JPH05265638A - Operating type moving body control system - Google Patents

Abstract

PURPOSE:To provide a operating type moving body control system capable of efficiently executing a team work between remote places. CONSTITUTION:Device 10 to be used as operator, moving body, or machine capable of executing independent operation is arranged at respectively separated position and connected through a communication line. A potentiometer 11 for detecting coordinate positions, ultrasonic oscillator 20 and ultrasonic sensors 21 are fixed to respective operating spindles of the device 10. A grip part 12 is fixed to the head operating spindle and a non-lock type pushbutton switch 13 is arranged adjacently to the grip part 12. In the case of operating the device 10 as an operator, the operator moves the device 10 while depressing the switch 13 with his thumb simultaneously with the gripping of the grip part 12. In the case of operating the device 10 as a moving body, the grip part 12 and the switch 13 are not touched. In the case of operating the device 10 as an independent body, only the grip part 12 is gripped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention sends an instructed coordinate value from an operating unit to a controlled-side moving body according to an operation by an operator, and performs an operation in accordance with the instructed coordinate value to the controlled-side moving body. The present invention relates to a maneuvering type moving body control system to be performed by a computer.

[0002]

2. Description of the Related Art A technique is known in which an operating unit and a moving body are installed between points separated from each other, and the operating unit is operated to control the moving body in a space where the moving body is installed. Is.

Further, in such a device, an operating device,
A so-called bidirectional control device and a bidirectional control method in which any of the moving bodies can be either a moving body or an operating device are also known. However, in such a bidirectional control method, one of them is always an operating device and the other is a moving body.

[0004]

For this reason, as a scene in which this type of device is used, assuming a case where cooperative work is performed between remote places, it is on one side (A side). A point where the operator operates the operation device on the A side to control the other moving body (referred to as the B side), and the shape of the object on the B side seen from the front is captured by the camera mounted on the moving body. When you move the camera to the left side and display the image of the camera on the TV monitors on both sides of A and B and consult about the shape etc., the idea sketch and the arrival point of the discussion on the blackboard installed on the A side as the discussion progresses.・ Fill in future issues,
It is assumed that the collaborative work proceeds while displaying the image of the object on the B side at the same time.

However, in the conventional control technique of this type, as described above, one of the control devices is always operated so that the other is the moving body, so that the A side is the control device. In this state, after controlling the moving body on the B side to move it to a predetermined point, move the operating device on the A side to capture the blackboard on the A side with the camera mounted on the operating device on the A side. The moving body on the B side also moves, and as described above, there is a drawback in that the shapes of the blackboard on the A side and the object on the B side cannot be displayed on the TV monitor at the same time, and cooperative work cannot be performed. ..

It is an object of the present invention to provide a manipulator type moving body control system capable of efficiently performing various cooperative work between remote places.

[0007]

In order to achieve the above-mentioned object, the control type moving body control system of the present invention sends a designated coordinate value to a controlled side according to an operation of an operator, and the designated coordinate value is sent to the controlled side. Has a function as an operating device for causing the controlled side to perform an operation according to the above, and a function as a moving body as the controlled side operated by the operating device, and when one of them operates as an operating device, It includes two devices, each installed at spaced apart points, the other acting as a moving body and both acting as independent machines operated by an operator.

[0008]

Therefore, according to the present invention, as compared with the conventional system in which the device is always controlled to be an operating unit or a moving body, a method of controlling the moving body which is easier to use in various cooperative work between remote places is realized. can do.

According to a second aspect of the present invention, the manipulator-type moving body control system limits the movement region as a moving body to the extent that the device does not collide with humans, fixtures, etc. when there are humans, fixtures, etc. around the device. Then, the device is operated as a moving body.

Further, the manipulator-type moving body control system according to a third aspect of the present invention, when humans, fixtures, etc. are present around the apparatus, keep the apparatus independent as long as they are not out of the movement area of the apparatus. To continue.

[0011]

Embodiments of the present invention will now be described with reference to the drawings.

FIG. 1 is a diagram showing the concept of a situation in which devices such as an operating device, a moving body, and a machine that operates independently are arranged when cooperative work is performed between remote places, and FIG. FIG. 1 is a diagram showing an example of the configuration of a device 10 that is a machine that operates independently of an operating device and a moving body in FIG. 1, and FIG. 3 shows that the device 10 shown in FIG. 2 is an operating device or a moving body or an independent device. It is a figure which shows an example of the flow which controls which state of the machine which performs the said operation | movement.

In the following description, the devices 10 in three kinds of operating states will be referred to as an operating unit, a moving body and an independent body, respectively, and the operating states will be referred to as operating unit state (M state),
These are called a moving body state (S state) and an independent body state (I state). It is to be noted that in order to move the device 10 as described above, a driving unit having a complicated configuration using a motor, hydraulic pressure, pneumatic pressure, etc. is required, but a detailed description of the configuration is not necessary for the description, and therefore is simply described. ..

A device 10 and a television monitor 27 are installed at points A and B, respectively, and both devices 10 are connected to each other by a communication line 29. A potentiometer 11 for detecting a coordinate position, an ultrasonic oscillator 20 for detecting a distance to a surrounding object, and an ultrasonic sensor 21 are attached to each operation axis of the device 10. A grip portion 12 having a built-in pressure sensitive sensor is provided on the operation shaft at the tip, and a non-lock type push button switch 13 is provided in the vicinity of the grip portion 12. The push button switch 13 is pressed when the device 10 is operated as an operating device. A small camera 18 and red and blue lamps 19 indicating the operating state of the device 10 are mounted near the tip of the device 10. Grip detection unit 14
Detects that the grip portion 12 has been gripped. The distance detection unit 22 detects the distance to the surrounding object from the output of the ultrasonic sensor 21. The operation state control unit 17 determines the operation state of the device 10 from the output of the grip detection unit 14 and the output of the distance detection unit 22. The designated coordinate detection unit 15 detects the designated coordinate from the output of the potentiometer 11, and the designated coordinate sending unit 16 sends the detected designated coordinate to the partner device 10. The designated coordinate receiving unit 24 receives the designated coordinates transmitted from the partner device 10, and the drive unit 23 drives each operation axis of the device 10 to the received designated coordinates. The video signal sending unit 25 is a small camera 18
The video signal imaged in (1) is sent to the partner device 10. The video signal receiving unit 26 receives the video signal transmitted from the partner device 10, and the television monitor 27 capable of multi-windowing.
Project the image on. The power supply unit 28 supplies necessary power to each unit of the device 10. Here, the ultrasonic oscillator 20, the ultrasonic sensor 21, the distance detection unit 22, and the operation state control unit 17
Part of which constitutes an obstacle detecting means, and the operation state control unit 17
A part of the above constitutes an operation state determining means.

When the device 10 as a moving body is present in the same space as a human at the same time, it is an essential condition that the device 10 does not harm the operator or humans around him. In particular, when the device 10 is both a moving body and an operating device as in the present embodiment, the operator needs to approach the device 10 operating as the operating device to operate the device 10. Therefore, when the device 10 is operating as a moving body, the device 10 does not harm the surroundings, and at the same time, the device 1
Care must be taken so that the device 10 does not cause harm to the surroundings when the 0 moves from a state in which it operates as an operating device or an independent machine to a state in which it operates as a moving body. In this embodiment, means for measuring the distance to the surrounding object by reflection of ultrasonic waves (ultrasonic oscillator 2
0 and the ultrasonic sensor 21) are mounted on the device 10 to prevent the device 10 from harming the operator or the people around him.

The operation of the apparatus 10 will be described below.

When operating the device 10 as an operating device, the operator moves the device 10 while holding the grip portion 12 and simultaneously pressing the push button switch 13 with the thumb. The surface of the grip portion 12 is covered with a rubber film, a pressure-sensitive sensor is installed therein, and the space inside the rubber film is filled with mechanical oil. Then, by monitoring the output voltage value of the pressure-sensitive sensor with the grip detection unit 14, it is possible to know whether or not the operator grips. The push button switch 13 is a switch that is pushed when it is desired to operate the apparatus 10 as an operating device, and the operating state control unit 17 can know the output of the grip detection unit 14 and the intention of the operator. In addition,
When the apparatus 10 is moved in this state, the designated coordinate detection unit 1
Reference numeral 5 reads the output value of the potentiometer 11 attached to each operation axis at regular time intervals (for example, 10 ms). Then, this designated coordinate value is sent to another device 10 (which is a moving body at this time) via the designated coordinate sending unit 16. When the device 10 is operating as an operating device, a blue lamp 19 indicating the operating condition of the device, which is attached near the tip of the device 10 under the control of the operating condition controller 17, is provided.
Lights up, indicating that the device 10 can control another device 10.

Next, when the device 10 is operated as a moving body, the grip portion 12 of the device 10 and the push button switch 1 are
You don't have to touch 3. In this case, the drive unit 23 moves each operation axis based on the drive information received by the designated coordinate receiving unit 24 that receives the drive information from the other device 10. When the device 10 is operating as a moving body, the red lamp 1 attached to the vicinity of the front end of the device 10 and indicating the operating state of the device is controlled by the operation state control unit 17.
9 lights up to warn the surroundings that it is dangerous to approach the device 10 carelessly.

Further, when the apparatus 10 is operated as an independent body, by grasping only the grasping section 12, the grasp detecting section 14 knows the operator's intention to operate the apparatus 10 as an independent body, and before that. The operating state of the device 10 is stopped. Specifically, when the device 10 was operating as an operating device before that, the transmission of a new designated coordinate value from the designated coordinate transmission unit 16 is stopped. Further, when the device 10 is operating as a moving body before that, the drive unit 23 stops the new drive operation regardless of the drive information received by the designated coordinate receiving unit 24.

Next, the transition between these three operating states will be described with reference to FIG.

The device 10 is a stand-alone body in a power-on state. Then, a dial oscillating unit (not shown in FIG. 2) attached to the device 10 is used to call the device 10 of the other party who performs the collaborative work, and when the other party responds, communication between the two devices 10 is established. Become. When the operator approaches the device 10, ultrasonic waves from the ultrasonic oscillator 20 attached to each operation axis of the device 10 are reflected by the operator's body,
The distance is detected by the distance detecting unit 22 via the ultrasonic sensor 21 provided close to each ultrasonic oscillator 20. Then, the operator presses the push button switch 13 with the thumb at the same time as holding the grip portion 12 first, and the other becomes the moving body.

As long as the operator who has become the operating device does not release his hand from the grip portion 12 and the push button switch 13, the operating device state continues. When the operator releases both the grip portion 12 and the push button switch 13, the ultrasonic oscillator 20, the ultrasonic sensor 21, and the distance detection unit 22 notify the operator when the body of the operator moves the apparatus 10. While in the potentially harmful surroundings, transition to the Independent state. At this time, the operator on the other side receives the grip portion 12 of the device 10 on the other side.
When the operator pushes the push button switch 13 while holding the button, when the operator's body moves away to a safe range, the operator becomes a moving body and at the same time, the partner device 10 becomes an operating device. At this time, if the operator on the other side does not press the push button switch 13 of the device 10 on the other side, the independent state is maintained even if the operator's body is separated to a safe range. Even if the device 10 is in a moving body state, the ultrasonic wave provided to the device 10 is prevented so as to prevent the device 10 from being harmed due to the device 10 coming into contact with an operator, human beings, furniture and the like. When the oscillator 20, the ultrasonic sensor 21, and the distance detection unit 22 detect that people, furniture and the like in the vicinity approach the device 10, the device 10 automatically shifts to an independent state and moves on the spot. Control to stop.

Also, when the device 10 shifts from the independent body state or the manipulator state to the moving body state, the ultrasonic oscillator 20, the ultrasonic sensor 21, and the distance detecting unit 22 are used.
While keeping a distance from the surrounding humans and furniture and the like, control is performed such that after moving to the coordinate value instructed by the device 10 on the partner side in the operation device state, the state moves to the moving body state.

In any of the three operations of the apparatus 10, even if the operator releases his or her hand, the drive unit 23 keeps the same value as indicated by the potentiometers 11 attached to the respective operation axes of the apparatus 10. Maintain posture.

Device 1 for performing control operation as described above
By using 0, operators at mutually distant points shoot objects on the other side of each other from a free viewpoint with the small camera 18 attached to the tip of the apparatus 10,
The image can be displayed on the television monitor 27 capable of multi-window display via the video signal sending unit 25 on the partner side and the video signal receiving unit 26 on the own side. Furthermore, while maintaining the posture of the device 10 on the other side, move the device 10 on the own side,
A small camera 18 attached to the tip of the device captures an image of a necessary location in the space of the device 10 on the own side, displays the image on the multi-window of the TV monitor 27 together with the image from the device 10 on the other side, and displays the remote area. The cooperative work between them can be efficiently performed.

In the above description, the basics of the master-slave operation in the control-type moving body control system are well known, and therefore the description of the means for realizing the same is omitted.

As described above, by performing the control operation as shown in FIGS. 2 and 3, in comparison with the conventional control method of always controlling the actuator or the moving body, in various cooperative work between remote places, It is possible to realize a method of controlling a moving body that is easier to use and at the same time does not cause harm to humans and fixtures in the vicinity.

The present invention is not limited to the above embodiment. For example, in the embodiment shown in FIGS. 1 to 3,
I have described an example of installing a small camera at the tip as a device,
For example, it can be applied to a device for moving an object in a remote place using an electric hand or the like. Further, in the embodiments shown in FIGS. 1 to 3, the example in which the device itself operates as an operating unit, a moving body, and an independent body has been described, but the operating unit itself is provided separately, and the device itself follows the instruction from the operating unit. A method of performing an operation is also possible. Further, in the embodiment shown in FIG. 1 to FIG. 3, when there are humans and fixtures around the device 10, they are kept in the independent state while they are out of the movement range of the device 10. Provided with a movement range limiting means,
When a person or furniture is present around the apparatus 10, the apparatus 10 shifts to a moving body state, but the range of motion as a moving body can be restricted so as not to collide with surrounding people or furniture. Such an operation may be desirable depending on the application.

Besides, the present invention can be variously modified and implemented without departing from the scope of the present invention.

[0030]

As described above, the present invention has the following effects. (1) According to the invention of claim 1, the device has a function as an operating unit and a function as a moving body, and further performs an operation as a machine operated by an operator, so that various cooperations between remote places are possible. Work can be done efficiently. (2) The invention according to claims 2 and 3 is provided with an obstacle detecting means, and limits the movement range as a moving body or determines the device state according to the output of the obstacle detecting means, so that the device can be used by a person or furniture. There is no danger of harm.

[Brief description of drawings]

FIG. 1 is a diagram showing a concept of a situation in which devices such as an operating device, a moving body, and a machine that operates independently are arranged when a cooperative work is performed between remote places.

FIG. 2 is a diagram showing an example of a configuration of a device 10 of FIG. 1 which is a machine that operates independently of an operating device and a moving body.

3 is a diagram showing an example of a flow for controlling whether the device 10 shown in FIG. 2 is in a state of an operating device, a moving body, or an independently operating machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Device 11 Potentiometer 12 Gripping part 13 Push button switch 14 Gripping detection part 15 Pointed coordinate detection part 16 Pointed coordinate sending part 17 Operating state control part 18 Small camera 19 Lamp 20 Ultrasonic oscillator 21 Ultrasonic sensor 22 Distance detection part 23 Driving part 24 designated coordinate receiving unit 25 video signal transmitting unit 26 video signal receiving unit 27 television monitor 28 power supply unit 29 communication line

Claims (3)

[Claims] 1. A function as an operating device which sends an indicated coordinate value to a controlled side according to an operation of an operator and causes the controlled side to perform an operation according to the designated coordinate value, and an operation by the operating device And a function as a moving body as the controlled side, when one operates as an operating device, the other operates as a moving body, and both act as independent machines operated by an operator. The maneuverable moving body control system including two devices, which are installed at separate points, respectively. 2. Each of the devices, obstacle detection means for detecting whether there is an obstacle within the range of motion of the device as a moving body, and when the device is about to operate as a moving body, or 2. The maneuvering type according to claim 1, further comprising motion range limiting means for limiting the range of motion to a range in which the device does not collide with the obstacle when the obstacle is detected by the obstacle detecting means during operation. Motion control system. 3. Each of the devices includes an obstacle detection unit that detects whether or not there is an obstacle within a range of motion as a moving body of the device, and the device according to the output of the obstacle detection unit. 2. The maneuverable moving body control system according to claim 1, further comprising operation state determining means for determining whether to operate as an operating unit, a moving body, or an independent machine.