JPH06320457A - Intelligent robot system - Google Patents

Abstract

PURPOSE:To perform reliable prevention of the occurrence of a risk by providing a control mechanism to perform direct avoidance of a risk by means of mechanical state change information of a robot detected by means of a plurality of given sensors, a control mechanism to perform avoidance of a risk when it is decided from information that a risk occurs, and a control mechanism to control a drive part through a control part through decision of the occurrence of a risk by means of a remote operation control part. CONSTITUTION:A robot 5 comprising a hand 1; an arm 2; a drive part 3; and a various sensors 4 consisting of a television camera, a limit sensor, and a temperature sensor is controlled by a remote operation control part 7 through a control part 6. The mechanical state change of the robot 5 is detected by means of a limit sensor. When a detected state is a risky state, direct risk avoidance control of the drive part 3 is performed by a first control mechanism. When it is decided by the control part 6 based on information from the television camera that a risky state is produced, the drive part 3 is controlled by a second control mechanism. When it is decided by the remote operation control part 7 from information from various sensors 4 that a risky state is produced, a command is outputted to the control part 6 from a third control mechanism to perform control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intelligent robot system capable of reliably avoiding danger in remote control of an intelligent robot. In a system that remotely controls an intelligent robot via a wired line or a wireless line, the command information transmission interval is delayed due to the transmission delay of the command information for controlling the intelligent robot and the transmission delay of the state information of the intelligent robot. Was difficult to shorten. Therefore, there is a demand for efficient emergency control for avoiding danger.

[0002]

2. Description of the Related Art A working robot has a basic structure of a hand for gripping an article and an arm for moving the hand to a target position. In addition, a multi-joint robot in which a plurality of arms are connected via a plurality of joints has a large degree of freedom of the arms, and thus can perform a complicated operation, and is applied to various works.

In order to control such a robot, a pressure sensor is provided in the hand to detect the gripping force when gripping an article, and the hand drive unit is fed back so that the article is gripped at a predetermined pressure. In order to control, the arm is provided with an angle sensor at each joint of the arm or a position sensor at the hand to identify the moving position of the hand and to feedback-control the driving unit of the arm so as to move the hand to the command position. Is. Playback control for repeatedly performing a specific work is also known.

Further, a limit switch and an electric wire for cutting are provided for detecting the case where the robot hand or the like tries to move out of the work area or collides with a structure or the like other than the article to be worked. There is also known a configuration in which risk avoidance control is performed by cutting the cutting wire.

A configuration for remotely controlling a robot is also known, and a control unit of the robot and a remote operation control unit are connected to each other by a wired line or a wireless line, and image information obtained by imaging the operation state of the robot is converted into a robot. From the control unit of the remote control unit to the remote operation control unit, the operation state of the robot is displayed on the display unit of the remote operation control unit, and the operator inputs the remote operation command information while observing the operation state, and the command information is transmitted remotely. The robot can be controlled by transmitting from the operation control unit to the control unit of the robot.

Remote control of a master / slave type robot is also known, and the operator sees the operation state of the master robot on the assumption that the operation of the master robot and the operation of the slave robot at a remote place are the same. However, the master robot that performs the same operation as the slave robot can be observed more than the operation state of the robot in a specific range based on the image information, so it is easy to understand the work state of the slave robot at a remote location. can do.

[0007]

Although it is possible to add various autonomous control functions to various work robots to make them intelligent robots, a configuration that operates completely autonomously is economical. Is difficult to achieve. Therefore, it is necessary to control the situation by the operator. When this operator is away from the intelligent robot, the control section on the intelligent robot side and the remote operation control section on the operator side are connected by a wired line or a wireless line to transmit various kinds of information. In that case, the amount of transmitted information is relatively large in order to grasp the state of the intelligent robot and perform appropriate control.

In the remote control of such an intelligent robot, when the processing delay of various information and the transmission delay by the wired line or the wireless line are large, for example, in the remote control of the intelligent robot on the artificial satellite, the operator After sending the control information from the remote operation control unit by the operation of, the hand and arm of the robot will operate after a certain time, and the information of the operation result will be transmitted to the remote operation control unit after a certain time. Will be notified. Therefore, even if the operator recognizes the dangerous state of the robot from the image information of the robot and sends the control information for avoiding the danger, the robot is in the dangerous state at the time when the control information arrives at the control unit of the robot. Will fall into. That is, it becomes difficult to avoid danger due to the control delay.

Therefore, if the master robot is controlled by the master / slave system, the operation of the slave robot at a remote place can be predicted even if the processing delay and the transmission delay are large. Can be controlled. However, even in that case, when the slave robot is in a dangerous state due to a malfunction, the risk may not be avoided due to the control delay. Further, the operator cannot obtain a feeling of pressure when a robot at a remote place grips an article, so that there is a problem that fine remote control cannot be performed. It is an object of the present invention to surely avoid danger of an intelligent robot and easily perform remote control.

[0010]

An intelligent robot system of the present invention will be described with reference to FIG. 1. A hand 1 for holding an article, an arm 2 for supporting the hand 1,
A robot 5 having a driving unit 3 that mechanically drives the hand 1 and the arm, a plurality of types of sensors 4 including a television camera that detects the state of each unit, a program based on command information, and detection information of the sensor 4 are used. To an intelligent robot system including a control unit 6 for controlling the robot 5 and a remote operation control unit 7 for receiving detection information of the sensor 4 via the control unit 6 and sending command information to the control unit 6. At
A first control configuration for directly controlling the drive unit 3 to avoid danger based on the detection information of the sensor 4 when the change in the mechanical state of the robot 5 indicates a dangerous state, and the processing determination of the detection information of the sensor 4. Determines whether the robot 5 is in a dangerous state,
A second control configuration for controlling the drive unit 3 to avoid danger when it is determined to be in a dangerous state, and the detection information of the sensor 4 for the control unit 6
The remote operation control unit 7 received via the command determines whether or not the robot 5 is in a dangerous state based on the detection information, and when it determines that the robot 5 is in a dangerous state, commands the drive unit 3 to avoid the danger. And a third control configuration for transmitting information.

Further, when the limit sensor in the sensor 4 detects that the mechanical state change of the robot 5 is in a dangerous state, a danger avoidance control for directly stopping or moving the driving unit 3 in the opposite direction is performed. 1 control configuration and sensor 4
Of position sensors, temperature sensors, pressure sensors, acoustic sensors, vibration sensors, etc. are processed to determine whether they indicate a dangerous state, and it is determined that a dangerous state is indicated. Sometimes, in the second control configuration for performing the danger avoidance control for stopping or moving the drive unit 3 in the opposite direction, and the remote operation control unit 7 receiving the detection information of the sensor 4,
When it is determined that the robot 5 is in the dangerous state based on the image information from the television camera in the sensor 4 and the detection information of other various sensors, or by the motion prediction simulation of the robot 5, it is determined that the robot 5 is in the dangerous state. A third control structure for sending command information for avoiding danger can be provided.

The second and third control configurations perform frequency analysis of detection information of various sensors in the sensor 4, such as a position sensor, a temperature sensor, a pressure sensor, an acoustic sensor, a vibration sensor, and the like. It is possible to include a configuration for determining whether or not there is an abnormality in the frequency spectrum obtained by the analysis or the temporal change of this frequency spectrum, and performing the risk avoidance control of the robot 5 when the abnormality is determined.

The second and third control configurations perform frequency analysis of detection information of various sensors in the sensor 4, such as a position sensor, a temperature sensor, a pressure sensor, an acoustic sensor, a vibration sensor, and the frequency thereof. Regarding the frequency spectrum obtained by the analysis or the time variation of the frequency spectrum, whether or not there is an abnormality is checked by collating with the standard frequency spectrum obtained in advance corresponding to the work type of the robot 5 or the time variation pattern of the frequency spectrum. A configuration may be included in which the risk avoidance control of the robot 5 is performed when the determination is made and the determination is abnormal.

In the second and third control configurations, the robot 5 determines the mutual correlation value of the detection information of each of the different types of sensors in the sensor 4, and when the correlation value shows an abnormal change. It is possible to include a configuration for performing risk avoidance control by determining a dangerous state.

The second control structure performs automatic focus control of the television camera so that the high frequency component of the image information from the television camera in the sensor 4 becomes the largest, and the approach distance is determined by the level or spectrum of the high frequency component. It is possible to include a configuration for performing risk avoidance control when it is determined that the vehicle has moved to the dangerous area.

Further, the control unit 6 superimposes the detection information of another sensor on the image information from the television camera in the sensor 4,
A sending unit for sending from the control unit 6 to the remote operation control unit 7 is provided, and the remote operation control unit 7 separates the image information received from the control unit 6 from the detection information of other sensors and displays the image information as an image. It is possible to provide a receiving unit for displaying on the unit.

Further, the detection information of the sensor for detecting the pressure such as the gripping force received in the operation of the robot is superposed on the image information from the television camera in the sensor 4 so that the control section 6 causes the remote control section 7 to operate. A configuration may be provided in which the operation lever for transmitting and controlling the robot 5 of the remote operation control unit 7 applies a repulsive force based on the detection information of the sensor that detects the pressure.

[0018]

The remote control unit 7 transmits the command information of the robot 5 to the control unit 6 via a wired line or a wireless line, and the control unit 6 uses the program according to the command information to hand 1 or arm 2 of the robot 5. The driving unit 3 is controlled to perform a predetermined operation by using the detection information of the various sensors 4. In order to avoid the danger of the robot 5, the first, second, and third control configurations are provided in order of increasing response speed. The first control configuration is provided in the vicinity of the robot 5, and the detection information of the mechanical state change such as the movement of the hand 1 or arm of the robot 5 to a dangerous area where the robot 1 collides with other structures and is damaged. When it is obtained, it is an urgent matter, so the danger is avoided by direct control such as power-off of the drive unit 3. The second
The control configuration is mainly provided in the control unit 6, and compares, for example, the detection information of the temperature sensor with a permissible value, and when the temperature exceeds the permissible value, it is determined as a dangerous state, and the drive unit 3 is stopped. Take control. The third control configuration is provided in the remote control unit 7, receives the detection information of the sensor 4 including the TV camera, displays the image information from the TV camera on the display unit, and determines whether the robot 5 is in a dangerous state. It is determined whether or not there is an abnormal spectrum generation state based on the detection information from the acoustic sensor or the like, and when it is determined that there is a dangerous state, command information for stopping the drive unit 3 is transmitted. Danger avoidance by the third control configuration corresponds to a control state in which the influence of transmission delay or the like is relatively small.

The first control structure is when the robot 5 is in a dangerous state when the detection information of the limit sensor such as the micro switch, the proximity switch, and the cutting wire in the sensor 4 is obtained. Danger is avoided by shutting down the power source of the drive unit 3. The second control configuration is, for example, when the detection information of the position sensor indicates that the dangerous area has been entered, when the detection information of the pressure sensor indicates a predetermined pressure or more, and when the detection information of the acoustic sensor indicates an abnormal spectrum. When the detection information of the vibration sensor indicates abnormal vibration, it is determined that the robot 5 is in a dangerous state, and the drive unit 3 is stopped or moved in the opposite direction to avoid the danger. The third control configuration is based on the received image information and various detection information.
It is determined whether or not the robot 5 is in a dangerous state, and whether or not the robot 5 is in a dangerous state is predicted by a motion prediction simulation of the robot 5, and if it is determined to be in a dangerous state, danger avoidance command information is transmitted.

Further, the frequency spectrum of the detection information of the sensor 4 or its change over time varies depending on the type of the sensor 4, but a standard one or a standard correlation between the sensors should be obtained in advance. Thus, it is possible to determine whether or not there is an abnormality. For example, when the level of the specific frequency component becomes extremely large, it can be determined as abnormal. When it is determined that there is an abnormality, the risk avoidance control is performed as described above.

Further, for various work types of the robot 5 in a normal state, the frequency spectrum of the detection information of the various sensors 4 or its temporal change is obtained, which is used as a standard,
When the robot 5 actually performs the work, it is possible to easily determine whether or not there is an abnormality by obtaining the frequency spectrum of the detection information of various sensors or its temporal change and comparing it with the standard corresponding to the work type. You can When it is determined that the robot 5 is abnormal, the risk avoidance control of the robot 5 is performed.

Further, the correlation value of the detection information of different types of sensors in the sensor 4, for example, the detection information of the acoustic sensor,
The sound waves and the like emitted from the robot 5 into the space are detected, and the detection information of the vibration sensor is the vibration that propagates through the mechanical portion of the robot 5, and thus has a relatively high correlation. . Therefore, by using the correlation value in this case, the accuracy is higher than that of determining whether or not there is an abnormality using only the detection information of either the acoustic sensor or the vibration sensor. Furthermore, it is possible to determine whether or not there is an abnormality by obtaining the mutual correlation value including the detection information of the pressure sensor.

Further, it is possible to perform edge extraction of image information from a television camera, processing such as differential processing, contour enhancement, etc., and automatic focus control using a high-frequency enhancement filter so as to maximize the high-frequency component. In that case, the closer the focused subject is, the clearer the reproduced image becomes. That is, the high frequency component becomes large. Therefore, the approach distance between the hand provided with the television camera and the subject can be determined based on the level or spectrum of the high frequency component. Then, when it is determined that the hand has moved to the dangerous area where the hand collides, the danger avoidance control can be performed as in the case described above.

The amount of information transmitted from the control unit 6 to the remote operation control unit 7 is very large, and therefore, the detection information of other various sensors is superimposed on the image information and transmitted. In that case, for example, in the case of image information obtained by television scanning, detection information of other various sensors can be superimposed in the blanking period. It can also be superposed on a part of the effective horizontal scanning line. Remote control unit 7
By separating the image information from the detection information of various sensors and adding the image information to the display unit, the state of the robot 5 can be displayed. Further, it is possible to process the detection information of various sensors to judge whether or not it is in an abnormal state.

A repulsive force is applied to the operation lever of the remote operation control section 7 for remotely operating the robot 5 based on the detection information obtained by detecting the reaction force generated by the movement of the robot 5. For example, by giving a repulsive force corresponding to the gripping force when the hand 1 grips an article to the operation lever, the gripping force of the hand 1 of the robot 5 in a remote place can be recognized as a real feeling.

[0026]

EXAMPLE FIG. 2 is an explanatory view of an example of the present invention.
Is a robot, 20 is a control unit, and 30 is a remote control unit. Further, 12 is an arm, 13 is a hand, 14 is a finger, 15 is a motor, 16 is a television camera, 17 is a limit sensor,
Reference numeral 18 is a work target, and 19 is a workbench. Also arm 12
Angle sensor that detects the rotation angle of the motor 15 that corresponds to the joint of the robot, a temperature sensor that detects a temperature rise, a position sensor that detects the position of the hand 13, a pressure sensor that detects the gripping force inside the finger 14, and the finger 14 The cutting wires and the like corresponding to the drive unit and the limit sensor that defines the dangerous area are not shown.

Reference numeral 21 is a control computer, 22 is an image processing device, 23 is a combining circuit, 24 is a separation circuit, 25 is a communication device, and 26 is an alarm circuit. Also, 27 is a wired or wireless line, 31 is a communication device, 32 is a separation circuit, 33 is a command creating unit, 34 is a demodulation circuit, 35 is an alarm circuit, 36 is a master robot control unit, 37 and 38 are display control units, 39 is a console, 40 is an image display device, 41 is a light emitting diode (LE
D) is a lighting display device, 42 is a spectrum display device, 43 is a master robot, and JY is an operation lever such as a joystick.

This embodiment shows a case of a master-slave system in which the master robot 43 is provided on the remote control unit 30 side and the robot 11 is a slave.
A schematic structure of an articulated type having a plurality of arms 12 is shown.
The motor 15 of the joint of each arm 12 and the finger 14 of the hand 13
1 corresponds to the drive unit 3 in FIG. 1, and the television camera 16 and the limit sensor 17 attached to the hand 13 and the limit sensor 17 attached to the arm 12 correspond to the sensor 4 in FIG. The television camera 16 has an automatic focus control mechanism, and may be provided with a zoom mechanism, a turning mechanism, or the like. It is also possible to provide a television camera for observing the state of the entire robot 11. Robot 11
The whole structure can be moved by a driving unit such as a motor.

Image information VD from a television camera as a kind of sensor of the robot 11 is added to the synthesizing circuit 23 and the image processing device 22. This image processing device 22 is
Performs edge enhancement of image signals, differential processing, binarization processing, etc.
On the other hand, the processing result is input to the control computer 21 in order to determine whether or not the proximity of the hand is abnormal based on the level of the high frequency component of the image signal by the automatic focusing mechanism. The control computer 21 controls the robot 11 using a program according to the command information separated by the separation circuit 24,
The image signal from the image processing device 22 is used to measure the distance and angle to the subject, and the error from the command information is detected.
On the other hand, when it is determined that the proximity of the hand or the like is abnormal due to the level of the high-frequency component or the like, control for avoiding danger such as stopping the motor 15 is performed. Further, the detection information SN of various sensors attached to the arm 12, hand 13, finger 14, motor 15, etc.
It is added to the control computer 21, the synthesis circuit 23, the image processing device 22, and the alarm circuit 26. The synthesizing circuit 23 detects the detection information SN during the vertical or horizontal blanking period of the image information VD, for example.
And the function of superimposing control status information CS, etc.
The combined signal is transmitted from the communication device 25 to the wired line or the wireless line 27.
Is transmitted to the communication device 31 of the remote operation control unit 30 via.

The remote control section 30 uses the separation circuit 32 to detect the image information VD and the other detection information SN and control information C.
After being separated into S and S, the image information VD is added to the image display device 40 by the display control unit 37 and displayed. Further, the control state information CS is demodulated by the demodulation circuit 34 corresponding to the sensor and added to the lighting display device 41 and the like. Moreover, the finger 1 of the robot 11
Detection information from a pressure sensor inside 4 is applied to the master robot controller 36, and a repulsive force is applied to the operation lever JY of the operation console 39. Thereby, the operator can feel the force when the robot 11 grasps the work target 18. The image display device 40 and the spectrum display device 42 can be CRT (cathode ray tube) display devices. The lighting display device 41 displays the operating state and abnormal state of each part by means of a light emitting diode, a small lamp, or the like.

Further, the demodulated detection information corresponding to various sensors is added to the alarm circuit 35 to perform frequency analysis.
The presence or absence of abnormality of the robot 11 is determined based on the frequency spectrum of the analysis result or its change over time, and when it is determined to be in an abnormal state, the robot 11 displayed on the image display device 40 via the display control unit 37. It is possible to display the occurrence of an abnormality by the location or the character of the abnormality. The display control unit 38 also displays the frequency spectrum or its temporal change on the spectrum display device 42.

The operator observes the image display device 40, the lighting display device 41, and the spectrum display device 42,
Moreover, while observing the movement of the master robot 43, the operation lever JY or the like of the operation console 39 is operated. The master robot control unit 36 controls the master robot 43 based on the operation information from the operation console 39. Further, since the environments of the master robot 43 and the remote robot 11 are not the same, the same operation may not be performed by the same command information.
In consideration of such a point, the master robot control unit 36 can be provided with a function of performing a motion prediction simulation, for example. Then, the simulation result is displayed on the image display device 40, and when the dangerous state is predicted, the command creating unit 33 can be controlled to send the command information for avoiding the danger of the robot 11.

The command creating unit 33 creates the same command information as the command information for controlling the master robot 43 by the master robot control unit 36, and automatically or based on the rough command by the operator, the operator console 3
In accordance with a manual control input from the communication device 9, the communication device 2 of the control unit 20 from the communication device 31 via the wired line or the wireless line 27.
5 is transmitted. When the alarm circuit 35 determines that an abnormal state has occurred, the command creating unit 33 creates command information for stopping the motor 15 for danger avoidance based on the information.
The data is transmitted from the communication device 31 to the communication device 25 of the control unit 20 via the wired line or the wireless line 27.

FIG. 3 is an explanatory view of the essential parts of the danger avoidance structure of the embodiment of the present invention, in which 51 is a television camera, 52 is a mechanism part such as an autofocus mechanism, 53 is a distance sensor, and 54 is a joint of an arm. Arm motor, 55 is a position sensor, 56 is a limit sensor, 57 is a temperature sensor, 58 is an acoustic sensor,
59 is a finger motor for driving the fingers of the hand, 60 is a position sensor, 61 is a limit sensor, 62 is a pressure sensor, 6
3 is a temperature sensor, 64 is an acoustic sensor, 65 to 70 are switch circuits (SW), 71 is a temperature processing unit, 72 is a frequency analysis unit, 73 is a collation determination unit, 74 is a standard pattern storage unit,
Reference numeral 75 is a control interface unit, 76 is an image processing unit, 7
Reference numeral 7 is a control computer, 78 is a reception command information separating unit, and 79 is a communication device.

An arbitrary number of TV cameras 51 are separately provided in order to image the relative position between the hand and the work object or to observe the operation state of other robots.
The mechanical section 52 includes an automatic focusing mechanism, a zoom mechanism, a turning mechanism, and the like. Further, the distance sensor 53 is the TV camera 51.
Is for detecting that the object has approached the work object or the like. When a plurality of TV cameras 51 are provided, a switching circuit for selecting one TV camera among them or a structure for compressing and multiplexing image information from a plurality of TV cameras is provided. Become. A plurality of arm motors 54 are provided for each arm, and each sensor and switch circuit are arranged in each arm motor 54. Similarly, the finger motor 59
Is also provided, and each sensor and switch circuits 65 to 70 are provided for each.

The switch circuit 65 and the limit sensor 56 or the switch circuit 68 and the limit sensor 61 may be damaged when a change in the mechanical state of the robot arm and the hand indicates a dangerous state, that is, by colliding with another structure. When a dangerous state is detected, the switch circuits 65 and 68 are directly controlled to cut off the power supply of the arm motor 54 or the finger motor 59 to avoid the danger. In this case, the arm motor 54 or the finger motor 59 is stopped by shutting off the power, but it is also possible to rotate the arm motor 54 or the finger motor 59 in the opposite direction to move the arm or the finger back.

Further, the temperature sensor 57 and the switch circuit 66 or the temperature sensor 63, the switch circuit 69 and the temperature processing section 71.
Determines whether or not the temperature exceeds a permissible value in the temperature processing section 71, and when it exceeds the permissible value, it is judged as a dangerous state,
This is a second control configuration in which the power supply to the arm motor 54 or the finger motor 59 is shut off by the switch circuits 66 and 69 to avoid danger. Also, the acoustic sensor 58 and the switch circuit 67 or the acoustic sensor 64, the switch circuit 70, and the frequency analysis unit 7
The frequency analysis unit 72 analyzes the frequency of the detection information and determines whether the resulting frequency spectrum or its temporal change is abnormal. When it is determined that the frequency spectrum is abnormal, the switch circuit 67 is used. , 70 to control the arm motor 54 or the finger motor 59 to shut off the power to avoid danger.

The frequency analysis unit 72 can be constituted by a filter bank having a Fourier transform function or a plurality of filters each having a different center frequency, by which the frequency analysis of the detection information of the acoustic sensors 58 and 64 is performed. The resulting frequency spectrum or its temporal change is compared with the standard frequency spectrum or its temporal change pattern previously obtained and stored in the standard pattern storage section 74 corresponding to the work type of the robot. 7
In step 3, it is judged whether or not there is an abnormality, and when it is judged that there is an abnormality, the switch circuit 6 is provided to avoid danger.
7, 70 are controlled.

Further, similarly to the acoustic sensors 58 and 64, a vibration sensor is provided to detect the vibration generated in the arm or the hand, frequency-analyze the detected information, and the resulting frequency spectrum or its temporal change is abnormal. It is also possible to judge whether or not it is abnormal or by comparing with a standard pattern. Also acoustic sensors 58, 6
It is also possible to obtain the correlation value between the detection information of 4 and the detection information of the vibration sensor, or obtain the correlation value of the frequency spectrum of the frequency analysis result or its temporal change, and judge whether there is an abnormality based on the correlation value. it can. It is also possible to determine whether or not there is an abnormality by obtaining a correlation value including the detection information of the pressure sensor 62.

Further, the position sensors 55 and 60 and the pressure sensor 62
Detection information is added to the control computer 77 via the control interface unit 75 to determine whether or not the position has moved to a position according to the command information, and the work object with the gripping force according to the command information. It is determined whether or not is gripped, and the arm motor 54 or the finger motor 59 is controlled according to the determination result. The image information from the television camera 51 and the detection information of other sensors are added to the image processing unit 76 via the control interface unit 75, and the detection information of other sensors is superimposed on the image information by the synthesizing circuit 80. Communication device 7
9 is transmitted to the remote control unit.

Further, the robot 11 and the control unit 20 shown in FIG.
The third control configuration is configured to perform the risk avoidance control of the robot 11 by the determination processing in the remote operation control unit 30, including the remote operation control unit 30 and the remote operation control unit 30, and the display content of the image display device 40 and the spectrum display device. The risk avoidance control of the robot 11 is performed including the display contents of 42 and the judgment of the operator who observed the operation of the master robot 43.

As mentioned above, the first including the limit sensor
With this control configuration, it is possible to quickly avoid danger in the case of a mechanical state change such as a collision of the robot 11, and by the second control configuration for performing processing judgment by analysis of detection information of various sensors and collation comparison, When the abnormal state of the robot 11 is determined, it is possible to autonomously avoid the danger. Therefore, it is possible to avoid the danger without causing a control delay due to a transmission delay or the like. Further, the third control configuration including the remote control unit 30 can be configured to have a large-scale judgment processing function, so that the preceding control can be performed so as not to cause a dangerous state due to motion prediction or the like. Even when the first and second control configurations do not work sufficiently, the third control configuration enables reliable control of the risk avoidance of the robot 11,
The reliability of the system can be improved.

FIG. 4 is an explanatory diagram of a robot control system according to an embodiment of the present invention. Reference numeral 81 is a television camera for picking up an image of a work object, and 82 is a hand / finger drive including a hand / finger drive unit and various sensors. -Detection unit, 83 is an arm drive / detection unit including an arm joint drive unit and various sensors, 84 is a drive amplifier, 85 is a servo system command signal generation unit, 86 is a control computer, 87 is a composite separation unit, 88 Is a communication device, 89 and 90 are adders, 91 is a process determination unit, 92 is a hand and arm limit sensor, 93 is a limit sensor process determination unit, 9
Reference numeral 4 is a power switch.

The communication device 8 is transmitted from the remote control unit.
The command information received in 8 is added to the control computer 86 via the combining / separating unit 87, and the control computer 86 calculates the moving route according to the command information and outputs the main route information. This main path information is corrected in the adder 90 by the detection information from the position sensor of the hand / finger drive / detection unit 82 and added to the servo system command signal generation unit 85 to generate command signals for each joint of the arm. Is output. This command signal is corrected in the adder 89 by the detection information of the position sensor, the angle sensor, etc. of the arm drive / detection section 83, and is added to the drive amplifier 84. Motor and hand / finger drive
The motor of the detector 82 is driven.

When either the hand or the arm moves to a dangerous area such as a collision, the limit sensor 92 of either the hand or the arm operates to control the power switch 94.
The operating power of the drive amplifier 84 is cut off to avoid the danger of the robot. That is, the first control configuration including the limit sensor determination processing unit 93 directly avoids danger.

Image information from the television camera 81 and detection information of various sensors of the hand / finger drive / detection section 82,
The detection information of the various sensors of the arm drive / detection unit 83
It is added to the processing determination unit 91, and it is determined whether or not the detection information of the temperature sensor and the pressure sensor exceeds the permissible value, and whether or not the detection information of the acoustic sensor or the vibration sensor is detected by frequency analysis. Whether or not there is an abnormality is determined based on the frequency spectrum and its temporal change.

If a rapid control is required when it is judged to be abnormal, a danger avoidance signal is added to the drive amplifier 84 to stop the motor or rotate it in the opposite direction. Further, a danger avoidance signal is added to the servo system command signal generator 85 to output a command signal for stopping the motor or rotating it in the reverse direction. At the same time as adding the danger avoidance signal to the control computer 86, the control computer 86 outputs appropriate instruction information to be notified to the operator via the combining / separating unit 87 and the communication device 88. That is, the danger is avoided by the second control configuration.

Therefore, the risk avoidance response priority is highest in the first control configuration, then the risk avoidance control by the drive amplifier 84 in the second control configuration, and then by the servo system command signal generating section 85. Danger avoidance control, then control computer 86
The risk avoidance control is performed in order, and the risk avoidance response priority by the third control configuration is lowest.

FIG. 5 is an explanatory diagram for multiplexing the detection information of the sensors according to the embodiment of the present invention. The detection information of various sensors SN1 to SNn such as pressure sensors attached to the arm or hand of the robot is sampled and held, respectively. Circuit SH11-S
In H1m to SHn1 to SHnm, sample holding is performed by the sampling pulse sp from the sampling control unit 98, the multiplexer 95 multiplexes the image signal from the television camera 97, and an AD converter (A /
D) It is converted into a digital signal by 96 and transmitted to the remote control unit by a communication device (not shown).

In this embodiment, a plurality of sample hold circuits SH11 are provided for each of the sensors SN1 to SNn.
This corresponds to a case in which it is necessary to provide SH1m to SHn1 to SHn1 to sequentially perform sample and hold in a cycle shorter than the transmission cycle of detection information. In the case of detection information having a relatively low maximum frequency such that sampling and holding may be performed in the detection information transmission cycle, each sample and hold circuit corresponding to the sensor is omitted, and a sample signal is added to the AD converter 96 via the multiplexer 95. It can be configured to convert into a digital signal.

Further, the sampling control section 98 outputs sampling pulses sp sequentially added to the sample hold circuits SH11 to SH1m to SHn1 to SHnm in synchronization with the vertical synchronizing signal VS of the television camera 97, etc., and also selects to add to the multiplexer 95. It outputs a control signal and also outputs a sampling pulse to be applied to the AD converter 96.

FIG. 6 is an explanatory view of the multiplexing operation of the embodiment of the present invention, where (a) is the vertical synchronizing signal VS, (b) is the multiplexing period signal, and (c), (d), (e). Is the multiplexer 9
5 shows a selection control signal added to 5, and (f) shows a multiplexed signal.
For example, the detection information of the sensor SN1 is sequentially sampled and held in the sample and hold circuits SH11 to SH1m by the sampling pulse sp having a predetermined cycle which is sequentially generated.

Then, in the multiplexing period ts after the delay time td in synchronization with the vertical synchronizing signal VS, sample holding is performed by the selection control signals shown in (c), (d) and (e) applied to the multiplexer 95. Circuits SH11 to SH1
The sample hold output signal of m is the multiplexer 95.
Is added to the AD converter 96 via the, and converted into a digital signal and transmitted.

In the period tv after the multiplexing period ts,
The image signal of the television camera 97 is applied to the AD converter 96 via the multiplexer 95 and converted into a digital signal. Therefore, as shown in (f), the multiplexing period ts
The sensor detection information and the image information are transmitted in the next period tv. This multiplexing period t
Although s is generally set within the vertical blanking period,
Since it often does not affect the reproduced image of the image display device of the remote control unit in many cases, it is also possible to set it within the effective horizontal period. Further, the detection information of a plurality of sensors may be sequentially multiplexed within the multiplexing period ts, or a relatively high-speed acoustic signal or the like may be set and transmitted within the horizontal scanning blanking period for each horizontal synchronization signal. It is possible.

Also, one screen of the TV camera 97 is displayed as 256 ×
When 256 pixels are used and one pixel is digitized into 4 bits and transmitted at a transmission rate of 5 Mbps, about 19 screens / second can be transmitted. Further, if band compression processing is performed, it is possible to transmit several times the number of screens. Further, when the detection information of the sensor is digitized, it can be transmitted by the processing corresponding to the pixel of the image signal by processing it in units of 4 bits. Therefore, the detection information of more sensors can be easily transmitted to the remote control unit. Can be transmitted.

FIG. 7 is an explanatory diagram of abnormality determination based on the spectrum of the embodiment of the present invention, in which the horizontal axis represents frequency and the vertical axis represents intensity, the intensity of the frequency spectrum indicated by the dotted line B indicates the alarm level, and the frequency spectrum indicated by the thick line C indicates the frequency spectrum. The case where the strength is taken as the stop level is shown. For example, frequency analysis of the detection information of the acoustic sensors 58 and 64, the pressure sensor 62, and the position sensors 55 and 60 is performed in the frequency analysis unit 72 of FIG. 3, and the frequency spectrum of the analysis result is shown by the solid line A. If the standard pattern stored in the standard pattern storage unit 74 is the frequency spectrum of the dotted line B and the thick line C, the collation judging unit 73 judges that it is normal.

When the intensity of the frequency spectrum of the detection information exceeds the intensity of the frequency spectrum of dotted line B,
The collation judging unit 73 sends an alarm signal to the control computer 77 via the control interface unit 75, and the alarm signal is superposed on the image signal of the television camera 51 in the image processing unit 76 so that the remote operation control unit. Is transmitted from the communication device 79. When the intensity of the frequency spectrum of the thick line C is exceeded, the collation judging unit 73 controls the switch circuits 67 and 70 directly or via the frequency analyzing unit 72 to shut off the power supply of the arm motor 54 or the finger motor 59, which is dangerous. Avoid it.

Since the standard frequency spectra of the dotted line B and the thick line C described above often have different patterns depending on the work type of the robot, a standard frequency spectrum is created in advance corresponding to the work type of the robot and the standard pattern is stored. The work type is stored in the unit 74, the work type is identified from the command information from the remote operation control unit, the standard frequency spectrum corresponding to the work type is read, and the collation determination unit 73 determines whether or not there is an abnormality. You can

Also in the remote control unit, the frequency information of the detection information of the various sensors received through the control unit is analyzed to determine whether or not there is an abnormality. In the alarm circuit 35 of FIG. Such processing can be performed. The frequency analysis result or the collation determination result can be displayed on the spectrum display device 42, or the frequency spectrum as shown in FIG. 7 can be displayed.

The present invention is not limited to the above-mentioned embodiment, but various additions and modifications can be made. For example, as a limit sensor, a cutting operation is provided around a position defining the operation range of the robot. Using the electric wire for
It is also possible to realize the first control configuration. The present invention can also be applied to robot control systems other than the master-slave system.

[0061]

As described above, according to the present invention, the drive unit 3 such as the joint motor is directly detected by the detection information of the sensor 4 such as the limit sensor when the mechanical state change of the robot 5 indicates a dangerous state. The first control configuration for controlling the robot 5 quickly avoids the danger, processes the detection information of the temperature sensor, the acoustic sensor, and the like to determine whether the robot 5 is in the dangerous state, and drives when the robot 5 is in the dangerous state. The second control configuration for controlling the unit 3 avoids danger, and transmits detection information of various sensors 4 including a television camera to the remote operation control unit 7 via the control unit 6, and the remote operation control unit 7 In the third control configuration in which the control is performed according to the result of the determination process, the risk of the robot 5 is avoided, and the response priority for risk avoidance can be increased as the control function closer to the robot 5. , The risk can be promptly avoided without being affected by the transmission delay, etc., and in the end, the future control type simulation and the operator's judgment can be taken into consideration in the third control configuration, so that the reliability can be improved. There is an advantage that it is possible to build a high system.

Further, in the second or third control configuration, it is possible to determine whether or not there is an abnormality based on the result of frequency analysis of the detection information of the sensor 4, and it is possible to determine whether there is a completely dangerous state and the previous state. Since it is possible to discriminate the alarm state, it is possible to perform appropriate risk avoidance control. Further, when the standard frequency spectrum corresponding to the work type or its time series and the frequency spectrum of the detection information are also compared with the time series, it is possible to always perform optimum monitoring for the robot 5 performing various different works. Becomes

Further, it becomes possible to easily control a robot located far away from the ground such as on an artificial satellite, and in that case, the remote control unit 7 displays image information. By doing so, the operating state of the robot 5 can be monitored.
By superimposing and transmitting the detection information of 1, the communication between the control unit 6 and the remote operation control unit 7 can be easily performed without using a plurality of channels.

Since the detection information of various sensors 4 can be transmitted to the remote operation control unit 7, the remote operation control unit 7 receives the detection information of the pressure sensor such as the gripping force of the hand of the robot 5 and the like. In addition, the operator can actually feel the gripping force and the like by converting and applying the repulsive force of the operating lever.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is an explanatory diagram of an example of the present invention.

FIG. 3 is an explanatory diagram of a main part of a danger avoidance configuration according to the embodiment of this invention.

FIG. 4 is an explanatory diagram of a robot control system according to an embodiment of the present invention.

FIG. 5 is an explanatory diagram for multiplexing detection information of the sensor according to the embodiment of this invention.

FIG. 6 is an explanatory diagram of a multiplexing operation according to the embodiment of this invention.

FIG. 7 is an explanatory diagram of abnormality determination by spectrum according to the embodiment of this invention.

[Explanation of symbols]

 1 Hand 2 Arm 3 Drive Unit 4 Sensor 5 Robot 6 Control Unit 7 Remote Control Unit

Claims (8)

[Claims] 1. A hand (1) for gripping an article, an arm (2) for supporting the hand (1), and a drive unit for mechanically driving the hand (1) and the arm (2). A robot (5) having (3) and a plurality of types of sensors (4) including a television camera for detecting the state of each part, and the robot using a program based on command information and the detection information of the sensor (4). A control unit (6) for controlling (5) and a remote operation for receiving the detection information of the sensor (4) via the control unit (6) and sending the command information to the control unit (6). In an intelligent robot system including a control unit (7), the drive unit (3) is driven by the detection information of the sensor (4) when the mechanical state change of the robot (5) indicates a dangerous state. With the first control configuration that directly controls to avoid danger A second determination is made to determine whether or not the robot (5) is in a dangerous state by processing the detection information of the sensor (4), and when it is determined to be in a dangerous state, the drive unit (3) is controlled to avoid the danger. In the remote control section (7) which receives the detection information of the sensor (4) through the control section (6), the robot (5) is dangerous based on the detection information. And a third control configuration for sending command information for controlling the drive unit (3) to judge the danger and avoiding the danger when it is judged that the robot is in a dangerous state. system. 2. When the limit sensor in the sensor (4) detects that the mechanical state change of the robot (5) is in a dangerous state, the drive unit (3) is directly stopped or reversed. A first control configuration for performing danger avoidance control for moving in a direction, a position sensor in the sensor (4),
When the detection information of various sensors such as a temperature sensor, a pressure sensor, an acoustic sensor, and a vibration sensor is processed, it is determined whether or not it indicates a dangerous state. 2) A second control configuration for performing danger avoidance control for stopping or moving the sensor 3) in the opposite direction, and the remote operation control unit (7) that has received the detection information of the sensor (4).
The robot (5) is in a dangerous state on the basis of image information from the television camera in the sensor (4) and detection information of various other sensors, or by a motion prediction simulation of the robot (5). The intelligent robot system according to claim 1, further comprising: a third control configuration that sends command information for avoiding a danger when it is determined whether the state is a dangerous state. 3. The second and third control configurations perform frequency analysis of detection information of various sensors such as a position sensor, a temperature sensor, a pressure sensor, an acoustic sensor, a vibration sensor in the sensor (4). The frequency spectrum obtained by the frequency analysis or a temporal change of the frequency spectrum is determined to be abnormal, and when it is determined to be abnormal,
The intelligent robot system according to claim 1 or 2, further comprising a configuration for performing risk avoidance control of the robot (5). 4. The second and third control configurations perform frequency analysis of detection information of various sensors such as a position sensor, a temperature sensor, a pressure sensor, an acoustic sensor, and a vibration sensor in the sensor (4). The frequency spectrum obtained by the frequency analysis or the temporal change of the frequency spectrum is collated with a standard frequency spectrum obtained in advance corresponding to the work type of the robot (5) or a temporal change pattern of the frequency spectrum. The intelligent robot system according to claim 1, 2 or 3, further comprising a configuration for performing risk avoidance control of the robot (5) when it is determined to be abnormal and when it is determined to be abnormal. 5. The second and third control configurations obtain mutual correlation values of detection information of different types of sensors in the sensor (4), and the correlation values show an abnormal change. At times, the robot (5) includes a configuration for performing risk avoidance control by determining that the robot (5) is in a dangerous state.
The described intelligent robot system. 6. The second control configuration performs automatic focus control of the television camera so that a high frequency component of image information from the television camera in the sensor (4) becomes maximum, and the high frequency component of the high frequency component is controlled. The intelligent robot system according to claim 1, further comprising a configuration for performing danger avoidance control when it is determined that the approach distance is determined based on the level or the spectrum, and it is determined that the vehicle has moved to a dangerous area. 7. The sensor (4) is provided in the control unit (6).
In the remote operation control unit (the remote operation control unit (7)) is provided with the detection information of another sensor superimposed on the image information from the television camera in the above, and is sent from the control unit (6) to the remote operation control unit (7). In 7), there is provided a receiving unit for separating the image information received from the control unit (6) and the detection information of the other sensor and displaying the image information on an image display unit. The intelligent robot system according to claim 1. 8. The control by superimposing detection information of a sensor that detects pressure such as a gripping force received in the operation of the robot (5) on image information from a television camera in the sensor (4). From the part (6) to the remote operation control part (7), the robot (5) of the remote operation control part (7) is transmitted.
2. The intelligent robot system according to claim 1, further comprising: a configuration for applying a repulsive force to an operation lever for controlling a force based on detection information of a sensor that detects the pressure.