JP3376029B2 - Robot remote control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot remote control device.
In particular, from the robot using the photographing means such as a camera
To determine whether there is an approaching object within a certain distance of
The present invention relates to a remote control device for a bot. [0002] [Prior Art] Space development also welcomes the stage of full-scale practical development
Need to perform various tasks in outer space.
It is getting. Especially in the United States, Canada, Europe and
Space is undergoing design work through international cooperation between Japan and Japan
When the operation of the station FREEDOM starts,
A few astronauts stay at the station and synthesize materials
Various experiments and measurements will be performed. [0003] Also, the space station begins to operate.
Stations need to be regularly maintained and inspected.
Will come. For this reason, the vacuum space
There is a need to have the robot do the work between. This
These operations are performed on pressurized ground or space stations.
It is generally performed by remote control from a closed room.
You. [0004] In the nuclear power development,
Maintenance and dismantling of existing nuclear power plants
Various tasks in high-level radioactive environment are required
Robot operation by remote control.
The need is growing. [0005] Remote control robots include robots.
Using a master arm to command the operation of
Use the joystick for slave manipulators or operation commands.
And others that use In addition, the posture of the robot is
Commands, commands for robot speed, etc.
There are various types. [0006] In general, a worker who operates a remote control requires an actual work.
Work away from dangerous working environments
The camera at the work place and monitor the work environment
The state of is performed. [0007] However, in order to grasp the working environment using a camera,
The following problems exist. 1) The three-dimensional effect is lost. Displayed on the monitor
The distance in the depth direction from the two-dimensional image
No. Also, because the distance in the screen depth direction is difficult to understand
When the direction of the camera is changed frequently,
It becomes difficult to grasp the direction in which it is moving. 2) Pan the camera when operating the robot.
Tilt operation must be performed at the same time.
descend. 3) The direction of the camera along with the operation of the robot
By changing the setting at any time, the
It is difficult to see which direction the screen is facing.
It becomes. 4) A joystick and the like
Control direction and monitor screen direction no longer match
This causes a sense of incongruity. 5) When it is difficult to grasp the overall positional relationship
Exists. Screen shot with the tip of the arm up
The position relationship with the surrounding environment other than the arm tip
I can't grip. On the other hand, on the screen where
I can't see the part, and I can't see the situation behind the surrounding objects
No. [0013] To solve the above problems,
Various researches and developments have been performed until then. example
For example, those described in JP-A-58-137574
Has two TV cameras side by side,
Manipulator operation for operating an operating robot
The remote control type compensates for the loss of three-dimensional effect by using a device.
Aims to Improve Master-Slave Manipulator Workability
are doing. JP-A-53-33521.
The thing of the TV camera according to the movement of the manipulator
Controls the orientation so that the manipulator's
By being able to observe near the center,
Operability by eliminating the need for pan / tilt operation
Aiming to improve. JP-A-63-11291
The items described in the section measure the position and orientation of the TV camera
How to operate the manipulator on the monitor TV screen
Direction and the operation direction of the operation position such as a joystick
By changing the coordinate system to match,
We aim to eliminate the discomfort of time. However, the sense of depth of the screen due to the stereoscopic view.
Can compensate for the approximate context of the object
However, detailed displacement in the depth direction is difficult to understand and accurate
I changed the direction of the camera when positioning.
Confirmation was required. Also Mani
Automatic pan and tilt of the camera with the movement of the
Control method is camera pan / tilt controller
Is necessary, and where the operator wishes to
May change depending on the situation, and the manipulator
There is a problem that it is not always necessary to come to the center. Ma
In addition, the camera moves continuously with the movement of the manipulator.
Rather, the camera is stationary during movement within a certain area.
In some cases, it is easier to grasp the positional relationship. As described above, the three-dimensional effect at the time of remote control.
Problem of camera loss and camera orientation control is a partial solution
Although various suggestions have been made,
Without increasing the workability of the remote control robot
It also causes the range not to expand. On the other hand, in recent years, research on telexistence has been
And to address these issues at the root
It is attracting attention as a solution to the problem. Head to workers
Attach a mounted display and stereoscopic image there
Displaying images and measuring worker's gaze and head movement
Controls the camera in conjunction with the gaze and head movement.
Gives a sense of presence as if you were at the work site
It is something to try. But telexistence
It is still in the research stage, and the head mount
Display is heavy and expensive. Also, have a sufficient field of view
In order to get it, humans peek when doing work
It is expected that the camera moves not only in the direction but also in the position.
But the camera has the ability to move that far
Difficult in terms of cost and function, inherently difficult to solve
It contains various points. [0017] As described above, the conventional robot
The remote control unit uses a TV set in the work environment.
Work while observing the camera image on the monitor
Control the camera's pan and tilt for loss of stereoscopic effect
The work direction and screen direction
There was a sense of incongruity. Therefore, an object of the present invention is to provide a robot working ring.
Using the shape data of the environment and the robot itself
Various information such as nearby objects that may interfere with
Displaying causes loss of stereoscopic effect on the monitor screen, etc.
Remote control device for robots with high workability by supplementing
It is to provide. [0019] Means for Solving the Problems To achieve the above object,
The present invention is directed to remotely controlling a robot located at a remote location.
In the robot remote control device,
The shooting means for shooting the working environment, the robot working environment and
An environment model unit having shape data of the robot and the robot itself,
The current joint angle of the robot is determined by the signal value of the joint angle sensor.
Angle input unit for inputting a fixed distance from the robot
The robot's joint angle
An interference determination unit that determines from the shape data
If there is an object within a certain distance of
And an image of the object from the position and orientation of the photographing means.
An overlay display unit for calculating the
Means of the actual image taken by the means and the overlay display section
A monitor capable of displaying an overlay with the image.
It is characterized by having. [0020] [0021] [0022] [0023] [Function] The presence of an object within a certain distance from the robot
If found, the shape data of the object and the position of the camera
Calculate the display on the monitor from the position and orientation values.
By displaying an overlay on the monitor, the operator
Notifying the presence, the operator can move in the direction
Can be avoided by changing. Ma
Also, within a certain distance when no overlay is displayed
Is guaranteed that no objects are near
The operator confirms that the robot is approaching the surrounding objects
Stop the robot movement once and switch the camera
It is no longer necessary to check the position
Can be made. Also,Move a remotely located robot
In a remote control device for a robot that remotely operates, the robot
Means for photographing the work environment of the robot and the work environment of the robot
Model part with shape data of robot and robot itself
And the robot's current joint angle and joint angular velocity
A joint angle / angular velocity input unit for inputting the
The joint angle of the robot, which is the output of the
Time specified in advance from the value of the joint and angular velocity
Robot Future Position Prediction to Calculate Post Robot Joint Angle
Unit and the output of the robot future position prediction unit
The value of the robot joint angle and the robot after the specified time has elapsed
From the shape data of the
Object within a certain distance from the robot after a specified time
An interference determination unit that determines if there is no body
The robot checks whether there is an approaching object within a certain distance of
Determination unit for determining from the joint angle of the object and the shape data
And if there is an object within a certain distance from the robot,
From the shape data and the position and orientation of the photographing unit
An overlay that calculates the image of this approaching object using a computer
A display unit, the real image taken by the photographing means and the
It is possible to overlay display the image of the overlay display section.
A possible monitor. This
IfThe current joint angle and angular velocity values of the robot?
If the current angular velocity is maintained,
Calculates the value of the robot joint angle after the specified time has elapsed
And the value of the robot joint angle after the specified time has elapsed and
A certain distance from the robot after a specified time elapses from the shape data
Interference judgment calculation whether there is no object approaching within
, The determination is always made. Fixed distance with robot
When it is determined that there is an object within
Is the shape data of the object and the position and orientation of the camera.
Calculates the display on the monitor of the object from the value and overwrites the monitor
Inform the operator of the presence of an object by displaying a ray
Therefore, if the operator maintains the current speed of the robot,
Change the direction of movement in advance
By doing so, collisions can be avoided. Also,The overlay display section monitors the object.
In addition to displaying overlays on the robot, the shape of the robot
Data, robot joint angles and camera position and orientation
The display on the monitor of the robot is calculated from the
It is characterized by displaying a valley. According to this,
The overlay display section displays the object on the monitor as an overlay
Not only the robot's shape data,
From the values of the knot angle and camera position and orientation, the robot
Calculate the display in the monitor and overlay display on the monitor
Allows the robot to stay behind objects in the work environment
The current position of the robot, even if
Robots can hide behind objects
Work to eliminate the need to switch cameras
Performance can be improved. [0026]In addition, shooting to shoot the working environment of the robot
Remotely control a robot located in a remote place with means
Remote control device of a robot
It is possible to display the actual image taken
When the monitor is instructed by the pointing device, the monitor
Monitor capable of outputting coordinates and robot work
Environment model with environment and robot's own shape data
Displayed on the monitor and the coordinate values in the monitor specified by the pointing device.
The robot's work environment object shown is
A pointing object calculation unit that is determined from the position and orientation of the camera
The current joint angle of the bot is calculated from the value of the joint angle sensor signal.
The joint angle input part to input and the value of the joint angle of the robot
Shape data as the coordinate system of the object specified by the pointing device
Robot tip position in the coordinate system defined in the
Robot relative position calculation unit for calculating robot posture
The position of the robot tip, which is the output of the relative position calculator,
Relative position over to display posture value on monitor
And a ray portion. According to this,Mo
Monitor seat that has been instructed to indicate
The value of the standard value is input to the computer. The value of the coordinate value in the monitor is
When entered, the robot's work environment and the robot itself
Monitor specified from the shape data of the camera and the position and orientation of the camera.
Find the object displayed at the coordinate value in the
In the coordinate system origin defined for the indicated object
Acquire displacement and attitude. Hereafter, the joint angle of the robot
And the displacement and orientation of the origin of the pointing object coordinate system
From the value, the relative position of the robot tip in the pointing object coordinates and
Posture is constantly calculated and the numerical value is displayed on the monitor as an overlay
By doing so, the operator can position the robot
Relative displacement of the object and the relative displacement
Because you can always know by numerical values,
It is possible to accurately grasp the relative position including the displacement. Also,
By simply pointing the monitor with the pointing device, the relative
Since it is possible to change the object to be displaced,
Changing the target object at any time as the business situation changes
Can obtain the necessary information according to the situation.
Switch cameras as the robot moves
There is no need to do so, and workability can be improved. [0027] Embodiments of the present invention will be described below with reference to the drawings.
I do. First, a first embodiment of the present invention will be described with reference to FIG.
You. As shown in FIG. 1, a remote control device for a robot
Is a robot that performs work in a work environment,
TV camera which is a photographing means 2 for monitoring the state of the environment
Workers observe images taken with camera and TV camera
And the current joint angle of the robot
A joint angle input unit 4 input from the bot controller,
The robot working environment and the robot's own shape data
An environment model unit 5 having a three-dimensional solid model;
From the value of the joint angle of the robot and the shape data,
Objects approaching within a certain distance specified in advance
An interference determination unit 6 for determining whether or not
Check that there is an object approaching within a certain distance
Is found, the display of the approaching object is displayed on the monitor.
Consists of an overlay display unit 7 for overlay display on the monitor
Is done. The environment model unit 5 includes a robot working environment and
Of the solid that corresponds to the object and the robot itself
Each solid is represented by a solid
Holds data of faces, loops, edges, and vertices that make up
And the coordinate system fixed to the solid is defined
And the displacement from the coordinate system that is the reference of the coordinate system and
Holds the value of the coordinate displacement matrix. Further, each surface is a data of a loop constituting the surface.
Data and its surface equations.
It holds the data of the ridge lines that make up the loop. each
The ridge is the data of both ends of the ridge and the faces on both sides of the ridge
Data and other edges connected to both ends of the edge
Holds the data. Each vertex stores its coordinate value.
I have Therefore, the information as a solid of the shape is completely completed.
Fully retained to determine the presence or absence of interference between solids
Holds necessary information. Further, regarding the objects constituting the working environment,
Is a table modeled to be equal to the actual shape
Along with the indicating solid,
Modeled with a shape expanded by a specified distance
The solid for interference determination is included in the environment model part 5.
You. In other words, the objects that make up the work environment
For the lid, together with the display solid,
There is a lid. The expanded width of the collision detection solid is
Robot and work as a reference for whether to display overlay
It is equal to the distance to the object in the industrial environment. Further, the robot 1 and the photographing means 2
Generally, it is installed in a work environment that is not suitable for humans,
The worker can monitor 3 in a safe place away from the work environment.
While watching the joystick or master arm.
Indicate the robot's motion with the bot's motion input device
You. Next, the operation of this embodiment will be described with reference to FIG.
Will be described. The joint angle input unit 4 is a robot control
The value of the joint angle is input from the controller at regular time intervals. Dried
The negotiation determination unit 6 is a robot which is an output of the joint angle input unit 4.
Enter the value of the current joint angle of 1. The operation of the robot 1 is determined in advance in the interference determination unit.
A dynamic equation is set, and the robot
Software that constitutes the robot included in the environment model section 5
Calculate and set the value of the coordinate transformation matrix of the lid. robot
After setting the value of the coordinate transformation matrix of all solids that compose
In addition, the whole of the working environment included in the environment model part 5
Between the solid for negotiation determination and all solids constituting the robot
Is calculated. When there is an interfering object
Within a specified distance of the robot
There is an object that is doing. Because of the interference
Judgment solids are specified in advance rather than the actual shape.
Because it is modeled as a shape that is extended by a certain distance
It is. The interference judging section 6 detects an interfering object.
Is displayed, the name of the interference object is displayed on the overlay display section 7.
Notice. The overlay display section must be
The values of the position / posture and focal length of a certain TV camera
Display of the interference object that is held and is the output of the interference determination unit
Input the shape data of the solid from the environment model part 5,
Calculate display on monitor by performing projection conversion calculation
Then, an overlay is displayed on the monitor 3. Therefore, when the robot moves around the work environment,
When approaching within a predetermined distance, the monitor
3 shows the object together with the actual image taken by the photographing means 2.
In order to be displayed as an overlay,
At-a-glance for workers working while watching
Understand and change the direction of motion of the robot before colliding.
And become possible. Also, the robot is operated by the operator.
Moving away from the approaching object, the interference determination unit 6 has no approaching object
Is output, the overlay display section 7
Stops overlay display. Therefore, the worker
It is clear at a glance that the object has moved away from the approaching object
Call Further, contact within a predetermined distance is performed.
If you get close, you will see an overlay display
Workers need to work with the robot more than necessary.
Turn off the camera to grasp the positional relationship with
There is no need to change, and workability is improved.
It is. Next, referring to FIG. 2, a second embodiment of the present invention will be described.
explain about. As shown in FIG.
The remote operation device is a robot 8 that works in a work environment.
And photographing means 9 for monitoring the state of the work environment.
Create a TV camera and images taken with the TV camera.
A monitor 10 for the trader to observe and the current
From the values of joint angle and angular velocity, the robot controller
Assuming that the value of the joint angular velocity input from
The robot joint angle after a preset time
Robot future position prediction unit 12 for calculating the value of
3D work environment and robot's own shape data
Environment model unit 13 having a solid model and robot
From the joint angle value and shape data of the robot,
There is an object approaching within the specified distance
Interference determination unit 14 that determines whether the
In 4 there is an object approaching within a certain distance
If found, the monitor requesting display of the approaching object on the monitor
Composed of an overlay display unit 15 for displaying an overlay on the data
Is done. The environment model section 13 is a robot working environment.
Combination of robot and robot itself
Each solid is represented by its solid
Data of faces, loops, edges, and vertices that make up
And the coordinate system fixed to the solid is defined.
Displacement from the coordinate system that is the reference of the coordinate system.
And the values of the coordinate transformation matrix. Further, each surface is a data of a loop constituting the surface.
Data and its surface equations.
It holds the data of the ridge lines that make up the loop. each
The ridge is the data of both ends of the ridge and the faces on both sides of the ridge
Data and other edges connected to both ends of the edge
Holds the data. Each vertex stores its coordinate value.
I have Therefore, the information as a solid of the shape is completely completed.
All are retained and are necessary for determining the presence or absence of interference between solids.
Holds important information. Further, regarding the objects constituting the working environment,
Is a table modeled to be equal to the actual shape
Along with the indicating solid,
Modeled with a shape expanded by a specified distance
The solid for interference determination is included in the environment model part 5.
You. In other words, the objects that make up the work environment
For the lid, together with the display solid,
There is a lid. The expanded width of the collision detection solid is
Robot and work as a reference for whether to display overlay
It is equal to the distance to the object in the industrial environment. Further, the robot 8 and the photographing means 9
Generally, it is installed in a work environment that is not suitable for humans,
The worker monitors the monitor 1 in a safe place away from the work environment.
While watching 0, use a joystick or master arm
Indicate the robot's motion with the bot's motion input device
You. Next, the operation of this embodiment will be described with reference to FIG.
I will tell. The joint angle angular velocity input unit 11 is a robot controller.
Value of joint angle and angular velocity at time interval of one hand from roller
Enter The robot future position prediction unit 12 calculates the joint angle
The robot joint angle θ and the output of the angular velocity
And the value of each speed ω, the angular speed ω was kept constant
Assuming that a predetermined time Δt has elapsed
Is calculated as follows. [0044]         θn = θ + ω × △ t (1) The interference determination unit 14 outputs the output of the robot future position prediction unit 12
The preset time Δt of the robot 8 which is
Enter the value of the later joint angle. The interference determination unit 14
The kinematic equation of the robot 8 has been set,
Included in the environment model part 13 of the robot from the value of the knot angle
Calculate the value of the coordinate transformation matrix for each solid that composes the robot
Set out. Coordinates of all solids that make up robot 8
After setting the value of the transformation matrix, it is included in the environment model unit 13.
Solids and robots that make up all interference
Perform interference determination calculation between all solids that compose the object. Dried
If there is an object in negotiation,
There is an object approaching within the previously specified distance
Will be. Because the solid for collision determination is
A shape expanded by a predetermined distance from the shape
This is because it is modeled in a shape. An interfering object is detected by the interference determination unit 14.
Is displayed, the name of the interfering object is displayed in the overlay display unit 1.
Notify 5 The overlay display unit 15 shoots in advance
Position / posture and focal length of TV camera which is means 9
And the like, and the output of the interference determination unit 14
Environmental model part 1
Input from 3 and perform projection conversion calculation to monitor
Is calculated and displayed on the monitor 10 as an overlay. Therefore, if the current speed is maintained,
The bot 8 is designated in advance as the surrounding work environment object.
When the vehicle approaches within the distance, the monitor 10
The object is overlaid with the actual image taken by the photographing means 9.
To be displayed on the monitor 10
At a glance
Change the direction of motion of the robot before colliding.
Will be possible. In addition, the robot approaches by the operation of the worker
Moving away from the object, the interference determination unit 14 determines that there is no approaching object
When output is started, the overlay display unit 15
Stops the overlay display section. Therefore, the worker
The direction of movement that the robot does not collide with objects in the surrounding work environment
Is clearly understood at a glance. Further, when the current speed is maintained,
After the preset time elapses, the distance
If you are approaching the inside, you will see an overlay display.
Worker is more likely to talk with the robot than necessary
Work environment and the current robot motion
Need to switch cameras to know direction
And workability is improved. Further, the first embodiment and the second embodiment are combined.
Approaching within a specified distance
If there is an object that is
Specify and pre-specify when maintaining the current speed
If you approach within the specified distance, the overlay
By showing the robot and the surrounding objects
The position relationship with the robot and the movement direction of the robot
It becomes possible to notify the trader. Further, the robot included in the environment model section
Shape data, joint angle values, camera position and orientation
Calculate the display on the monitor of the robot from the value of
By displaying the valley, even if the robot
Even if you are hidden behind your body,
Ray display makes it possible to grasp the robot position.
You. As a result, there is less need for the operator to switch cameras.
And changing the camera to view
It can prevent discomfort from occurring due to changes in orientation and can improve workability.
Can be improved. Next, referring to FIG. 3, a third embodiment of the present invention will be described.
explain about. As shown in FIG.
A robot 16 for working in a work environment, and a work environment
TV camera as a photographing means 17 for monitoring the situation of
Workers observe images taken with camera and TV camera
And a finger for indicating a coordinate value in the monitor.
Indicating device 19 and the monitor indicated by the indicating device 19
Defined by the environment model part 22 of the object displayed in the coordinate value
An instructed object calculating unit 20 for obtaining the obtained object name;
Enter joint angles to input joint angles from the robot controller
The force unit 21 and the working environment of the robot and the robot itself
Environment model with shape data as a three-dimensional solid model
Part 22 and included in the value and shape data of the joint angle of the robot
From the coordinate transformation matrix of the pointing object
Robot that calculates the position and orientation values in the pointing object coordinate system
Robot relative position calculator 23 and robot relative position calculator 2
Robot tip position in the pointing object coordinate system calculated in Step 3
Relative position for displaying overlay and posture values on the monitor screen
And an overlay unit 24. The environment model section 22 is a robot work environment.
Combination of robot and robot itself
Each solid is represented by its solid
Data of faces, loops, edges, and vertices that make up
And the coordinate system fixed to the solid is defined.
Displacement from the coordinate system that is the reference of the coordinate system.
And the values of the coordinate transformation matrix. Also, each side
Stores the data of the loops that make up a surface and the equations for that surface
Each loop has its edge data
Data. Each ridge line is the data of both end points of the ridge line.
Data on both sides of the edge
Holds data of other connected edges. Each peak
A point holds the value of its coordinate value. The robot 16 and the photographing means 17
Is installed in a work environment that is generally unsuitable for humans.
Workers are in a safe place away from the work environment.
Joystick and master arm
Which robot motion input device
Show. Next, the operation of this embodiment will be described with reference to FIG.
I will tell. The operator points the monitor 18 using the pointing device 19.
When indicated, the indicated coordinate value in the monitor is
It is input to the output unit 20. The pointing device 19 is usually
Examples include a mouse and a touch pen. In the pointing object calculation unit 20,
Is the preset camera position / orientation and focus.
Point distance values and shape data included in the environment model part 22
From the monitor to the coordinate values in the monitor designated by the pointing device 19.
Find the object shown. The coordinates displayed in the monitor indicated below are displayed on the screen.
A method for finding the object that has been moved will be described. First, the position and orientation of the camera and the focal length
From which value and the shape data included in the environment model unit 22,
Z used in Z buffer method which is a typical hidden surface elimination method
Calculate the buffer. In other words, the resolution of the monitor
Array, and each element of the array corresponds to each pixel of the monitor
And the screen coordinates of the object displayed at each pixel
The Z value which is the coordinate value in the depth direction is stored in each array element.
You. Screen coordinates are XY axes in the monitor screen.
Take the Z axis in the direction perpendicular to the
A coordinate system for points. In addition, this array is
Call it fa. Normally, in hidden surface elimination,
Data representing RGB colors and Z values are stored.
In this example, the object is displayed instead of the color data.
Remember the name. Such a Z buffer is
By calculating and storing the information, it is possible to specify the
Refers to the value of the Z buffer at the specified monitor coordinate value
It is possible to obtain the designated object name only by using. In addition,
When the camera direction or magnification is changed, the Z buffer
Need to recalculate. The robot relative position calculator 23 calculates the joint angle
Enter the value of the joint angle of the robot from the degree input unit 21 and
The kinematic equations of the robot 16 set in advance are
By calculating, the robot 1 in the reference coordinate system
After calculating the values of the tip position and posture of No. 6, the pointing object
The coordinate transformation matrix of the pointing object output from the calculation unit 20 is stored in the environment
By inputting from the model unit 22 and performing coordinate transformation calculation
Of the robot tip in the coordinate system of the pointing object
Is calculated. In the relative position overlay section 24, the robot
In the coordinate system of the pointing object, which is the output of the relative position calculation unit 23,
Overlay robot tip position and posture values on monitor
indicate. Therefore, the operator is the photographing means 17 of the television
Monitor that displays the working environment captured by the camera
While working while watching, the overlay is displayed
Phase between the object pointed by the pointing device
You can see the value of pair displacement. From the monitor screen
In many cases, it is difficult to grasp the positional relationship between directions.
As shown above, the relative position to the object that is important in the current situation
Is displayed on the monitor in numerical values,
It is possible to accurately grasp the displacement against position as a numerical value.
Need to switch cameras to understand the positional relationship.
There is no need to do so, and workability can be improved. An indicating device such as a mouse or a touch pen
Display on the monitor screen just by instructing the monitor by
It is possible to change the target object of the relative coordinate value.
Therefore, change the target object at any time as the robot moves
Keep watching the screen with one camera by going
This also makes it possible to carry out the work. one
By performing work on the camera screen, the camera
Switching not only saves time, but also
Change the view direction by changing
Occurrence of discomfort due to differences in the operation direction of sticks etc.
Can be prevented and workability can be improved. The seat
When the value of the standard value cannot be overlaid on the monitor screen
May be displayed on an adjacent computer screen or the like. Ma
In combination with the first and second embodiments,
And it is possible. [0059] As described above, according to the structure of the present invention,
The robot's working environment and the robot's own shape data.
Data such as nearby objects using the data
By displaying an overlay on the image,
The lack of information such as loss of three-dimensional feeling
To improve workability in remote operation of robots
be able to.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the configuration of a first embodiment of a remote control device for a robot according to the present invention. FIG. 2 is a block diagram showing the configuration of a second embodiment of the robot remote control device according to the present invention. FIG. 3 is a block diagram showing the configuration of a third embodiment of the robot remote control device according to the present invention. [Description of Signs] 1 robot 2 imaging means 3 monitor 4 joint angle input unit 5 environment model unit 6 interference determination unit 7 overlay display unit 8 robot 9 imaging unit 10 monitor 11 joint angle angular velocity input unit 12 robot future position prediction unit 13 environment Model unit 14 Interference determination unit 15 Overlay display unit 16 Robot 17 Imaging means 18 Monitor 19 Pointing device 20 Pointing object calculation unit 21 Joint angle input unit 22 Environment model unit 23 Robot relative position calculation unit 24 Relative position ohaless unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19 / 02-19/06 G05D 3/12

Claims (1)

(57) [Claim 1] In a robot remote control device for remotely controlling a robot located at a remote place, a photographing means for photographing the work environment of the robot, the work environment of the robot and the robot itself An environment model unit having shape data of the robot, a joint angle input unit that inputs the current joint angle of the robot as a signal value of the joint angle sensor, and a joint angle of the robot that determines whether there is an object within a certain distance from the robot. An interference determination unit that determines from the shape data, and an overlay display unit that calculates an image of the object by a computer from the shape data and the position and orientation of the imaging unit when an object is within a certain distance from the robot. And a monitor capable of overlay-displaying a real image photographed by the photographing means and an image of the overlay display unit. Remote control apparatus for a robot, characterized in that it comprises a.