JP7230626B2 - robot equipment - Google Patents

Description

The present invention relates to a robotic device.

As a robot device, for example, the device described in Patent Document 1 is known. In this robot apparatus, the operator can operate the robot while checking the image captured by the camera on the monitor.

Patent No. 4558682

In such a robot apparatus, the imaging direction (orientation) of the camera is changed so that the robot's work location is imaged. In this case, when the operator operates the robot while viewing the captured image of the camera displayed on the monitor, it may be necessary to consider the degree of inclination of the imaging direction of the camera when moving the robot. However, it is difficult for the operator to easily grasp the degree of tilt of the camera just by looking at the displayed image on the monitor, and the operator may not be able to perform the intended operation of the robot. Thus, there is a demand for a device that allows an operator to easily operate a robot even when the imaging direction of the camera changes.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a robot apparatus that allows an operator to easily operate the robot.

A robot apparatus according to one aspect of the present invention includes a robot having joints, a camera capable of changing an imaging direction and imaging a work location by the robot, and acquiring a camera tilt angle that is the tilt angle of the imaging direction of the camera. A tilt angle acquisition unit, a monitor that displays an image captured by the camera, and a monitor control unit that controls the monitor tilt angle, which is the tilt angle of the direction in which the monitor screen faces, according to the acquired camera tilt angle. .

In this robot device, the tilt angle of the monitor is controlled according to the tilt angle of the camera. As a result, the operator can easily grasp the tilt degree of the camera based on the monitor tilt angle by viewing the monitor. Therefore, the operator can easily operate the robot while considering the degree of inclination of the camera that has been grasped.

In the robot device, the tilt angle acquiring unit acquires the camera tilt angle, which is the tilt angle of the imaging direction of the camera in the vertical direction, as the camera tilt angle, and the monitor control unit acquires the monitor screen in the vertical direction as the monitor tilt angle. A monitor tilt angle, which is the tilt angle in the direction in which the is facing, may be controlled. Here, for example, if the ground (floor surface) is included in the display image of the monitor, the operator will recognize that the gravity direction of the operator and the vertical direction of the ground in the display image match. Sometimes. In this case, the operator tends to operate the robot based on the operator's own gravity direction without considering the degree of inclination of the camera, and may not be able to perform the intended operation. However, even in such a case, the monitor control section controls the monitor tilt angle, so that the operator can easily grasp the degree of inclination of the camera tilt angle. Then, the operator can easily operate the robot in the vertical direction in consideration of the degree of tilt of the camera tilt angle that has been grasped.

In the robot apparatus, the monitor control unit may control the vertical position of the monitor based on the acquired camera tilt angle. In this case, the operator can more easily grasp the inclination degree of the camera tilt angle, and can easily operate the robot.

The robot apparatus includes an operation input unit that is moved by the operator of the robot to operate the robot, a position detection unit that detects the position of the operation input unit that is moved by the operator, and an operation input unit that is detected by the position detection unit. and a robot controller that drives the robot based on the position of the . In this case, the robot device can drive the robot based on the movement of the operation input unit by the operator.

In the robot apparatus, the position detection unit may be attached to the monitor so as to be tiltable as the tilt angle of the screen of the monitor changes. For example, when the operator moves the operation input unit up and down, the sensor outputs different detection results if the monitor tilt angle (camera tilt angle) changes. That is, even if the operator performs the same operation, the detection result corresponding to the camera tilt angle is output. By driving the robot based on such a detection result, the robot is automatically driven in consideration of the camera tilt angle without the operator having to move the operation input unit in consideration of the camera tilt angle. Therefore, the operator can easily operate the robot without considering the tilt angle of the camera.

In the robot apparatus, the robot control section may correct the position of the operation input section detected by the position detection section based on the monitor tilt angle and drive the robot. In this case, even if the operator does not move the operation input unit in consideration of the camera tilt angle, the robot is automatically driven in consideration of the camera tilt angle. Therefore, the operator can easily operate the robot without considering the tilt angle of the camera.

The robot apparatus further includes a three-dimensional monitor for displaying a three-dimensional image to the operator of the robot, and the monitor control unit controls the three-dimensional image displayed by the three-dimensional monitor and the virtual image displayed by the three-dimensional monitor. A monitor that displays an image captured by the camera may be displayed in the three-dimensional space, and the monitor tilt angle of the monitor in the three-dimensional space may be controlled based on the camera tilt angle. In this case, the robot apparatus can make the operator recognize the degree of inclination of the camera from the inclination of the monitor displayed in the three-dimensional space. This allows the operator to easily operate the robot using the three-dimensional monitor.

The robot apparatus includes an operation input unit that is moved by an operator of the robot to operate the robot, a position detection unit that detects the position of the operation input unit moved by the robot, and an operation input unit that is detected by the position detection unit. a robot control unit that drives the robot based on the position of the robot, the robot control unit correcting the position of the operation input unit detected by the position detection unit based on the acquired camera tilt angle, You can drive the robot. In this case, even if the operator does not move the operation input unit in consideration of the camera tilt angle, the robot is automatically driven in consideration of the camera tilt angle. Therefore, the operator can easily operate the robot without considering the tilt angle of the camera.

According to one aspect of the present invention, an operator can easily operate a robot.

FIG. 1 is a schematic configuration diagram showing a manipulator and a camera of a manipulator device. FIG. 2 is a schematic configuration diagram showing an operation unit of the manipulator device. FIG. 3 is a block diagram showing the functional configuration of the manipulator device. FIG. 4 is a schematic diagram for explaining the tilt of the camera. FIG. 5 is a schematic diagram for explaining tilting and vertical movement of the monitor. FIGS. 6A and 6B are diagrams showing images captured by the camera. FIG. 7 is a schematic diagram showing how the operator operates the manipulator. FIG. 8 is a schematic diagram showing how the operator operates the manipulator. FIG. 9 is a schematic diagram showing the attachment position of the operation detection unit in the modified example. FIG. 10 is a schematic diagram showing how the operator operates the manipulator in the modified example. FIG. 11 is a schematic diagram showing a monitor in a virtual three-dimensional space presented using VR goggles in the modification.

An embodiment in which a robot apparatus according to the present invention is applied to a manipulator apparatus for controlling a manipulator will be described below with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

As shown in FIGS. 1 to 3, a manipulator device (robot device) 1 includes a robot unit 10 and an operation unit 20. FIG. This manipulator device 1 is used, for example, when performing work in a place inaccessible to humans by remote control. In the present embodiment, the manipulator device 1 performs various operations on the work object W (such as moving the position).

As shown in FIGS. 1 and 3, the robot unit 10 includes a manipulator (robot) 11, a camera unit 12, a robot-side control device 13, and a robot-side communication device . The manipulator 11, the camera unit 12, and the robot-side control device 13 are installed on a machine stand S provided near the work object W, as an example. However, the manipulator 11 and the like are not limited to being installed on the machine base S. For example, the manipulator 11 and the like may be mounted on a self-propelled unmanned vehicle.

The manipulator 11 has an arm portion 11a and a grip portion 11b. The arm portion 11a has at least one joint. For example, a six-axis manipulator having six joints may be used as the arm portion 11a. A base end portion of the manipulator 11 is attached to the base S. A grip portion 11 b is attached to the tip of the manipulator 11 . The gripping part 11b is configured by a mechanism for gripping the work object W. As shown in FIG. For example, the manipulator 11 grips the work object W with the grip part 11b and moves the work object W by moving the joints of the arm part 11a.

The camera unit 12 includes a camera 12a, a camera drive section 12b, and an inclination angle detection sensor 12c. In this embodiment, the camera unit 12 is attached to a camera support frame Sa provided on the machine base S. As shown in FIG. The camera 12 a can change the imaging direction, and images the work location by the manipulator 11 . In this embodiment, a stereo camera is used as the camera 12a. An image captured by the camera 12a may be a moving image or a still image. Image data captured by the camera 12 a is input to the robot-side control device 13 .

The camera drive unit 12b changes the orientation (imaging direction) of the camera 12a. Here, the camera drive unit 12b changes the pan angle and tilt angle of the camera 12a based on the camera control signal input from the robot-side control device 13. FIG. Various well-known mechanisms can be adopted as the mechanism of the camera driving section 12b for changing the orientation of the camera 12a.

The tilt angle detection sensor 12c detects a camera tilt angle, which is the tilt angle of the imaging direction of the camera 12a. In this embodiment, the tilt angle detection sensor 12c detects a camera tilt angle, which is the tilt angle of the imaging direction of the camera 12a in the vertical direction, as the camera tilt angle. Camera tilt angle data detected by the tilt angle detection sensor 12 c is input to the robot-side control device 13 .

The robot-side communication device 14 is communication equipment for communicating with the operation-side communication device 25 of the operation unit 20 . The robot-side communication device 14 may perform wireless communication with the operating-side communication device 25, or may perform wired communication. The robot-side communication device 14 transmits image data captured by the camera 12 a and camera tilt angle data detected by the tilt angle detection sensor 12 c to the operating-side communication device 25 . The robot-side communication device 14 also receives a manipulator control signal for operating the manipulator 11 and a camera control signal for operating the camera drive unit 12b from the operating-side communication device 25 .

The robot-side control device 13 is control equipment that executes each control in the manipulator 11 and the camera unit 12 . The robot-side control device 13 is, for example, a computer configured by hardware such as a CPU, ROM, and RAM, and software such as programs stored in the ROM. As shown in FIG. 3, the robot-side control device 13 functionally includes a manipulator control section (robot control section) 13a and a camera control section 13b.

The manipulator control section 13 a drives the manipulator 11 based on the position of the operation input section 22 detected by the operation detection section 23 of the operation unit 20 . Here, the manipulator control unit 13 a drives the manipulator 11 by outputting the manipulator control signal received by the robot-side communication device 14 to the manipulator 11 . As a result, the actuator provided in the manipulator 11 drives the arm portion 11a and the grip portion 11b in accordance with the manipulator control signal, thereby operating the manipulator 11 in accordance with the manipulator control signal.

The camera control section 13 b controls the operation of the camera unit 12 . The camera control unit 13b outputs the camera control signal received by the robot-side communication device 14 to the camera unit 12, thereby driving the camera driving unit 12b and the like. In this manner, the camera control unit 13b controls the imaging direction, zoom, etc. of the camera 12a based on the camera control signal.

As shown in FIGS. 2 and 3, the operation unit 20 includes a monitor unit 21, an operation input section 22, an operation detection section (position detection section) 23, an operation-side control device 24, and an operation-side communication device 25. there is

The monitor unit 21 includes a monitor 21a and a monitor driving section 21b. The monitor 21 a displays the image captured by the camera 12 a based on the image display signal input from the operating-side control device 24 . In this embodiment, the camera 12a displays a three-dimensional image so that the operator P of the manipulator device 1 can perceive the image stereoscopically. For example, the operator P may wear 3D glasses or the like for stereoscopically viewing the displayed image on the monitor 21a. Thereby, the operator P can grasp the three-dimensional positional relationship of each object in the work place of the manipulator device 1 .

The monitor driving section 21b supports the monitor 21a. The monitor drive unit 21b can change the monitor tilt angle, which is the tilt angle of the direction in which the screen of the monitor 21a faces, based on the monitor drive signal input from the operating-side control device 24 . Here, the monitor drive unit 21b changes the monitor tilt angle, which is the tilt angle of the direction in which the screen of the monitor 21a faces in the vertical direction, as the monitor tilt angle. Note that the monitor drive signal is generated based on camera tilt angle data, as will be described later in detail. In addition to the monitor tilt angle, the monitor drive unit 21b can change the vertical position of the monitor 21a based on the monitor drive signal input from the operating-side control device 24. FIG.

In this embodiment, as shown in FIG. 2, the monitor drive unit 21b moves vertically in an arc around the operator P's head while the screen of the monitor 21a faces the operator P's head. The monitor tilt angle of the monitor 21a is changed and the monitor 21a is moved up and down so that it does. As the mechanism for changing the monitor tilt angle of the monitor 21a and the mechanism for moving the monitor 21a up and down, various well-known mechanisms can be employed.

The operation input unit 22 is an operation device operated by the operator P to operate the manipulator 11 . Here, the operation input unit 22 is moved by the operator P to operate the manipulator 11 . For example, when the operator P desires to move the arm portion 11a to move the position of the grip portion 11b, the operator P grips the operation input portion 22 and moves the operation input portion 22 .

In addition, the operation input unit 22 is used for the input operation of the operator P performed to operate the grip portion 11b, and the operator P performed to operate the camera unit 12 (operation of the imaging direction of the camera 12a, zoom operation, etc.). It accepts various input operations such as the input operation of When receiving these input operations, the operation input unit 22 generates input operation signals based on the received input operations. The operation input unit 22 transmits the generated input operation signal to the operation detection unit 23 . For example, the operation input unit 22 transmits input operation signals to the operation detection unit 23 in a non-contact manner using infrared rays or the like.

The operation detection unit 23 detects an operation performed by the operator P on the operation input unit 22 . Here, the operation detection unit 23 detects the position of the operation input unit 22 moved by the operator P in a non-contact manner. The operation detection unit 23 detects the position of the operation input unit 22 within the three-dimensional sensor coordinate system. For example, the operation detection unit 23 may detect the position of the operation input unit 22 within the sensor coordinate system in a non-contact manner using infrared rays or the like. The operation detection unit 23 can detect the position of the operation input unit 22 in a non-contact manner using various well-known methods. The operation detection unit 23 is fixed, for example, to a table or the like on which the monitor unit 21 is installed.

Note that the operation detection unit 23 is not limited to detecting the position of the operation input unit 22 in a non-contact manner. The operation detection unit 23 can detect the position of the operation input unit 22 by various methods other than non-contact detection. For example, the operation detection unit 23 may detect the position of the operation input unit 22 using a bilateral master-slave system or the like.

The operation detection unit 23 also receives the input operation signal transmitted from the operation input unit 22 in a non-contact manner. The operation detection unit 23 outputs the detected position data of the operation input unit 22 and the received input operation signal to the operation-side control device 24 . Note that the operation detection unit 23 is not limited to receiving the input operation signal transmitted from the operation input unit 22 in a non-contact manner.

The operating-side communication device 25 is a communication device for communicating with the robot-side communication device 14 of the robot unit 10 . The operating-side communication device 25 transmits to the robot-side communication device 14 a manipulator control signal for operating the manipulator 11 and a camera control signal for operating the camera driving section 12b. Further, the operating-side communication device 25 receives image data and camera tilt angle data transmitted from the robot-side communication device 14 .

The operation-side control device 24 is control equipment that executes each control in the operation unit 20 . A computer having the same configuration as the robot-side control device 13 is used as the operation-side control device 24 . As shown in FIG. 3, the operation-side control device 24 functionally includes a monitor control section 24a, an inclination angle acquisition section 24b, and an operation control section 24c.

The monitor control unit 24a controls an image displayed on the monitor 21a. Based on the image data received by the operating-side communication device 25, the monitor control unit 24a generates an image display signal for displaying an image on the monitor 21a. The monitor control section 24 a inputs the generated image display signal to the monitor unit 21 . As a result, the image captured by the camera 12a is displayed on the monitor 21a. When displaying a three-dimensional image on the monitor 21a, the monitor control unit 24a may generate an image display signal for displaying the three-dimensional image based on the image data and input it to the monitor 21a.

The monitor control unit 24a also drives the monitor drive unit 21b based on the camera tilt angle acquired by the tilt angle acquisition unit 24b, and controls the monitor tilt angle of the monitor 21a. Here, the monitor control unit 24a generates a monitor drive signal for controlling the monitor tilt angle according to the camera tilt angle acquired by the tilt angle acquisition unit 24b, and sends the generated monitor drive signal to the monitor drive unit 21b. Control the monitor tilt angle by outputting.

Further, the monitor control unit 24a drives the monitor drive unit 21b based on the camera tilt angle data acquired by the tilt angle acquisition unit 24b, and controls the vertical position of the monitor 21a. Here, the monitor control unit 24a generates a monitor drive signal for controlling the vertical position of the monitor 21a based on the camera tilt angle acquired by the tilt angle acquisition unit 24b, and outputs the generated monitor drive signal. The vertical position of the monitor 21a is controlled by outputting to the monitor drive unit 21b.

That is, the monitor drive signal includes a signal for controlling the monitor tilt angle and a signal for controlling the vertical position of the monitor 21a. Accordingly, the monitor control unit 24a uses the monitor drive signal to control the monitor tilt angle of the monitor 21a and the vertical position of the monitor 21a.

As shown in FIG. 2, the monitor control unit 24a moves the monitor 21a upward and downward in an arc around the operator P's head while the screen of the monitor 21a faces the operator P's head. A monitor drive signal is generated for changing the monitor tilt angle of the monitor 21a and for moving the monitor 21a vertically.

In this embodiment, the monitor control unit 24a controls the tilt angle (camera tilt angle) of the imaging direction of the camera 12a with respect to the horizontal direction, and the tilt angle (monitor tilt angle) of the direction in which the screen of the monitor 21a faces with respect to the horizontal direction. The monitor tilt angle is controlled based on the camera tilt angle so that the magnitude and the magnitude match each other. That is, the imaging direction of the camera 12a and the line perpendicular to the screen of the monitor 21a are parallel.

For example, the camera 12a faces horizontally, as shown by the solid line in FIG. In this case, based on the camera tilt angle, the monitor control unit 24a controls the screen of the monitor 21a to face the operator P's head and the monitor 21a to face the operator P's head, as shown by the solid line in FIG. A monitor drive signal is generated for positioning the height position of the monitor. In this case, as shown in FIG. 6A, the upper part of the work object W is displayed on the monitor 21a. Therefore, the operator P can easily grasp the tilt degree of the camera 12a (that the camera 12a faces the horizontal direction) based on the tilt of the monitor 21a and the image displayed on the monitor 21a.

Also, the camera 12a faces downward, for example, like the camera 12a indicated by the dashed line in FIG. In this case, based on the camera tilt angle, the monitor control unit 24a controls the screen of the monitor 21a to face the operator P's head and the monitor 21a to the operator P's head, as indicated by the dashed line in FIG. A monitor drive signal is generated for positioning the position below the height position of the . That is, the camera 12a faces obliquely downward, and the monitor 21a faces obliquely upward. In this case, as shown in FIG. 6B, the lower part of the work object W and the ground G are displayed on the monitor 21a. Therefore, the operator P can easily grasp the degree of inclination of the camera 12a (that the camera 12a faces obliquely downward) based on the inclination of the monitor 21a and the image displayed on the monitor 21a.

The tilt angle acquisition unit 24b acquires the camera tilt angle, which is the tilt angle of the imaging direction of the camera 12a. Here, the tilt angle acquisition unit 24b acquires the camera tilt angle data (camera tilt angle) received by the operating-side communication device 25 as the camera tilt angle.

In addition to acquiring the camera tilt angle detected by the tilt angle detection sensor 12c via the operating-side communication device 25, the tilt angle acquisition unit 24b also obtains the orientation of the camera 12a detected by the operation detection unit 23. A camera tilt angle may be acquired based on an input operation for operating. That is, instead of detecting the actual tilt of the camera 12a, the tilt angle acquisition unit 24b may acquire a signal for operating the camera 12a as the camera tilt angle. In this way, the tilt angle obtaining unit 24b can obtain the camera tilt angle by various methods.

The operation control unit 24c generates a manipulator control signal for operating the manipulator 11 based on the position data of the operation input unit 22 input from the operation detection unit 23 and the input operation signal for operating the gripping unit 11b. do.

Here, in the present embodiment, the manipulator device 1 controls the operation of the manipulator 11 based on the coordinate system of the camera 12a (hereinafter referred to as "camera coordinate system"). Accordingly, as shown in FIG. 7, the operator P can move the manipulator 11 (grasping portion 11b) vertically and horizontally based on the image displayed on the monitor 21a (image captured by the camera 12a). That is, when the operator P wants to move the grip portion 11b rightward as indicated by the arrow B1 shown in the monitor 21a in FIG. 7, the operator P moves the operation input portion 22 rightward as indicated by the arrow A1. Just do it.

Here, the sensor coordinate system and camera coordinate system will be described. For example, as shown in FIGS. 2, 7 and 8, the sensor coordinate system when the operation detection unit 23 detects the position of the operation input unit 22 is composed of the X1 axis, the Y1 axis and the Z1 axis. It has a dimensional Cartesian coordinate system. Specifically, for example, the Z1 axis is an axis along the vertical direction. The X1 axis is an axis along the left-right direction of the operator P when the operator P faces the monitor 21a in order to operate the manipulator 11 . The Y1-axis is an axis perpendicular to the X1-axis and the Z1-axis. Also, as shown in FIGS. 7 and 8, the camera coordinate system has a three-dimensional orthogonal coordinate system composed of X2-axis, Y2-axis and Z2-axis. Specifically, for example, the Y2 axis is the central axis of imaging by the camera 12a. The Z2 axis is perpendicular to the Y2 axis and extends vertically, for example, when the direction of the camera 12a is adjusted so that the Y2 axis is horizontal. The X2-axis is an axis orthogonal to the Y2-axis and Z2-axis.

The X1-axis, Y1-axis and Z1-axis in the sensor coordinate system respectively correspond to the X2-axis, Y2-axis and Z2-axis in the camera coordinate system.

In this embodiment, as shown in FIG. 7, for example, when the operator P moves the operation input unit 22 along the X1 axis, the operation control unit 24c moves the grasping unit 11b of the manipulator 11 along the X2 axis. Generate manipulator control signals to move. As shown in FIG. 8, the operation control unit 24c controls the grip portion 11b of the manipulator 11 to move along the Y2 axis when the operator P moves the operation input unit 22 along the Y1 axis. Generate manipulator control signals. As shown in FIG. 8, the operation control unit 24c controls the gripping unit 11b of the manipulator 11 to move along the Z2 axis when the operator P moves the operation input unit 22 along the Z1 axis. Generate manipulator control signals.

In this manner, the operation control unit 24c generates the manipulator control signal so that the manipulator 11 (the gripping unit 11b) moves with respect to the camera coordinate system.

Specifically, for example, as shown in FIG. 8, with the camera 12a facing obliquely downward, the operator P moves the operation input unit 22 in the vertical direction (Z1 axis) as indicated by an arrow A2. When moved downward, the grip portion 11b moves obliquely downward along the Z2 axis as indicated by an arrow B2.

For example, when the operator P wants to move the grip portion 11b downward in the vertical direction as indicated by an arrow B3 in FIG. 22 should be moved. Here, as described above, the monitor 21a is tilted according to the camera tilt angle. Therefore, the operator P can grasp the inclination (camera tilt angle) of the camera coordinate system. That is, the operator P can grasp the deviation between the camera coordinate system and the sensor coordinate system. Therefore, when the operator P moves the grip portion 11b downward in the vertical direction as indicated by the arrow B3, how much the operation input portion 22 should be moved diagonally downward (how far forward) should be moved) can be easily grasped.

Further, the operation control unit 24c operates the camera unit 12 (direction of the camera 12a, zoom operation, etc.) based on an input operation signal for operating the camera unit 12 input from the operation detection unit 23. Generate control signals.

The operation control unit 24 c outputs the generated manipulator control signal and camera signal to the operation-side communication device 25 . Thereby, the manipulator control signal and the camera signal are transmitted to the robot unit 10 via the operating-side communication device 25 .

As described above, in this manipulator device 1, the monitor tilt angle of the monitor 21a is controlled according to the camera tilt angle of the monitor 21a. Accordingly, the operator P can easily grasp the tilt degree of the camera 12a based on the monitor tilt angle by viewing the monitor 21a. Therefore, the operator can easily operate the manipulator 11 while considering the degree of inclination (camera tilt angle) of the camera 12a that has been grasped.

Here, for example, if the ground G (floor surface) is included in the display image of the monitor 21a, the operator P assumes that the operator's own gravity direction and the vertical direction of the ground G in the display image match. You may recognize it. In this case, the operator P may easily operate the manipulator 11 based on the operator's own gravitational direction without considering the degree of inclination of the camera 12a, and may not be able to perform the intended operation. That is, as shown in FIG. 8, for example, when moving the grip portion 11b downward as indicated by an arrow B3, the operator P may move the operation input portion 22 downward as indicated by an arrow A2. There is However, even in such a case, the monitor control unit 24a controls the monitor tilt angle, so that the operator P can easily grasp the inclination degree of the camera tilt angle. Then, the operator P can easily operate the manipulator 11 (the grip portion 11b) in the vertical direction in consideration of the degree of inclination of the camera tilt angle that has been grasped.

The monitor control unit 24a controls the vertical position of the monitor 21a in addition to the monitor tilt angle based on the camera tilt angle. Accordingly, the operator P can more easily grasp the inclination degree of the camera tilt angle by viewing the monitor 21a, and can easily operate the manipulator 11. FIG.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, the operation detection unit 23 may be fixed to the frame of the monitor 21a or the like, as shown in FIG. That is, the operation detection unit 23 may be attached to the monitor 21a so as to be tiltable as the tilt angle of the screen of the monitor 21a changes. In this case, the sensor coordinate system T of the operation detection unit 23 is also tilted according to the tilt of the monitor 21a. That is, as shown in FIG. 10, the inclination (tilt angle) of the camera coordinate system and the inclination (tilt angle) of the sensor coordinate system match. In this case, when the operator P wants to move the grip portion 11b downward as indicated by an arrow B4 in FIG. 10, the operation input portion 22 may be moved downward as indicated by an arrow A4. That is, the operator P can intuitively operate the manipulator 11 without considering the deviation between the camera coordinate system and the sensor coordinate system as in the above-described embodiment, making the operation of the manipulator 11 even easier. It can be carried out.

Moreover, even if the operation detection unit 23 is not attached to the monitor 21a as shown in FIG. 9, the manipulator device 1 can match the camera coordinate system and the sensor coordinate system. Specifically, for example, the operation detection unit 23 is fixed to a table or the like, as shown in FIG. In this case, the manipulator control unit 13 a corrects the position of the operation input unit 22 detected by the operation detection unit 23 based on the monitor tilt angle, and drives the manipulator 11 . That is, the manipulator control unit 13a drives the manipulator 11 by correcting the manipulator control signal so that the camera coordinate system and the sensor coordinate system match. Accordingly, the operator P can intuitively operate the manipulator 11 without considering the deviation between the camera coordinate system and the sensor coordinate system, and can operate the manipulator 11 more easily.

Note that the manipulator control unit 13a may acquire a signal when the monitor control unit 24a controls the monitor 21a as the monitor tilt angle. Further, as shown in FIG. 2, when the tilt angle detection sensor 26 for detecting the tilt angle of the monitor 21a is provided, the manipulator control unit 13a acquires the monitor tilt angle detected by the tilt angle detection sensor 26. You may Also, the monitor tilt angle is controlled according to the camera tilt angle. Therefore, the manipulator control unit 13a may acquire the camera tilt angle and calculate the monitor tilt angle based on the acquired camera tilt angle.

In place of the monitor unit 21, the manipulator device 1 includes VR (virtual reality) goggles (three-dimensional monitor) 30 for displaying a three-dimensional image to the operator P of the manipulator 11 as shown in FIG. may The VR goggles 30 are worn on the head of the operator P so as to be positioned in front of the operator P's eyes. In this case, the monitor control unit 24a controls the three-dimensional image displayed by the VR goggles 30 and displays the monitor 31 that displays the captured image of the camera 12a in the virtual three-dimensional space V displayed by the VR goggles 30. Let The monitor control unit 24a may display an operation menu or the like for operating the manipulator 11 in the virtual three-dimensional space V in addition to the monitor 31. FIG.

Similar to the monitor 21a in the embodiment, the monitor control unit 24a controls the monitor tilt angle of the monitor 31 in the virtual three-dimensional space V based on the camera tilt angle acquired by the tilt angle acquisition unit 24b, Control the orientation position. Note that FIG. 11 schematically shows a virtual three-dimensional space V presented in front of the operator P by the VR goggles 30 .

When the VR goggles 30 are used, the operation detection unit 23 is fixed to a table or the like, and tilting the operation detection unit 23 (tilting the sensor coordinate system) as in the modification described with reference to FIG. Can not. Therefore, the manipulator control unit 13 a may correct the position of the operation input unit 22 detected by the operation detection unit 23 based on the camera tilt angle and drive the manipulator 11 . That is, the manipulator control unit 13a may drive the manipulator 11 by correcting the manipulator control signal so that the camera coordinate system and the sensor coordinate system match. Accordingly, the operator P can intuitively operate the manipulator 11 without considering the deviation between the camera coordinate system and the sensor coordinate system, and can operate the manipulator 11 more easily.

In the above-described embodiment and modification, the tilt angle acquisition unit 24b acquires the horizontal tilt angle (camera pan angle) as the tilt angle of the imaging direction of the camera 12a. Then, the monitor control unit 24a may control the horizontal tilt angle (monitor pan angle) of the direction in which the screen of the monitor 21a faces according to the horizontal tilt angle of the camera 12a. Also, the monitor control unit 24a may control the monitor tilt angle and the monitor pan angle of the monitor 21a according to the camera tilt angle and the camera pan angle of the camera 12a. Even in these cases, the operator P can easily grasp the degree of tilt of the camera 12a based on the tilt angle of the monitor 21a. Therefore, the operator P can easily operate the manipulator 11 while considering the grasped degree of inclination of the camera 12a.

Also, it is not essential for the monitor control unit 24a to change the vertical position of the monitor 21a (monitor 31). The monitor control unit 24a may change only the orientation of the monitor 21a (monitor 31).

In addition, the robot apparatus according to the present invention is not limited to being applied to the manipulator apparatus 1 that remotely controls the manipulator 11 as a so-called robot arm. The robot apparatus can remotely control various robots having at least one or more joints (at least two or more axes).

1 Manipulator device (robot device)
11 manipulator (robot)
12a camera 13a manipulator control unit (robot control unit)
21a, 31 monitor 22 operation input unit 23 operation detection unit (position detection unit)
24a monitor control unit 24b tilt angle acquisition unit 30 VR goggles (three-dimensional monitor)
V virtual three-dimensional space

Claims (8)

a robot having joints;
a camera whose imaging direction can be changed and which images a work place by the robot;
a tilt angle acquisition unit that acquires a camera tilt angle that is the tilt angle of the imaging direction of the camera;
a monitor that displays an image captured by the camera;
a monitor control unit that controls a monitor tilt angle, which is a tilt angle in a direction in which the screen of the monitor faces, according to the acquired camera tilt angle;
The tilt angle acquisition unit acquires, as the camera tilt angle, a camera tilt angle that is a tilt angle of an imaging direction of the camera in a vertical direction,
The robot apparatus, wherein the monitor control unit controls, as the monitor tilt angle, a monitor tilt angle that is a tilt angle of a direction in which the screen of the monitor faces in a vertical direction. an operation input unit moved by an operator of the robot to operate the robot;
a position detection unit that detects the position of the operation input unit moved by the operator;
a robot control unit that drives the robot based on the position of the operation input unit detected by the position detection unit;
The robotic device of claim 1 , further comprising: 3. The robot apparatus according to claim 2 , wherein said position detection unit is attached to said monitor so as to be tiltable as the tilt angle of the screen of said monitor changes. 3. The robot apparatus according to claim 2 , wherein said robot control section corrects the position of said operation input section detected by said position detection section based on said monitor tilt angle, and drives said robot. a robot having joints;
a camera whose imaging direction can be changed and which images a work place by the robot;
a tilt angle acquisition unit that acquires a camera tilt angle that is the tilt angle of the imaging direction of the camera;
a monitor that displays an image captured by the camera;
a monitor control unit that controls a monitor tilt angle, which is a tilt angle of a direction in which a screen of the monitor faces, according to the obtained camera tilt angle;
a three-dimensional monitor that displays a three-dimensional image to an operator of the robot;
The monitor control unit controls the three-dimensional image displayed by the three-dimensional monitor and causes the monitor to display the captured image of the camera in a virtual three-dimensional space displayed by the three-dimensional monitor. 2. A robot apparatus for controlling said monitor tilt angle of said monitor in said three-dimensional space based on said camera tilt angle. an operation input unit moved by an operator of the robot to operate the robot;
a position detection unit that detects the position of the operation input unit moved by the robot;
a robot control unit that drives the robot based on the position of the operation input unit detected by the position detection unit;
further comprising
6. The robot apparatus according to claim 5, wherein the robot control section corrects the position of the operation input section detected by the position detection section based on the obtained camera tilt angle, and drives the robot. The tilt angle acquisition unit acquires, as the camera tilt angle, a camera tilt angle that is a tilt angle of an imaging direction of the camera in a vertical direction,
7. The robot apparatus according to claim 5 , wherein said monitor control unit controls, as said monitor tilt angle, a monitor tilt angle which is a tilt angle of a direction in which a screen of said monitor faces in a vertical direction. 8. The robot apparatus according to any one of claims 1 to 4 and 7, wherein the monitor control unit controls the vertical position of the monitor based on the obtained camera tilt angle.

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