JPH06134687A - Remote control device of mobile robot - Google Patents

Abstract

PURPOSE:To provide a remote control device of a mobile robot miniaturized and excellent in operativity with vividness. CONSTITUTION:This remote control device has a movable part 122 mounted with a TV camera 19 and a sound collection microphone 120, and by supplying various data such as picture images and sound delivered from the movable part 122 to an operator part and others to an operator, it gives a sense of vividness as if the operator is present at a robot part to the operator. Additionally, by generating and accumulating scenes of an operator's seat (handle, gear change lever, brake, accelerator and others) of a mobile body 124 on a spectacle display 11 by an computer and operating them by movement of hands and feet, the mobile body 124 is made drivable and movement of the hands and movement of a manipulator 121 of the robot part are interlocked by changeover of modes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for operating a mobile robot while staying in a remote place.

[0002]

2. Description of the Related Art An example of a remote control device for a mobile robot is shown in FIG. In the conventional technology, the robot unit has an operator unit operated by an operator and a mobile robot unit operated by the operator, and an image by a TV camera 27 provided in the robot unit, a sound by a sound collecting microphone 28, and a manipulator 2 are provided.
9, various data based on the movable part 230, the moving body 232, etc. are sent to the operator part by the transmitter / receiver 231, and the operator part provides such image, sound and various data to the operator through the display 21, the speaker 22 and the display panel 23. To be done. Then, the operator controls the robot unit via the transceiver 25 by operating the lever, trackball, switch, etc. on the console 24 based on the information from the robot unit.

[0003]

However, the conventional device shown in FIG. 2 has the following problems. The operator unit includes a display 21, a speaker 22,
The display panel 23 and the console 24 are individually provided,
It will be a large-scale device. The information sent from the robot unit has no sense of reality, and thus causes a difference from the situation in the robot unit, and thus requires skill in processing the information. The operation of the console 24 that leads to the operation of the robot runs counter to the natural movement of the operator, resulting in poor operability.

In view of the above problems, the present invention provides a natural operation by miniaturizing the operator part, providing information from the robot part to the operator in a realistic manner, and linking the robot part with the movement of the operator. It is an object of the present invention to provide a remote control device for a mobile robot that enables the above.

[0005]

The present invention which achieves the above object comprises an operator section operable by an operator and a robot section which directly works in accordance with the operation of the operator. And glasses for providing the operator with sound and displaying the operation unit and headphones, the operator's hand,
An operator unit equipped with a sensor for detecting movements and positions of fingers, head, and feet, and a data transmitter / receiver for exchanging information with the robot unit, a TV camera for visual and auditory sense, and a sound collecting microphone are mounted. The moving part that is linked to the movement of the head of the manipulator, the manipulator that is linked to the movement of the operator's hand,
It is characterized by comprising a moving body having the movable part and the manipulator mounted thereon, and a robot part having a data transmitter / receiver for exchanging information with the operator part.

[0006]

The operator part is equipped with a spectacles-type display, headphones, and a sensor for detecting the movement and position of the operator's body, so that the device can be attached to the body and eventually downsized, and can be linked to the movement of the operator's head. A moving part that moves by moving and a TV camera and a sound collection microphone are mounted on this moving part, and various data such as images, sounds, and other data sent from the moving part to the operator part are transmitted to the operator through a spectacle-shaped display and headphones. You can get the feeling that you are in the robot, and you can naturally judge and process the situation.
In addition, the driver's seat scene (handwheel, gear change lever, brake, accelerator, etc.) of the spectacle-shaped display moving body is generated by a computer, and it is made possible to operate the moving body by manipulating them and operating them with the movement of hands and feet. By switching modes, the movement of the hand and the movement of the robot manipulator can be linked, and the operator can perform natural operations.

[0007]

EXAMPLE An example of the present invention will now be described with reference to FIG. FIG. 1 illustrates a remote-controlled robot having a telegression similar to the conventional one shown in FIG. Here, the tele-gistance is a concept of remote control, and is a concept aiming at existence of a human being freed from the conventional space-time constraint and existing in a virtual environment that separates both time and space.

The robot part is a moving body 124 having a movable part 122 having a TV camera 19 and a sound collecting microphone 120 and a manipulator 121, and the moving body 1.
It has a transceiver 123 movable at 24. On the other hand, the operator section includes headphones 12 worn by the operator,
Eyeglass-shaped display 11 and sensors 13, 14, 15
The image generation signal processing unit 17 and the transceiver 16 are included.

Here, the eyeglass-shaped display 11 worn by the operator is the TV camera 19 of the robot section.
The image generation signal processing unit 17 processes the data of the sensors 13, 14 and 15 and also displays the operation parts such as the steering wheel, gear change lever, brake and accelerator as the scene of the cockpit. Also, the movement of the operator's hand and the manipulator can be linked by mode switching. Headphones worn by the operator are the acoustic output of the sound collecting microphone 120.

In FIG. 1, reference numeral 13 is a sensor for detecting the movement of the head, which corresponds to the movement of the movable portion 122 of the robot portion, and 14 is a hand or finger sensor for operating the display on the pilot seat. Corresponding to the movement of the manipulator 121 of the robot section by mode switching, 1
Reference numeral 5 denotes a foot sensor which is related to the operation of manipulating the display.

Here, the functional operation will be described collectively. The image and sound data from the TV camera 19 and the sound collecting microphone 120 mounted on the movable unit 122 of the robot unit are combined with other various sensor information (moving body speed, remaining fuel amount, etc.), and the operator by the robot unit transceiver 123. Sent to the department. In the operator section, the operator section transceiver 16 receives this and outputs the image to the spectacle-shaped display 11 and the sound to the headphones 12, respectively, and processes other sensor data in the image generation & signal processing section 17 to make a scene of the cockpit. As handle, gear change lever,
It is displayed on the spectacle-shaped display 11 together with the operation parts such as the brake and the accelerator. The operator operates the virtual operation site in the scene displayed on the spectacle-shaped display 11 with his / her hands and feet as if he / she were present at the moving body 124, so that the movement / position of the hands and feet can be changed. The sensor 14 for detecting the movement / position and the sensor 15 for detecting the movement / position of the foot, which are detected and exchanged for the control amount of the robot portion by the image generation & signal processing portion 17, are transferred to the operator transceiver 16 and the robot transceiver 123.
It acts on the moving body via.

The movable part 122 of the robot part is a sensor 13 for detecting the movement of the head mounted on the operator's head.
Output signal (transmitted by the operator transceiver 16 and received by the robot transceiver 123). The work by the manipulator 121 of the robot part is
The movement of the operator's hand (the sensor 1 for detecting the movement / position of the hand by switching the mode with the operation unit in the scene displayed on the eyeglass-shaped display 11 of the operator unit)
4 is detected by the image generation & signal processing unit 17 and converted into a control amount of the manipulator 121, and is linked to the manipulator 121 via the operator unit transceiver 16 and the robot unit transceiver 123).

[0013]

As described above, according to the present invention, the following unique effects can be obtained. The display panel and console are not required, and the operator and the speaker are miniaturized (portable) because the display and speaker are of the operator-installed type. The operation is easy because the situation in which an operator is present in a moving body to operate the vehicle is simulated. Workability is improved because the manipulator moves in conjunction with the movement of the operator's hand.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is a configuration diagram of a conventional example.

[Explanation of symbols]

 11 Glasses Display (= HMD) 12 Headphones 13 Sensor for Detecting Head Movement 14 Sensor for Detecting Hand Movement / Position 15 Sensor for Detecting Foot Movement / Position 16 Operator Transceiver 17 Image Generation & Signal Processor 19 TV camera 120 Sound collecting microphone 121 Manipulator 122 Moving part 123 Robot part Transceiver 124 Moving body

Claims (1)

[Claims] 1. A spectacle which comprises an operator unit operable by an operator and a robot unit which directly works in accordance with the operation of the operator, which provides an image and sound sent from the robot unit to the operator and displays the operation unit. -Shaped display and headphones, an operator unit equipped with a sensor for detecting movements and positions of the operator's hands, fingers, head, and feet, and a data transceiver for exchanging information with the robot unit, and a TV camera for visual and auditory sense , Equipped with a sound collection microphone,
A robot unit including a movable part that is interlocked with the movement of the operator's head, a manipulator that is interlocked with the movement of the operator's hand, a moving body equipped with the movable part and the manipulator, and a data transceiver for exchanging information with the operator part. A remote control device for a mobile robot, comprising: