JPH06138938A - Robot remote controller - Google Patents

Abstract

PURPOSE:To secure the actual feeling of an operator and to attain the manual operations of the operator by fetching the sensor information into a computer in response to the movements of the feet of the operator and controlling the movement of a remote robot based on the sensor information. CONSTITUTION:An operator refers to a display 4 where the images received through a camera 7 of a robot 6 are displayed and decides the movements and the peripheral conditions of the robot 6. When a forward movement of the robot 6 is desired, for example, the operator walks or runs on a measurement stage 3 so that the stage 3 is revolved at the back side of the operator. In the same way, the stage 3 is revolved at the left back side of the operator when the robot 6 is moved to the front left side. A robot remote control part 2 detects the rotational frequency of the stage 3 and processes the detected rotational frequency data to send these data to a computer 5. The computer 5 produces a robot control signal based on the processed data and controls the movement of the robot 6. Thus the operator can directly and easily operate the robot 6 and also can freely use his hands for other jobs.

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 a robot.

[0002]

2. Description of the Related Art FIG. 4 shows an example of a conventional robot remote control device, in which a mobile robot 6 is moved by a manual operation of a lever or a switch 10 which is held by the operator.
That is, the operation signal of the lever or switch 10 is sent to the computer 5, and the computer 5 produces a control signal of the robot 6 based on this operation signal and outputs it to the robot 6.

[0003]

However, in the conventional method, since the lever or the switch 10 is used to control the movement of the robot 6 arranged remotely, the movement operation is indirectly operated. Alternatively, the movement of the switch 10 and the movement of the robot 6 are not integrated, and the movement of the robot cannot be actually felt. Further, since levers and switches are used, it is difficult to use hands for other work during operation.

In view of the above-mentioned drawbacks, an object of the present invention is to provide a robot remote control device that makes the operator feel and can perform manual work.

[0005]

Means for Solving the Problems The present invention that achieves the above-mentioned object is to detect the movement of the operator, to process the movement data detected by this means, and to process the data by this means. It is characterized by further comprising a computer for producing a robot control signal and means for displaying to the operator the state of the robot controlled by the computer.

[0006]

[Function] The sensor information corresponding to the movement of the operator's leg is taken into the computer, and based on this information, the robot arranged at the remote location is moved, so that the movement of the robot can be changed by the operator. It is accompanied by a real feeling, and the operator does not use his hands either.

[0007]

EXAMPLES Examples of the present invention will now be described with reference to FIGS. In FIGS. 1 and 2, the operator is placed on the measuring table 3 when operating the robot. The measuring table 3 is a rotatable sphere, and most of the parts other than the places where the operator rides are remote robots. It is built in the operation unit 2. The robot remote control unit 2 is provided with a rotation amount detection sensor 8 in contact with the front and side of the measuring table 3, and the sensor 8 sends the front and side rotation amounts to the detection data processing unit 9. I have to. As a result, the detection data processing unit 9 obtains the amount of movement of the operator, which is the amount of rotation of the sphere in each of the front and side directions.

The output of the detection data processing unit 9 is input to the computer 5 and converted into the control amount of the robot 6,
Control the movement of. A camera 7 is mounted on the robot 6, and the situation around the robot 6 is displayed on the display 4.

In such a structure, the operator judges the moving operation of the robot 6 while looking at the display 4 displaying the image transmitted from the camera 7 mounted on the robot 6. As a result of the judgment, when performing the forward movement, the operator walks or runs on the measuring table 3 and rotates the measuring table 3 rearward of the operator. Similarly,
Also when moving backward, front left, front right, rear left, rear right, the measuring table 3 is rotated forward, rear right, rear left, front right, front left, respectively. The rotation amount of the measuring table 3 is detected by the robot remote control unit 2, and the data of the rotation amount is transmitted to the computer 5 to control the movement of the robot.

The operation flow will be described with reference to FIG. The operator 1 has a camera 7 mounted on the robot 6.
The situation around the robot 6 is judged by looking at the image transmitted from the display 4. As a result of judgment,
When performing the movement control of the robot 6, the operator 1 rotates the measuring table 3. The rotation amount of the measuring table 3 is detected by the rotation amount detection sensor 8, and the detection data processing unit 9 processes the detection data and transmits the detection data to the computer 5. On computer 5,
The robot movement is controlled based on the detected data.

[0011]

As described above, according to the present invention, since the movement control of the robot is performed by the movement of the operator, the operation can be directly felt and facilitated. Further, since the operator operates the legs, the hands are free, and another work can be performed during the operation.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment.

FIG. 2 is a block diagram of an example of a robot remote control unit.

FIG. 3 is a flowchart of control operation.

FIG. 4 is a configuration diagram of a conventional example.

[Explanation of symbols]

 2 Robot remote control device 3 Measuring stand 4 Display 5 Computer 6 Robot 7 Camera 8 Rotation amount detection sensor 9 Detection data processing unit

Claims (1)

[Claims] 1. A means for detecting a movement motion of an operator, a means for processing movement data detected by this means, a computer for producing a robot control signal from the processing data by this means, and a control by this computer. And a means for displaying the state of the robot to the operator.