of the robot body 8 One truck frame 5a, 5b, 5c, 5d
You can intuitively experience each of the four turning angles at the same time,
Moreover, it becomes possible to grasp the information and improve the responsiveness of the remote control. Next, an embodiment of the invention of claim 2 will be described below. A typical embodiment of the invention of claim 2 is shown in FIGS. 6 and 7. As shown in FIG. 6, the four knobs 103 for manipulating the attitude of the track frame also have marks 104 at one end in the longitudinal direction.
It has. Further, the arrangement of these four wrapping knobs 103 is such that they are installed diagonally on both sides of the control device 101 of the remote control device. That is, this arrangement also
The four track frames 5a, 5b, 5c of the robot body 8,
It is similar to the arrangement of 5d. Next, as a comparative example, the track frame attitude control means, that is, the bilateral control means in the present embodiment, will be described below. First, as a comparative example, the track frame attitude control means of a robot equipped with the embodiment of claim 1 will be described. After explaining the operation, it will be explained. In the embodiment of claim 1, the four track frames 5a, 5b, 5c and 5d are centered on respective rotary shafts (not shown) via a power transmission mechanism such as gears as shown in FIG. The turning motors 6a, 6b, 6c, and 6d can turn 360 degrees. Such a remote control system is as follows. Swing angle detectors 7a, 7b, 7c, 7d for detecting the actual swing angles of the track frames 5a, 5b, 5c, 5d are attached to the power transmission mechanisms. FIG. 3 shows a control device 12 and a control device 1 of the remote control system.
3 is a diagram showing an interconnection between the robot main body 8 and the robot main body 8. According to the figure, each turning angle target value signal 9a, 9b, 9c, 9d of each track frame generated by each rotation angle detector 2a, 2b, 2c, 2d by each rotation angle of the knob of the control device 1 It becomes an input signal of the control device 12. This control device 12 controls the swing motors 6a, 6b, 6c, and 6d for the swing drive voltages 10a and 1
It outputs 0b, 10c, and 10d. Each of the swing motors 6a, 6b, 6
Each rotation of c, 6d is detected by each turning angle detector 7a, 7b, 7c, 7d via the respective power transmission mechanism, and these detected turning angle signals 11a, 11b, 11c, 11d are the control device 12 described above.
Input signal. As can be seen from the above, there are four control systems for each track frame, that is, the command system and the control system, and each has the same configuration. Therefore,
An arbitrary one of these four control systems will be described below with reference to the block diagram of FIG. In the figure, the turning angle target value signal 9 of the track frame generated from the rotation angle detector 2 of the control unit
And the turning angle signal 11 fed back from the turning angle detector 7 of the track frame are input to the control circuit 13. The control circuit 13 is, for example, an amplifier that performs PID control or the like, and its output is configured by incorporating a power amplifier that generates a voltage output having a power capacity sufficient to drive the swing motor 6. That is, a case where control is performed using a microcomputer will be described with reference to FIG. This figure shows an example of a flow chart when the part of the control device 12 in FIG. 3 and the part described in the block diagram of FIG. 4 are controlled by using a microcomputer. First, in block 14a, the turning angle target value 9 is input from the rotation angle detector of the control unit. At this time, if the rotation angle detector which is the output device of the turning angle target value 9 is a multi-rotation potentiometer, the output signal is voltage, so the target value 9 is input using the A / D converter. . Also, if the rotation angle detector is an increment type two-phase output pulse encoder, its output signal is a serial pulse signal having a logical output voltage (or current), so the target value 9 is set using a counter. input. Furthermore, if the rotation angle detector is an absolute type pulse encoder, its output signal is a parallel pulse signal having a logical output voltage (or current), so the target value 9 is set using parallel peripheral inputs. input. In addition, the combination of the rotation angle detector and the input circuit may be any combination as long as it has a function of detecting the rotation angle of the rotation shaft as the rotation angle detector. Next, in block 14b, the actual turning angle of the track frame is input as a feedback signal 11 from the turning angle detector. The combination of the turning angle detector and the input circuit is the same as above. Next, in block 14c, the turning angle target value 9 and the feedback value 11 are compared and the angle difference is calculated to calculate the required angle (difference between target and actual) for turning the track frame. The angle difference is positive if it is within 180 degrees measured clockwise, and is negative if it is less than 180 degrees measured counterclockwise. The next block 14d is a control system provided with a dead zone. If the absolute value of the angle difference is smaller than the predetermined value set as the dead zone, block 14
Proceed to e and output nothing to the swing motor. Incidentally, the method of stabilizing the system by providing the dead zone in the control system in this way is a well-known technique. The block 14f is for rotating the swing motor forward or reverse to reduce the angle difference when the absolute value of the angle difference is a large value exceeding the dead zone, and if the angle difference is a positive value. , Proceeds to block 14g to supply a positive voltage to the swing motor for normal rotation. Also,
If the angle difference is a negative value, the process proceeds to block 14h to supply a negative voltage to the swing motor for operation. These blocks
After 14e, 14g, and 14h are completed, it is determined in block 14i whether or not a signal for the occurrence of an abnormality or a command for termination is given to the control program. Block 14a to continue
Then, the above operation is repeated, or if the operation is finished, the control program is terminated without returning to the block 14a. Therefore, next, the remote control system by the track frame attitude control means of the present embodiment, that is, the bilateral control means will be described with the control system based on the above conventional technique in mind. The structure of the robot body is the same as that shown in FIG. The present embodiment also includes four control systems for instructing the turning angle target values of the same four track frames 5a, 5b, 5c, 5d, that is, four control systems such as four command systems. ing. Therefore, in order to simplify the description, only one arbitrary control system will be described below.
It goes without saying that the other three control systems also have similar configurations. As shown in FIG. 6, the knob 103 for operating the attitude of the track frame is attached so as to rotate the rotation detection shaft of the rotation angle detector 102. The rotation angle detector 102 is driven by a small motor 106 via gears 105 and 107. Therefore, referring to the block diagram of FIG. 7, the control system will be described. The output signal 1 generated by the rotation angle detector 102 incorporated in the control unit 101
The control device 112 compares the detected turning angle signal 11 of the turning angle detector 7 built in the robot body 8 by the control device 112, and the difference signal is the control circuit 13 of the turning motor 6 of the robot body 8.
Is output to the control circuit 113 of the small motor 106 of the controller 101. In the former control circuit 13, the output signal 109 from the rotation angle detector 102 is treated as a turning angle target value, and the turning angle signal 11 from the turning angle detector 7 is treated as a feedback signal. Therefore, the swing motor 6 attached to the robot main body generates a force for directing the track frame to the angle set by the rotation angle detector 102 of the controller 101. On the contrary, in the latter control circuit 113, the turning angle signal 11 from the turning angle detector 7 is treated as a target value of the rotation angle of the rotation angle detector 2, and the output signal 109 from the rotation angle detector 102 is used as a feedback signal. deal with. Therefore, the small motor 106 attached to the controller 101 generates a force so as to return to the current value of the posture of the track frame of the robot body 8 as the distance from the current value of the turning angle detector 7 increases. The flow chart in the case of configuring the control circuit 13 and the control circuit 113 using a microcomputer is similar to the example of the flow chart of FIG. 5 based on the already-described conventional technique. That is, considering that the relationship between the target value and the feedback signal is reversed in the control circuit 113, the flow chart is the same as that for the control circuit 13 described in FIG. That is, according to this embodiment, when the turning motor 6 of the truck frame is in a light load state and when the knob of the manipulator 101 is turned, the turning motor 6 immediately rotates according to the angle command of the knob, The small motor 106 of the container 101 also weakens the force of rotating the knob in the reverse direction toward the current value of the angle of the track frame. On the contrary, when the turning motor 6 is in a heavy load state and the turning motor 6 cannot easily rotate according to the angle command of the knob even if the knob is turned, the small motor 106 sets the knob to the current value of the angle of the track frame. The force to rotate in the opposite direction increases, and the operator needs to apply force to rotate the knob. That is, in the configuration of claim 2, by introducing a bilateral control configuration into the remote control device, the posture of the track frame of the robot body can be intuitively and perceived from the rotation angle of the knob of the control unit. Become. Moreover, the load condition of the truck frame can be intuitively sensed as turning resistance when turning the knob.
The bilateral method described in FIG. 7 is known as a symmetric type in academic societies, but other bilateral control methods such as force feedback type and impedance type are replaced with the symmetric type in the above embodiment. Then, it is obvious that a remote control device for a self-propelled robot having a four-divided independent turning track frame can be constructed. As described above, according to the above-described embodiment, when the robot slides on a cliff or a slope during remote control in a working place where the atmosphere is not maintained, or when the robot stumbles on a stone or a tree and loses its posture, etc. Even in an emergency situation, the posture of the track frame of the robot body (that is, the posture of the robot) can be grasped with good responsiveness. Therefore, the robot can be operated reliably and safely.

【The invention's effect】

As described above, according to the remote control device for a self-propelled robot including the four-division independent turning track frame according to the present invention, remote control is possible in a working place where the atmosphere is not maintained, such as a disaster area. Also, the posture of each track frame (that is, the posture of the robot) can be intuitively grasped and the remote control can be performed with good responsiveness, delicate, and timely. For more information,
It is as follows. According to the invention of claim 1, the arrangement of the four knobs for manipulating the track frame attitude on the controller of the remote control device is similar to the arrangement of the four track frames of the robot. From the arrangement of these knobs, the posture of each track frame can be intuitively felt, and the responsiveness of maneuvering is improved. According to the invention of claim 2, in addition to the above configuration,
Since the track frame attitude control means of the remote control device is configured to be a bilateral control means, each rotation angle of each knob and each turning angle of each track frame are sensually always coincident with each other. In addition, it is possible to perform remote control with timely and intuitive feeling of turning resistance of the truck frame due to external load. As a result of the above, it becomes possible to prevent the robot from a fall accident or a rollover accident.

[Brief description of drawings]

FIG. 1 is a simple perspective view of a controller for explaining an embodiment representative of the invention of claim 1, FIG. 2 is a simple external view of a robot body, and FIG. 3 is a remote control system based on a conventional technique. FIG. 4 is a block diagram of a remote control system based on the conventional technology, and FIG. 5 is an example of a flowchart for performing remote control based on the conventional technology with a microcomputer. FIG. 6 is a simple perspective view of a control device for explaining an embodiment of the invention of claims 1 and 2, and FIG. 7 is a block diagram of an embodiment of a remote control system based on the invention of claim 2. 1,101 ...... Control device 2a, 2b, 2c, 2d, 102 ...... Rotation angle detector 3a, 3b, 3c, 3d, 103 ...... Knob 4a, 3b, 4c, 4d, 104 …… Mark 5a, 5b, 5c, 5d, 105 …… Track frame 6a, 6b, 6c, 6d …… Swing motor 106 …… Small motor 7a, 7b, 7c, 7d …… Swing angle detector 8 …… Robot body 9a, 9b, 9c, 9d …… Swing angle target value signal 10a, 10b, 10c, 10d …… Swing drive voltage 11a, 11b, 11c, 11d …… Swing angle signal 12,112 …… Control device 13 …… Track frame motor control circuit 113 …… Small controller Motor control circuit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takuya Sakamoto 2597 Shinomiya, Hiratsuka-shi, Kanagawa Komatsu Ltd. Technical Research Center, Special Machinery Headquarters (56) Reference JP-A-4-92784 (JP, A) JP 62-34587 (JP, B2) Japanese Patent Publication Sho 63-270 (JP, B2)

Claims (2)

(57) [Claims] 1. In a remote control device for a self-propelled robot having a four-divided independent turning track frame, the four knobs for manipulating the track frame attitude on a controller in the remote control device are arranged in four positions in the robot. A remote control device for a self-propelled robot equipped with a four-division independent turning track frame, which is characterized by a configuration similar to the layout of the track frame. 2. A remote control device for a self-propelled robot having a four-divided independent turning track frame according to claim 1, wherein the track frame attitude control means in this remote control device is a bilateral control means. A remote control device for a self-propelled robot equipped with a four-division independent turning track frame.