JPH06155350A - Remote control robot device - Google Patents

Abstract

PURPOSE:To provide a remote control robot device capable of performing stable movements by the remote control by an operator and autonomous movements of a robot itself. CONSTITUTION:In a parallel arithmetic processing device 20, joystick information received by a transmitter unit 19 is received by a joystick information receiving means 24. Also distance data measured by an ultrasonic wave sensor 18 is taken in by a data take-in means 25. Based on the data taken in, an obstacle avoidance means 26 judges whether any obstacle is present or not, and a command execution means 27 receives data from the joystick information receiving means 24 or obstacle avoidance means 26 and gives a movement command based on the data to a wheel rotational speed and directional control device 5 and an alarm command to a speech synthesis unit 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control robot device.

[0002]

2. Description of the Related Art A conventional remote control robot apparatus has been designed to move only based on a control command from an operator who performs remote control. In addition, the control arithmetic processing means, which is the center of the remote control robot apparatus, receives the control command from the operator and then executes the processing operation based on the control command. Was there.

[0003]

In the conventional example in which the robot moves based only on the control command of the operator as described above, an erroneous control command is issued when the robot is moving in a place outside the operator's visual field. Therefore, there is a problem that the robot makes an unstable movement due to an erroneous control command.

Further, the processing flow of the arithmetic processing means for control is
For example, there is a problem in that processing is time-consuming and inefficient because it is sequential so that it is executed after receiving a movement command from the operator. The present invention has been made in view of the above problems, and an object of the present invention is to provide a movement command from an operator and a movement generated by the robot itself according to a surrounding situation of the robot itself. Another object of the present invention is to provide a remote control robot device that can perform stable movement by a remote control by an operator and autonomous movement of the robot itself in cooperation with a command.

The object of the invention described in claim 2 is that in addition to the object of the invention described in claim 1, the movement command receiving means, the movement instruction generating means and the instruction coordinating means constituting the arithmetic processing means for control are executed in parallel. It is an object of the present invention to provide a remote control robot device that can perform efficient processing. An object of the invention described in claim 3 is, in addition to the object of the invention described in claim 1 or 2, is to provide a remote control robot apparatus capable of detecting a movement command of an operator with a joystick having a simple structure.

An object of the invention of claim 4 is to provide a remote control robot apparatus capable of detecting only a movement command of a specific operator in addition to the object of the invention of claim 1 or 2. In addition to the object of the invention described in claim 1 or 2, the object of the invention described in claim 5 is to notify the detection result of the movement command detection means and the output result of the command cooperation means to the operator and the surroundings of the robot by voice. It is to provide a remote control robot device capable of performing the above.

[0007]

In order to achieve the above-mentioned object, the invention according to claim 1 is a moving command detecting means 1 for detecting a moving command inputted by an operator, and a moving command detecting means 1 for detecting the moving command. A movement command receiving means 2 for receiving a movement command, a robot surrounding condition data detecting device 3 for detecting a robot surrounding condition, and data from the robot surrounding condition data detecting device 3 are taken in and a movement command is generated based on this data. A movement command generating means 4, an instruction coordinating means 6 for coordinating the movement instruction of the operator received by the movement instruction receiving means 2 and the movement instruction generated by the movement instruction generating means 4, and the instruction coordinating means based on the result of the cooperation. 6, a wheel rotation speed / direction control device 5 for controlling the wheel rotation speed and direction of the robot in response to a command from Re unit 2, which is constituted of the control processing means 7 with the movement instruction generator 4 and instruction coordination unit 6.

According to a second aspect of the present invention, in the first aspect of the invention, the processing operations of the movement instruction receiving means 2, the movement instruction generating means 3 and the instruction coordinating means 4 constituting the control arithmetic processing means 7 are executed in parallel. It is what is done. According to a third aspect of the present invention, in the first aspect of the invention, the movement command detecting means 1 is configured by a joystick.

According to a fourth aspect of the present invention, the movement command detecting means 1 according to the first or second aspect is used. A voice waveform of a command word uttered by an operator who is registered in advance and a voice waveform of a current uttered sound are input. The voice recognition device detects a command by comparing and collating with and. According to a fifth aspect of the present invention, in the first or second or fourth aspect of the present invention, a voice notifying unit for notifying the detection result of the movement command detecting unit 1 and the output result of the command coordinating unit by voice around the operator and the robot. It is equipped.

[0010]

According to the first aspect of the present invention, the movement command generation means 4 on the robot side automatically generates a movement command according to the situation around the robot, and the movement command of the operator unsuitable for the situation around the robot. When is detected, autonomous movement can be performed by the movement command on the robot side generated by the movement command generation means 4, and stable movement according to the situation around the robot becomes possible.

According to the second aspect of the present invention, since the movement command receiving means, the movement instruction generating means and the instruction coordinating means 6 forming the control arithmetic processing means 7 execute the processing operations in parallel, the movement instruction of the operator is The accepting process, the move command generating process of the robot itself, and the cooperative process of the move commands from the move command accepting unit 2 and the move command generating unit 4 can be performed in parallel, and the process can be efficiently performed.

According to the third aspect of the invention, since the movement command on the operator side can be detected by the joystick, the operator is not burdened. Claim 4
According to the described invention, the movement command of the operator can be detected by voice, and the movement command of only a specific operator whose voice waveform is registered in advance is detected, so that an accident caused by an operation by a person other than the concerned person is prevented. it can.

According to the fifth aspect of the present invention, the detection result of the operator's movement command and the output result of the command coordinating means 6 can be notified to the operator or a person around the robot by voice. In addition, it is possible to intuitively inform an operator or a person around him of a mistake in a movement command or autonomous movement of a robot.

[0014]

EXAMPLES The present invention will be described below with reference to examples. (Embodiment 1) FIG. 2 shows the configuration of the entire system using this embodiment. The system is divided into a center side where an operator M is present and a robot device side, and a movement command detecting means is provided at the center side. The joystick 10 for detecting a movement command input by the operation of the operator M is used as the information processing device 11 for reading the information of the joystick 10, that is, the tilt angle and the direction of the bar, and the information processing device 11 for reading the information. A transmission unit 13 for transmitting information as a radio signal such as a radio signal,
An audio transmission unit 14 that receives and demodulates a notification audio signal transmitted from the robot apparatus side by a radio signal such as a radio wave signal, and reproduces and notifies the demodulated audio signal by the speaker 12.

On the other hand, the robot apparatus is provided with traveling wheels 17 on the front, rear, left and right of the lower portion of the apparatus main body 16 so that the robot can travel by the wheels 17 ,. Two ultrasonic sensors 18 constituting the robot surrounding condition detection device are provided, and a transmission unit 19 for receiving the information signal of the joystick 10 transmitted by the transmission unit 3 is provided on the upper surface of the device body 16. In addition to the parallel arithmetic processing unit 20 that constitutes the arithmetic processing unit for control, a voice synthesis unit 21 for notifying a detection result to be described later by a voice and a speaker 22 for reproduction notifying, and further, as described above, a notifying voice by a wireless signal. An audio transmission unit 15 for transmitting a signal to the sensor side is provided.

The traveling wheels 17 ... The rotational speed and the steering angle are controlled by the wheel rotational speed / direction control device 5, and an electric motor or the like is used as a drive source for traveling or steering. The traveling wheels 17 are provided with a dead reckoning device (not shown) for obtaining the absolute position and the traveling direction of the robot from the rotational speed of the wheels and the traveling direction. Body 16
It is for measuring the empty space distance around or the distance to an obstacle.

The parallel processing device 20 has a joystick information receiving means 24 for receiving the joystick information received by the transmission unit 19, as shown in FIG.
Data capturing means 25 for capturing the distance data measured by the ultrasonic sensors 18 and obstacle circuit means 26 for determining the presence or absence of an obstacle based on the captured data.
And the joystick information receiving means 24 or the obstacle circuit means 26, and a command execution means for sending a movement command based on these data to the wheel rotation speed / direction control device 5 and a notification command to the voice synthesis unit 21. And 27.

The processing operations of these means 24 to 27 are executed in parallel, and the respective processing is performed based on the flowcharts of FIGS. 3 to 6. That is, the joystick information receiving means 24 constitutes a movement command receiving means, and as shown in FIG. 3, the tilt angle of the joystick bar of the joystick 10 operated by the operator M on the center side and its direction data are transmitted via the transmission unit 19. Then, it judges whether or not the obstacle is being avoided based on the information of the channel of the communication network, and if it is avoiding, these data are converted into the moving speed and the steering angle of the robot device, and this conversion is performed. The value of the moving speed and the value of the steering angle are transmitted to the command executing means 27 via a channel which is a data communication network, and the time is updated after the transmission is completed.

When the obstacle is being avoided, the time is updated by ignoring the tilt angle of the joystick bar and its direction data. During the processing operation of the joystick information receiving means 24, the data fetching means 25 activates the ultrasonic sensors 18 ... As shown in FIG. 4, fetches the distance data of the empty space around the apparatus body 16, and performs dead reckoning. After reading the data from the device and transmitting the current position coordinates of the device main body 16, the traveling direction angle, and the distance data to the obstacle to the obstacle avoiding means 26 through the channel which is the data communication network based on these data. , Update the time.

The obstacle avoiding means 26 constitutes a movement command generating means together with the data fetching means 25.
Based on the distance data from the ultrasonic sensors 18 transmitted from the data capturing means 25 as shown in FIG. 5, it is determined whether or not there is an obstacle around the robot, and the determination result, that is, whether the robot is avoiding or avoiding is avoided. Whether it is in the middle or not is transmitted to the joystick information receiving means 24 through the channel of the data communication network.

That is, the robot device is moved by the joystick 10 of the operator M in the normal time when the robot is not avoiding.
Control is performed according to the movement command from the operator M detected by the bar operation of the robot. However, if it is determined that there is an obstacle, the control is switched to autonomous obstacle avoidance by the robot device. ing. When the joystick information receiving means 24 receives the information indicating that there is an obstacle from the obstacle avoiding means 26, the joystick 10 receives the information.
The data of the moving speed and the steering angle converted based on the information on the movement of the bar is not transmitted to the command executing means 27. In this case, the obstacle avoiding means 26 transmits the substitute data to the command transmitting means 27. That is, when the obstacle avoidance means 26 determines that there is an obstacle,
The moving speed and the steering angle of the robot are determined based on the distance data to the obstacle, and these values are transmitted to the command executing means 27 via the channel of the data communication network.
After that, the time is updated.

The command executing means 27 checks whether or not the data is set in the channel or the channel as shown in FIG. 6, receives the data of the moving speed and the steering angle from the set channel or the channel, and outputs them as these values. Then, the corresponding command is sent to the wheel rotation speed / direction control device 5 to update the time. Here, as shown in FIG. 6, the voice synthesis unit 21 receives the content of the command actually executed from the command execution means 27, and voices such as "avoiding obstacles" and "turn right". Is notified via the speaker 22 on the apparatus main body 16 and the speaker 14 on the center side.

In the first embodiment, the joystick 10 operated by the operator M constitutes one-movement command detecting means. However, a voice waveform of a command word uttered by a specific operator M is registered in advance, It may be configured by a voice recognition device that compares and verifies the input voice waveform of the current vocal sound and the registered voice waveform, and detects the movement command if they match.

[0024]

According to the first aspect of the present invention, a movement command detecting means for detecting a movement instruction input by an operator, a movement instruction receiving means for receiving a movement instruction from the movement instruction detecting means, and a robot surrounding condition are detected. Robot surrounding condition data detecting device, moving command generating means for taking in data from the robot surrounding condition data detecting device, and generating a moving command based on this data, and a moving command for the operator received by the moving command accepting means. And a movement command generated by the movement command generation means, and a wheel rotation speed / direction control for controlling the wheel rotation speed and direction of the robot in response to a command from the command cooperation means based on the cooperation result. And a moving instruction receiving means, a moving instruction generating means, and an instruction coordinating means, and control arithmetic processing means. Since the movement command generation means on the robot side automatically generates a movement command according to the situation around the robot, if a movement command of an operator inappropriate for the situation around the robot is detected, a movement command generation is performed. The robot can move autonomously by the movement command on the robot side generated by the means, and there is an effect that a stable movement according to the situation around the robot becomes possible.

According to a second aspect of the present invention, in the first aspect of the invention, the processing operations of the movement instruction receiving means, the movement instruction generating means and the instruction coordinating means, which constitute the control arithmetic processing means, are executed in parallel. Therefore, there is an effect that the process of accepting the movement command by the operator, the process of generating the movement command of the robot itself, and the process of collaborating the movement commands from the movement command receiving means and the movement command generation means can be efficiently performed.

According to the third aspect of the invention, the movement command detecting means can be constituted by a joystick having a simple structure, and the movement command can be detected by an operation that does not burden the operator. Claim 4
The invention described above is a voice recognition device for detecting a command by comparing and collating a movement command detecting means with a voice waveform of a command word uttered by a pre-registered operator and a voice waveform of a current vocal sound to be input. Since it is configured as described above, the movement command of the operator can be detected by voice, and the movement command of only a specific operator whose voice waveform is registered in advance can be detected, so that an accident caused by an operation by a person other than the concerned person can be prevented. effective.

The invention according to claim 5 is provided with a voice notifying means for notifying the detection result of the movement command detecting means and the output result of the command coordinating means in the vicinity of the operator and the robot. The output result of the command coordinating means can be notified to the operator and the people around the robot by voice, so that the operator and the people around can intuitively know the mistake of the movement command given by the operator or the autonomous movement of the robot. The effect is that you can be informed.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a parallel arithmetic processing device used in an embodiment of the present invention.

FIG. 2 is a system configuration diagram of the above.

FIG. 3 is a flowchart for explaining the operation of the above joystick information receiving means.

FIG. 4 is a flowchart for explaining the operation of the above-mentioned data fetching means.

FIG. 5 is a flowchart for explaining the operation of the above obstacle avoiding means.

FIG. 6 is a flowchart for explaining the operation of the command executing means of the above.

FIG. 7 is a basic configuration diagram of the present invention.

[Explanation of symbols]

 5 Wheel Rotational Speed / Direction Control Device 18 Ultrasonic Sensor 19 Transmission Unit 20 Parallel Processing Unit 21 Voice Synthesis Unit 24 Joystick Information Receiving Means 25 Data Importing Means 26 Obstacle Avoiding Means 27 Command Executing Means

Claims (5)

[Claims] 1. A movement command detecting means for detecting a movement command inputted by an operator, a movement command receiving means for receiving a movement command from the movement command detecting means, and a robot surrounding condition data detecting device for detecting a robot surrounding condition. , A movement command generating means for taking in data from the robot surrounding situation data detecting device and generating a movement instruction based on the data, an operator's movement instruction received by the movement instruction receiving means and the movement instruction generation means And a wheel rotation speed / direction control device for controlling the wheel rotation speed and direction of the robot in response to the command from the command cooperation means based on the result of the cooperation. The control arithmetic processing means is constituted by the means, the movement instruction generating means, and the instruction coordinating means.隔操 work robot apparatus. 2. The remote control robot apparatus according to claim 1, wherein the processing operations of a movement command receiving means, a movement command generating means and a command coordinating means which constitute the control arithmetic processing means are executed in parallel. 3. The remote control robot apparatus according to claim 1, wherein the movement command detecting means is a joystick. 4. A voice recognition for detecting a movement command by comparing and collating a voice waveform of a command word uttered by an operator registered in advance with a voice waveform of a current utterance input by the movement command detecting means. 3. The remote control robot apparatus according to claim 1, wherein the remote control robot apparatus is configured by a device. 5. The remote control robot apparatus according to claim 1, further comprising a voice notifying unit for notifying a detection result of the movement command detecting unit and an output result of the command coordinating unit around the operator and the robot.