JPH08154321A - Remote control robot - Google Patents

Abstract

PURPOSE: To make it unnecessary for a worker to operate a moving mechanism by storing a relative position of a working robot from a working object into a storing means and execute coordinate transformation of such relative position into a relative position from a vehicle to drive a moving mechanism of the working robot to its obtained position. CONSTITUTION: When the work is to be started, a working robot 14 is approximated by operating a moving mechanism 12 to a working object.electric pole 13 to measure the position of point on the electric pole. This value is defined as a robot position 16 on the electric pole coordinate to obtain a relative position 20 of the vehicle.electric pole which indicates positional relationship of the origin 18 of the electric pole coordinate and the origin 19 of the vehicle coordinate. Thereby, the moving mechanism 12 can be moved without influence of the positional relationship of the vehicle 11 and electric pole 13 by automatically moving the moving mechanism 12 to the target position for the work. As a result, since the moving mechanism can be automatically operated to the target position for the work stored previously, efficiency of robot moving work can be improved.

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 used for, for example, distribution line work.

[0002]

2. Description of the Related Art A remote-controlled robot is used in place of manual work because it is dangerous in active work on a distribution line and work at high places.

This work robot is attached to the tip of a moving mechanism section called a boom which is usually provided on a movable vehicle, and the operator can see the image of a television camera attached to the naked eye or the tip of the moving mechanism section. While confirming, the operation mechanism is operated to move the work robot to the utility pole, which is a work target, and work is performed on the utility pole or the distribution line.

In the master-slave type manipulator used for the above-mentioned work robot, when the follow-up ratio of the slave arm to the master arm is constant, when the work object is far, and when the hand of the slave arm is brought close, a large movement is made. When doing, make the master arm bigger,
Further, when performing a fine operation such as performing work on a work target with a tool provided on the hand of the slave arm, it is necessary to finely operate the master arm.

There is also a master-slave manipulator in which the follow-up ratio of the slave arm to the master arm can be manually set, but the operator had to set the follow-up ratio according to the work content.

FIG. 21 is a functional block diagram for explaining the structure of this type of master-slave manipulator.

First, when an operator operates the master arm, a speed command signal is output to each motor 1 of each axis of the master arm attached to each axis of the master arm, and a master arm position detector attached to each axis of the master arm is output. The position of the master arm is detected by 2.

The position data of the master arm detected by the master arm position detector 2 is supplied to the master arm tip position calculating means 3.

The master arm tip position calculating means 3 calculates the master arm tip position based on the master arm position supplied from the master arm position detector 2.

The master arm tip position data calculated by the master arm tip position calculating means 3 is supplied to the coordinate converting means 4.

The coordinate conversion means 4 performs coordinate conversion of the master arm hand end position data supplied from the master arm hand end position calculation means 3 into the coordinate system of the slave arm, and manually sets the tracking ratio hand end position data. Supply to means 5.

The following ratio manual setting means 5 is a coordinate conversion means 4
The slave arm target position is calculated by multiplying the supplied master arm hand position data by the tracking ratio set by the tracking ratio manual setting means 5.

On the other hand, the slave arm position detector 6 attached to each axis of the slave arm detects the slave arm position and supplies it as slave arm position data to the slave arm hand position calculating means 7.

The slave arm tip position calculating means 7 calculates slave arm tip position data from the slave arm position data supplied from the slave arm position detector 6.

Then, the slave arm target position supplied from the follow-up ratio manual setting means 5 and the slave arm tip position data supplied from the slave arm tip position calculating means 7 are compared to obtain a position deviation, and a speed command computing means 8 is provided. Supply to.

The speed command calculating means 8 generates a speed command for the hand of the slave arm from the position deviation and supplies it to the speed command decomposing means 8.

The speed command decomposition means 8 decomposes the supplied speed command into each axis of the slave arm and outputs the speed command to each axis motor 9 of the slave arm to drive each axis motor 9 of the slave arm.

Generally, a remote-controlled master-slave in which a master arm and a slave arm are provided separately from each other.
In the manipulator, the operator receives the image from the camera installed near the slave arm on the monitor and operates the master arm while observing the image on the monitor.

In general, the position, posture, and magnification of this camera can be adjusted by remote control in order to obtain an appropriate image field. However, in the final stage of the approach in which the slave arm approaches the work object, the work object part is Is behind the hand of the slave arm, so temporarily interrupt the operation of the master arm,
It is necessary to move the camera to a position where the work target can be seen.

Of course, it is possible to predetermine the camera position in consideration of the approaching direction of the slave arm, but since the camera position is not always suitable at all stages of the work, adjustment of the camera position is generally necessary. Become.

[0021]

In the remote-controlled robot having the above-described structure, when the work object is to be worked, the contact between the utility pole or the distribution line and the work robot is accurate with the naked eye of the worker. I could not confirm.

Further, since it is difficult to understand the sense of distance from the image of the TV camera and it is possible to confirm only a limited range, it is difficult to move the work robot to the work position, and the work efficiency is lowered. There are drawbacks such as the risk of the robot coming into contact and being damaged.

Further, since the moving mechanism unit itself is provided in a movable vehicle, the relative position between the vehicle and the electric pole cannot be defined, and the moving mechanism unit is used in the automatic operation function using only the position information of the moving mechanism unit. Alternatively, there is a risk of contact between the work robot and the power pole.

Further, the master arm is made large when performing a large motion such as bringing the hand of the slave arm closer to a distant work object, and the master arm is finely operated when performing work on the work object. However, there is a drawback in that the burden on the operator is heavy.

When the master-slave manipulator is remotely operated while watching the image of the camera, the slave arm operation amount on the monitor with respect to the same master arm operation amount changes depending on the camera magnification. However, there is also a drawback that the operability is reduced.

Even when the follow-up ratio of the slave arm to the master arm can be manually changed, in order to perform this operation, the operator must set the follow-up ratio in accordance with the work content and the camera magnification. Has the drawback of being complicated.

Further, in order to prevent the hand of the slave arm from hiding the work target part from the line of sight of the camera at the stage where the hand of the slave arm approaches or contacts the work target, the operation of the master arm is interrupted and the camera is stopped. There is a drawback in that the operation becomes complicated because the operation of changing the position and the posture of must be performed.

In this case, it is possible to select the camera position in advance so that the slave arm hand does not hide the work target part. However, when a stereoscopic camera is used at such a camera position, the approaching step in the middle of the process may be performed. In many cases, the image at is not suitable for the operation, which deteriorates the operability, and it is difficult to set the camera position where the slave arm hand does not hide the work target portion at all stages of the work.

The present invention has been made in view of the above circumstances, and a first object thereof is to provide a remote control robot having improved operability.

A second object of the present invention is to improve the efficiency of the robot moving work by measuring the relative position between the work robot and the work object and automatically operating the moving mechanism section based on this. It is an object of the present invention to provide a remote control robot that can be designed.

Further, a third object of the present invention is to provide a remote control robot capable of avoiding the interference between the work robot and the work object by restricting the operation of the moving mechanism section at the relative position to the work object. With the goal.

Further, a fourth object of the present invention is to measure the relative position of the work manipulator and the work object, and based on this, display the work status by computer graphic, and improve the efficiency of the remote control robot moving work. An object of the present invention is to provide a remote control robot that can be improved.

Further, a fifth object of the present invention is to provide a remote control robot capable of notifying the worker of the interference between the working manipulator and the moving mechanism and the electric pole in advance and avoiding the risk of the interference. .

Further, a sixth object of the present invention is to automatically set a large follow-up ratio of the slave arm to the master arm until the slave arm tip portion touches the work object, and the slave arm hand portion is set to the work object. Provide a remote control robot that can finely operate the slave arm without changing the master arm operation amount of the operator by providing a means to automatically set the follow-up ratio of the slave arm to the master arm when touching The purpose is to do.

Further, a seventh object of the present invention is to provide a remote control robot in which the operation amount of the slave arm tip portion on the monitor with respect to the same master arm operation amount is automatically constant regardless of the magnification of the camera. The purpose is to do.

Further, an eighth object of the present invention is that, when the slave arm hand end portion approaches the work target object and tries to hide the work target part from the line of sight of the camera, the position is automatically set to avoid this. Provide a remote-controlled robot that can prevent the work target part from being hidden by the slave arm hand part on the monitor image by moving the camera to another camera or switching the image to another camera provided on the slave arm hand part. The purpose is to

[0037]

In order to achieve the above object, first, a remote control robot of the invention according to claim 1 is
The vehicle is provided with a movable mechanism section that is rotatable and expandable and retractable provided on a vehicle whose base side is movable, and a work robot body that is attached to the distal side of the movable mechanism section and that performs work on a work target. In the remote control robot, the relative position measuring means for measuring the relative position of the work robot main body with respect to the work target, and the work robot main body at the optimum position for performing work on the work target. When moving, the storage means for storing the relative position measured by the relative position measuring means, and the relative position of the work robot body stored in the storage means with respect to the work target are set to the relative position with respect to the vehicle. Coordinate conversion means for performing coordinate conversion, and the movement so that the work robot body is automatically moved to the relative position obtained by the coordinate conversion means. Driving means for driving the 構部, characterized by comprising a.

Further, the remote control robot according to the second aspect of the present invention is such that the base end side of the vehicle is movable and can be extended and retracted, and the movable mechanism part is attached to the front end side of the movable mechanism part. A work robot body for performing work on a work object, a relative position measuring means for measuring a relative position of the work robot body with respect to the work object, and the work robot. Storage means for storing the relative position measured by the relative position measuring means when the main body moves to a position most suitable for performing work on the work target;
Coordinate conversion means for converting the relative position of the work robot main body stored in the storage means to the relative position with respect to the vehicle, and the work robot at the relative position obtained by the coordinate conversion means. Drive means for driving the moving mechanism so as to automatically move the main body, and operation restriction range setting means for setting an operation restriction range of the work robot main body with respect to the work target;
A control means for controlling the movement range of the work robot main body by the driving means so as to be out of the movement regulation range set by the movement regulation range setting means.

Further, a remote control robot according to a third aspect of the present invention is provided with a rotating and retractable moving mechanism portion provided on a vehicle whose base end side is movable, and attached to the front end side of this moving mechanism portion. A work robot body for performing work on a work object, a relative position measuring means for measuring a relative position of the work robot body with respect to the work object, and the work robot. Position detecting means for detecting the position of the main body and the moving position of the moving mechanism section, first storing means for storing a predetermined shape of the work object, and the moving mechanism section and the working robot main body Second storage means for storing a shape, input means for inputting a viewpoint, direction, and angle of view of a desired image; and a shape stored by the second storage means,
First image generation means for generating an image of the input viewpoint, direction, and angle of view based on the position detected by the position detection means and the viewpoint, direction, and angle of view input by the input means; The shape of the work object stored by the first storage means, the relative position detected by the relative position measurement means, the shape stored by the first storage means, and the viewpoint input by the input means. Second, which generates an image of the input viewpoint, direction, and angle of view based on the direction and angle of view
An image synthesizing unit for synthesizing the images output from the first image generating unit and the second image generating unit based on the relative position detected by the image generating unit and the relative position measuring unit, and the image synthesizing unit. Image display means for displaying the composite image obtained by the means.

Further, a remote control robot according to a fourth aspect of the present invention is the remote control robot according to the third aspect.
The work object in the composite image obtained by the image composition means, an interval calculation means for calculating an interval between the work robot and the movement mechanism section, and an interval obtained by the interval calculation means. When the value is below a certain value,
Message display means for displaying a message indicating that the work object and the work robot main body or the moving mechanism section interfere with each other in the composite image is provided.

Further, a remote control robot according to a fifth aspect of the present invention is provided in a vehicle whose base end side is movable, and has a rotating and retractable moving mechanism portion and a distal end side of this moving mechanism portion. In a remote control robot comprising a work robot main body for performing work on an object, a slave arm provided on the work robot for performing operation on the work object, and operation of the slave arm. The master arm to be performed, a force sensor attached to the slave arm, an external force calculating means for calculating a force acting on the force sensor from the outside, and the external force calculating means for the master arm based on the force calculated by the external force calculating means. The follow-up ratio setting means for automatically setting the follow-up ratio of the slave arm and the follow-up ratio set by this follow-up ratio setting means Driving means for driving the serial slave arm, characterized by comprising a.

Further, a remote control robot according to a sixth aspect of the present invention is provided in a vehicle whose base end side is movable, and has a rotating and retractable moving mechanism portion and a distal end side of this moving mechanism portion. In a remote control robot comprising a work robot main body for performing work on an object, a slave arm provided on the work robot main body for performing work on the work object, and a hand of the slave arm. Slave arm hand position detecting means for detecting a position, a master arm for operating the slave arm, an image pickup means installed near the slave arm for picking up an image of the work target, and a magnification for detecting the magnification of the image pickup means. A detecting means; an image field calculating means for calculating the image field of the image pickup means; and the sled within the image field calculated by the image field calculating means. When the hand position of the slave arm obtained by the arm hand position detecting means exists, the follow-up ratio of the slave arm to the master arm, which is inversely proportional to the magnification of the image pickup means detected by the magnification detecting means, is automatically set. A follow-up ratio setting means for setting and a drive means for driving the slave arm so that the follow-up ratio set by the follow-up ratio setting means are provided.

Furthermore, the remote control robot of the invention according to claim 7 is provided in a vehicle whose base end side is movable, and is mounted on the tip end side of this moving mechanism part and a moving mechanism part which is rotatable and expandable. In a remote control robot comprising a work robot main body for performing work on an object, a slave arm provided on the work robot main body for performing work on the work object, and a hand of the slave arm. Slave arm hand position detecting means for detecting a position, slave arm hand movement vector calculating means for calculating a hand movement vector of the slave arm, a master arm for operating the slave arm, and a slave arm installed near the slave arm. An image capturing means for capturing an image of the work object; an image field calculating means for calculating an image field of the image capturing means; Work target position detection means for detecting the position of the target object, the image field calculated by the image field calculation means, the hand position of the slave arm calculated by the slave arm hand position detection means, the slave arm hand movement vector Based on the movement vector of the hand of the slave arm calculated by the calculation means, when the overlap of the hand position of the work object and the hand of the slave arm is calculated in the field of view, the imaging means of the hand of the slave arm of the slave arm An avoidance position that automatically calculates a posture in which the avoidance position and the relative position of the work object in the field of view are kept at substantially the same position as before the avoidance by the imaging unit.
The present invention is characterized by including an attitude calculation means and a drive means for driving the image pickup means so that the avoidance position / attitude of the image pickup means calculated by the avoidance position / attitude calculation means.

Further, a remote control robot according to an eighth aspect of the present invention is provided on a vehicle whose base end side is movable, and has a rotating and retractable moving mechanism section and a distal end side of this moving mechanism section. In a remote control robot comprising a work robot main body for performing work on an object, a slave arm provided on the work robot main body for performing work on the work object, and a hand of the slave arm. A slave arm tip position calculating means for calculating a position, an image pickup means installed near the slave arm and showing the work object, a slave arm tip image pickup means provided at the hand of the slave arm, and an image of the image pickup means. The image field calculating means for calculating the field, the work object position detecting means for calculating the position of the work object, and the image field calculating means. The work in the field is based on the calculated field, the work target position calculated by the work target position calculation means, and the hand position of the slave arm calculated by the slave arm hand position calculation means. When the overlap between the object and the hand position of the slave arm is calculated, switching means for switching the image of the imaging means to the image of the slave arm hand imaging means, and the slave arm hand imaging means switched by the switching means And a monitor for displaying the image of.

[0045]

Therefore, in the remote control robot according to the first aspect of the invention, the relative position of the work robot from the work object is stored when the work robot moves to the optimum position for performing the work. A coordinate system for converting the relative position from the work object stored in the storage unit into a relative position from the vehicle, and driving the work robot to move the work robot to the coordinate-converted position. Since the robot automatically moves, the operator does not need to operate the moving mechanism, and the efficiency of the robot moving work can be improved.

Further, in the remote controlled robot according to the second aspect of the invention, the control for moving the work robot is automatically performed so as to be out of the operation restriction range set by the operation restriction range setting means. Therefore, there is no risk of interference between the work robot and utility poles, distribution lines, equipment, etc.
The burden on the operator can be reduced and the work efficiency of the remote control robot is improved.

Further, in the remote controlled robot according to the third aspect of the invention, based on the viewpoint / direction / angle of view data of the image desired by the operator, which is input by the input means,
The composite image of the moving mechanism, work robot, and work target can be displayed in real time at any angle from the arbitrary viewpoint by computer graphic, so that the worker can easily grasp the work situation. It is possible to improve work efficiency.

Further, in the remote controlled robot of the invention according to claim 4, in the remote controlled robot according to claim 3, the work object and the work in the combined image obtained by the image combining means by the interval calculation means The distance between the robot and the moving mechanism section is calculated, and when the distance is less than or equal to a predetermined value, the message display means displays a predetermined message in the composite image. The risk of contact can be avoided.

Further, in the remote controlled robot of the invention according to claim 5, the follow-up ratio setting means automatically sets the follow-up ratio of the slave arm to the master arm based on the force calculated by the external force calculation means, Since the slave arm is driven by the drive unit at the tracking ratio set by the tracking ratio setting means, the slave arm can be finely operated without changing the master arm operation amount of the operator, and as a result, the operability is improved. A remote control robot can be provided.

Further, in the remote-controlled robot of the invention according to claim 6, when the hand position of the slave arm determined by the slave arm hand position detecting means exists in the field calculated by the field calculating means, Since the follow-up ratio setting means automatically sets the follow-up ratio of the slave arm to the master arm so that the follow-up ratio of the slave arm to the master arm is inversely proportional to the magnification of the image pickup means detected by the magnification detection means, the slave on the monitor for the same master arm operation amount. The movement amount of the arm can be kept constant regardless of the change in magnification.

Further, in the remote-controlled robot of the invention according to claim 7, when the overlapping of the work object and the hand end position of the slave arm is calculated in the image field of the image pick-up means, the image pick-up means for the hand part of the slave arm is calculated. Since the avoidance position / posture calculation means automatically calculates a posture in which the avoidance position and the relative position of the work target in the field of view in the same manner as before the image pickup means avoids, the operator can operate the master arm. It is possible to secure the image of the work target portion on the monitor screen without a complicated operation of interrupting and correcting the position of the image pickup means.

Further, in the remote-controlled robot of the invention according to claim 8, when the overlap of the hand object position of the work object and the hand of the slave arm is calculated in the field of view of the image pickup means, the switching means causes the image pickup means to move. Since the image is switched to the image of the slave arm hand image pickup means, a close image of the slave arm hand and the work target portion suitable for work is automatically displayed on the monitor.

[0053]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The first to seventh embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment> In the first embodiment of the present invention, as shown in FIG. 2, a remote operation is possible in which the work robot can be automatically moved from the current position 14 to the work target position 15. Think of a robot.

FIG. 1 and FIG. 2 are diagrams showing a schematic configuration of a remote control robot for performing power distribution work.

As shown in FIGS. 1 and 2, a rotating and retractable moving mechanism section 12 is mounted on the vehicle 11. One end of this moving mechanism section 12 is remotely operated by an operator. By performing the
A work robot 14 for performing work is attached to.

Next, the automatic movement of the work robot 14 will be described with reference to FIGS.

First, as shown in FIG. 3, when the work is started, the moving mechanism section 12 is operated to move the work robot 14 to the utility pole 13.
The position of a point on the telephone pole, which is defined in advance, is measured from the work robot 14 by approaching the work place.

This value is set as the electric pole coordinate robot position 16 and
From this value and the work robot position 17 on the vehicle coordinates obtained from each axis position of the moving mechanism section 12 at that time, the vehicle / electric pole relative position 20 which is the positional relationship between the telephone pole coordinate origin 18 and the vehicle coordinate origin 19 is obtained. .

In the subsequent operation of the moving mechanism unit 12, the utility pole coordinate robot position 16 is calculated from the vehicle / electric pole relative position 20 and the vehicle coordinate robot position 17 obtained from the axial positions of the moving mechanism unit.

When the work robot 14 moves to the optimum position for each unit work, the telephone pole coordinate robot position 16 is stored as a telephone pole coordinate teaching position.

As shown in FIG. 4, when the work is performed in a state in which the position of the vehicle 11 is different, similarly, the vehicle / electric pole relative position 20 is obtained at the start of the work, and the electric pole coordinate teaching position 21 is converted into the vehicle coordinate system. The determined vehicle coordinate teaching position 22 is obtained.

With respect to this position, the movement mechanism section 12 is automatically moved from the current position 14 to the work target position, so that the movement mechanism section 12 is not affected by the positional relationship between the vehicle 11 and the electric pole 13. Is performed.

FIG. 5 is a functional block diagram showing the structure of the control system of the remote control robot for performing the power distribution work according to the first embodiment of the present invention.

A work robot position detector 31 for detecting the position of the work robot is provided on each joint axis of the work robot.
Is provided on the output side of the work robot position detector 31, and a hand position calculator 32 for calculating the hand position of the work robot based on the work robot position signal supplied from the work robot position detector 31. Is provided.

On the other hand, the moving mechanism section is provided with a moving mechanism section position detector 33 for obtaining a position signal of each joint axis of the moving mechanism section. The output side of this moving mechanism section position detector 33 is A moving mechanism tip position calculator 34 for determining the position of the tip of the moving mechanism portion based on the position signal from the moving mechanism portion position detector 33 is provided.

On the output side of the hand position calculator 32 and the moving mechanism tip position calculator 34, the hand robot hand position signal supplied from the hand position calculator 32 and the movement mechanism tip position calculator 34 are supplied in common. A vehicle / telephone pole relative position calculator 35 is provided for calculating the relative position between the vehicle and the telephone pole based on the movement mechanism section tip position signal supplied from the vehicle.

The relative position measuring means is composed of a work robot position detector 31, a hand position calculator 32, a moving mechanism position detector 33, a moving mechanism tip position calculator 34, and a vehicle / electric pole relative position calculator 35. To be done.

Further, on the output side of the moving mechanism tip position calculator 34, the utility pole coordinate position calculating / storing device 36 for calculating and storing the coordinate position of the moving mechanism section in the utility pole coordinates and the velocity vector of the tip of the moving mechanism section are stored. A linear interpolation calculator 38 for determining is provided.

The output side of the vehicle / telephone pole relative position calculator 35 is provided with a telephone pole coordinate position calculator / store 36 and a vehicle coordinate position calculator 37 for calculating and storing the coordinate position of the moving mechanism portion in vehicle coordinates. A linear interpolation calculator 38 is provided on the output side of the vehicle coordinate position calculator 37.

On the output side of the linear interpolation calculator 38, each axis speed calculator for calculating the speed of each joint shaft of the moving mechanism based on the speed vector of the tip of the moving mechanism output from the linear interpolation calculator 38. 39 is provided, and a moving mechanism driving device 40 for driving the moving mechanism is provided on the output side of each shaft speed adjuster 39.

Next, the operation of the remote controlled robot configured as described above will be described.

First, at the start of work, as shown in FIG.
The work robot is operated to touch the prescribed two points of the electric pole 42 with the hand 41 of the work robot, and the work obtained from the work robot position detector 31 provided on each joint axis of each work robot at this time. From the robot position,
The hand position calculator 32 calculates the hand position of the work robot.

Here, regarding the position of the hand of the work robot, when the coordinate conversion matrix of the rotation axis i is represented by Ai and the coordinate conversion matrix of the parallel movement axis J is represented by Lj, the coordinate conversion from the coordinate origin 43 of the work robot to the hand is performed. matrix Bm is be expressed as _{B m = a 1 a 2 ···} a m L 1 a m + 1 ··· a n L 2 = 1 Am L 1 m + 1 a n L 2 ... (1) As a result, as shown in FIG. 6, the position vector P1 of the point 1 and the position vector P2 of the point 2 viewed from the coordinate origin 43 of the work robot are obtained.

From this value, the angle θ m of the electric pole viewed from the origin of the work robot coordinates is obtained by Q _m = P ₁ -P ₂ (2) θ _m = tan ⁻¹ (Q _y / Q _x ) ... (3)

At this time, the tip end position of the moving mechanism section is obtained from the position signal of each joint axis of the moving mechanism section obtained by the moving mechanism section position detector 33 by the moving mechanism tip position calculator 34 in a coordinate conversion matrix.

The position Pw of the tip of the moving mechanism viewed from the origin of the vehicle coordinates and the position P of the utility pole viewed from the origin of the vehicle coordinates by the vehicle / telephone relative position calculator 35 based on the above P1 and θm.
t and the angle θt are obtained.

This value is held by the vehicle / telephone pole relative position calculator 35, and after the movement mechanism section has been moved to the optimum position of the work robot for each unit work, the tip position is obtained by the movement mechanism tip position detector 34. Telephone pole coordinate position calculation / memory 3
6, the teaching position in the utility pole coordinates is calculated from these values and stored.

At the time of reproduction, in the vehicle coordinate position calculator 37, based on the relative position data of the vehicle and the electric pole supplied from the vehicle / electric pole relative position calculator 35, the taught position in the stored electric pole coordinates is used as the vehicle coordinate. The system is converted into a system and the linear interpolation calculator 38 obtains the velocity vector of the tip so that the current tip position obtained from the movement mechanism tip position calculator 34 can be operated by linear interpolation from this position to this position. The speed of each shaft is converted by each shaft speed adjuster 34 and supplied to the moving mechanism driving device 40 to drive the moving mechanism.

Therefore, according to the remote control robot according to the first embodiment of the present invention, the work target position stored in advance is measured by measuring the relative position between the work object and the work robot at the start of work. Since the moving mechanism can be automatically operated, the worker does not need to operate the moving mechanism, and the efficiency of the robot moving work can be improved.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to the drawings.

That is, in the remote control robot according to the second embodiment of the present invention, there is a risk that the working robot may come into contact with the utility pole, the utility pole, or the equipment installed on the utility pole when the moving mechanism operates. Is calculated in the vehicle coordinate system, and this is set as a regulation range 52 for the telephone pole (work target) 51 as shown in FIG. 7, and the movement mechanism unit is controlled so that the surface of the range is smoothed when the movement mechanism unit operates. The feature is to prevent damage to utility poles, distribution lines or equipment.

FIG. 8 is a functional block diagram showing the configuration of the control system of the remote control robot according to the second embodiment of the present invention.

The same parts as those in FIG. 5 are designated by the same reference numerals, and the description thereof will be omitted. Here, only different parts will be described.

That is, in the remote control robot according to the second embodiment of the present invention, the utility pole coordinate position calculating / storing device 36, the vehicle coordinate position calculating device 37, and the linear interpolation calculating device 38.
Instead of the regulation range setting device 61, the vehicle coordinate range calculation device 6
2. An operating device 63 and a tip speed calculator 64 are provided.

The restriction range setting device 61 sets the operation restriction range of the moving mechanism section of the electric pole coordinate system. The output side of the restriction range setting device 61 is the vehicle coordinate range calculator 62.
Is provided.

On the input side of the vehicle coordinate range calculator 62, a vehicle / electric pole relative position detector 35 is provided in addition to the regulation range setter 61, and on the output side thereof, the tip speed of the moving mechanism section is set. A tip speed calculator 64 for calculating is calculated.

On the input side of the tip speed calculator 64, in addition to the vehicle coordinate range calculator 62, a moving mechanism tip position calculator 34 and an operating device 63 for calculating the tip position of the moving mechanism portion.
Is provided, and on the output side of the tip speed calculator 64, each axis speed adjuster 39 for calculating the speed of each joint axis of the moving mechanism section is provided.

Next, the second aspect of the present invention configured as described above.
The operation of the remote control robot according to the embodiment will be described.

First, the restriction range setting unit 61 sets the operation restriction range of the moving mechanism set in the telephone pole coordinate system, and outputs it to the vehicle coordinate range calculator 62.

The vehicle coordinate range calculator 62 converts the operation restriction range of the moving mechanism set by the utility pole coordinate system supplied from the restriction range setter 61 into the operation restriction range of the vehicle coordinate system to calculate the tip speed calculator. To 64.

The tip speed calculator 64 is a movement mechanism tip position calculator 34 for the operation regulation range converted to the vehicle coordinate system.
The current tip position obtained from the above is compared, and if it is within the regulation range, the velocity component of the tip of the moving mechanism that goes from the regulation surface with the shortest distance to the inside of the range is calculated based on the signal from the operation unit 63. The speed vector calculated in 64 is deleted.

The deletion of the velocity vector at the tip of the moving mechanism will be described below.

As shown in FIG. 9, each boundary surface 7 of the regulation range
When the tip of the moving mechanism portion is located at a point a or b outside the position 1, the velocity vectors va and vb are directly output to each axis velocity adjuster 39.

When the tip position reaches the boundary surface during the operation like point c, the directional component vc ″ within the regulation range of the boundary surface normal of the velocity vector is deleted.

As a result, the velocity component at the leading end of the moving mechanism becomes only the velocity component along the boundary surface of the movement regulation range, and this is output to each axis velocity adjuster 39.

Then, the speed vector is converted into the speed of each axis of the moving mechanism section by each axis speed adjuster 39 and is output to the moving mechanism section drive device 40 to drive the moving mechanism section.

That is, when the tip of the moving mechanism is moved into the regulation range, the above-mentioned action traces the surface of the regulation range.

Therefore, according to the remote-controlled robot according to the second embodiment of the present invention, by measuring the relative positions of the work object and the work robot at the start of work, the moving mechanism can be moved at the relative position with respect to the work object. By controlling the movement of the parts, it is possible to automatically avoid the interference between the work robot and the work target, so even if the worker operates the movement mechanism part without paying special attention, There is no risk of interference with distribution lines, equipment, etc., which can reduce the burden on workers and improve work efficiency.

<Third Embodiment> Next, a remote control robot according to a third embodiment of the present invention will be described with reference to the drawings.

FIG. 10 is a functional block diagram showing the configuration of the control system of the remote control robot according to the third embodiment of the present invention, taking the power distribution work as an example.

As shown in the figure, the manipulator / moving mechanism position detector 81 for detecting the positions of the manipulator and the moving mechanism attached to the work robot, and the manipulator / moving mechanism shape for storing the shape data of the manipulator and the moving mechanism. On the output side of the data storage device 82, a manipulator / movement mechanism image generation unit 83 for generating images of the manipulator and the movement mechanism is provided.

On the other hand, on the output side of the utility pole / equipment shape data storage device 84 for storing the shape of the utility pole / equipment as the work object and the relative position calculation unit 85 for calculating the relative position data between the manipulator and the utility pole, An electric pole / equipment image generation unit 86 for generating an image of an electric pole / equipment that is an object is provided.

Further, on the input side of the manipulator / moving mechanism image generating section 83 and the electric pole / equipment image generating section 86, the viewpoint / direction / view angle of the image desired by the operator is input. A corner input device 87 is provided.

Then, on the output side of the manipulator / movement mechanism image generation unit 83 and the electric pole / equipment image generation unit 86,
An image synthesis interference detection unit 86 for detecting interference between the image of the manipulator / movement mechanism supplied from the manipulator / movement mechanism image generation unit 83 and the electric pole / equipment image supplied from the electric pole / equipment image generation unit 86 is provided. ing.

On the input side of the image synthesis interference detection unit 86, in addition to the manipulator / movement mechanism image generation unit 83 and the electric pole / equipment image generation unit 86, a relative position for calculating the relative position of the work object and the work robot is calculated. A position calculation unit 85 is provided, an output side is provided with an image memory 87 for writing the combined image, and an output side of the image memory 88 is provided for displaying the written image. An image display 89 is provided.

Next, the third aspect of the present invention configured as described above
The operation of the remote control robot according to the embodiment will be described.

First, the position data of each axis of the manipulator / moving mechanism supplied from the manipulator / moving mechanism position detector 81, and each data regarding the shape of the manipulator / moving mechanism from the manipulator / moving mechanism shape data memory 82. An image of the manipulator and the moving mechanism is generated by the manipulator / moving mechanism image generating unit 83 based on each data supplied from the viewpoint / direction / angle of view input device 87.

On the other hand, the relative position data between the manipulator and the electric pole calculated by the relative position calculation unit 85, each data regarding the shape of the manipulator and the electric pole supplied from the electric pole / equipment shape data storage 84, and the viewpoint / direction. An image of a utility pole and equipment is generated by the utility pole / equipment image generation unit 86 based on each data supplied from the angle of view input device 7.

The respective images generated by the manipulator / moving mechanism image generation unit 83 and the electric pole / equipment image generation unit 86 are imaged based on the relative position data of the manipulator and electric pole supplied from the relative position calculation unit 85. The synthesizing / interference detecting unit 86 performs synthesizing, checks the interference between the electric pole / equipment and the manipulator / moving mechanism, and when the interval is less than a certain value, an alarm display of the interference is added to the image and then written in the image memory 88.

The image written in the image memory 88 is displayed on the image display 89.

The relative position data between the manipulator and the electric pole supplied from the relative position calculation unit 85 is the above-mentioned first position data.
As described in the example of, the worker operates the moving mechanism at the start of work to bring the work manipulator close to the work location of the utility pole, and operates the manipulator at the predetermined position of the point on the utility pole by hand. By touching, the relative position of the electric pole / manipulator is measured, and with this measured value,
From the vehicle coordinate manipulator position obtained from each axis position of the moving mechanism at that time, the vehicle / electric pole relative position, which is the positional relationship between the electric pole coordinate origin and the vehicle coordinate origin, is obtained.

When the moving mechanism is operated thereafter, this vehicle
From the vehicle coordinate manipulator position obtained from the electric pole relative position and each axis position of the moving mechanism, the electric pole / manipulator relative position is calculated from the relative position calculation unit 85.

Therefore, in the remote-controlled robot according to the third embodiment of the present invention, the states of the moving mechanism, the manipulator and the work target are displayed in real time from an arbitrary viewpoint and an arbitrary angle of view by computer graphics. Therefore, the worker can easily grasp the work situation, and as a result, the work efficiency can be improved.

Further, since the interference between the manipulator and the moving mechanism and the electric pole can be detected from the image data on the computer graphic, the danger during the work can be avoided.

<Fourth Embodiment> FIG. 11 shows a fourth embodiment of the present invention.
3 is a functional block diagram illustrating a configuration of a control system of the remote control robot according to the embodiment of FIG. The same parts as those in FIG. 21 are designated by the same reference numerals, the description thereof will be omitted, and different parts will be described here.

That is, as shown in FIG. 11, the remote control robot according to the fourth embodiment of the present invention is provided with a follow-up ratio automatic setting means 91 instead of the follow-up ratio manual setting means 5 and has the above-mentioned configuration. In addition, a force sensor 92 for detecting an external force applied to the slave arm, and an external force calculating means 93 connected to the output side of the force sensor 92 and calculating the external force applied to the slave arm from the output of the force sensor 92 are provided. ing.

On the output side of the external force calculating means 93, there is provided a follow-up ratio automatic setting means 91 for automatically setting the follow-up ratio by the calculated external force.

Next, the operation of the remote control robot according to the fourth embodiment of the present invention constructed as described above will be explained.

First, when the operator operates the master arm, a speed command signal is output to each motor 1 of each axis of the master arm attached to each axis of the master arm, and a position detector of the master arm attached to each axis of the master arm is output. The position of the master arm is detected by 2.

The position data of the master arm detected by the master arm position detector 2 is supplied to the master arm hand position calculating means 3.

The master arm tip position calculating means 3 calculates the master arm tip position based on the master arm position data supplied from the master arm position detector 2.

The master arm hand end position data calculated by the master arm hand end position calculating means 3 is supplied to the coordinate converting means 4.

The coordinate conversion means 4 performs coordinate conversion of the master arm hand end position data supplied from the master arm hand end position calculation means 3 into the coordinate system of the slave arm, and the hand end position after the coordinate conversion is set to the tracking ratio manual setting means. Supply to 5.

The follow-up ratio manual setting means 5 is the coordinate conversion means 4
The slave arm target position is calculated by multiplying the supplied master arm tip position data by the tracking ratio set by the tracking manual setting means 5.

On the other hand, the slave arm tip position calculating means 7 calculates the slave arm tip position based on the slave arm position data detected by the slave arm position detector 6 attached to each axis of the slave arm.

Then, the slave arm target position supplied from the follow-up ratio automatic setting means 91 and the slave arm hand position supplied from the slave arm tip position calculating means 7 are compared to obtain a position deviation, and the speed command calculating means 9 is obtained. Supply to.

The speed command computing means 8 generates a speed command for the hand of the slave arm from the position deviation and supplies it to the speed command decomposing means 9.

The speed command decomposition means 9 decomposes the supplied speed command into each axis of the slave arm, outputs the speed command to each axis motor 10 of the slave arm, and drives each axis motor 9 of the slave arm.

Here, the external force calculating means 93 always calculates the external force applied to the slave arm from the output of the force sensor 92.

When the slave arm approaches the work object and touches the work object, it is detected that an external force acts on the force sensor 92, and the external force calculated by the external force calculating means 93 is applied to the tracking ratio automatic setting means 91. Supplied.

The following ratio automatic setting means 91 automatically sets the following ratio to a small value based on the external force calculated by the external force calculating means 93.

FIG. 12 is a conceptual diagram for explaining the operation of the remote control robot according to the fourth embodiment of the present invention.

As shown in the figure, when the master arm 95 is operated by the operation amount x, the slave arm 96 is operated by the operation amount x '.

As described above, when the external force calculated by the external force calculating means 93 is supplied to the following ratio automatic setting means 91, the following ratio automatic setting means 91 causes the slave arm 96.
Of the master arm 95 is small, for example,
Set to 1 / n (n: arbitrary constant).

At this time, assuming that the operation amount of the master arm 95 is x, as shown in the figure, the operation amount of the slave arm 96 is reduced to x '/ n, and the slave arm 96 can be finely operated.

FIG. 13 shows an example in which the remote control robot according to the fourth embodiment of the present invention is used as a manipulator for power distribution work.

As shown in the figure, the manipulator 101 for electric power distribution work includes a slave arm 105 having a force sensor 104 at the tip of a boom 103 placed on a vehicle 102.
And a camera 106 having a direction adjusting mechanism.

Further, a master arm and a monitor are mounted in the vehicle 102.

The manipulator is a master structure manipulator of different structure, which is a remote-controlled master-slave manipulator system in which the operator operates the master arm while watching the image on the monitor and operates the slave arm.

Therefore, according to the remote control robot according to the fourth embodiment of the present invention, the slave arm tip portion 105.
Set the slave arm's follow-up ratio to the master arm automatically until touches the work object, and when the slave arm's hand touches the work object, the slave arm's follow-up ratio to the master arm is automatically set. Since it can be set to a small value, the slave arm can be finely operated without changing the master arm operation amount of the operator, and as a result, it is possible to provide a remote control robot with improved operability.

<Fifth Embodiment> In this embodiment, the follow-up ratio is set not by the value of the force sensor as in the fourth embodiment, but by the value of the force sensor.
This is done by using the magnification and field of view of the camera attached to the remote controlled robot.

FIG. 14 is a functional block diagram for explaining the configuration of the remote control robot according to the fifth embodiment of the present invention. The same parts as those in FIG. 21 are designated by the same reference numerals and the description thereof will be omitted. Here, only different parts will be described.

That is, the remote control robot of the present invention is
As shown in FIG. 14, in addition to the configuration described above, a camera 11 for displaying a work object, a slave arm, and a moving mechanism, and a camera 1 attached to the camera 111 are provided.
A camera position detector 112 for detecting the position of the camera 11 and a camera magnification detector 113 for detecting the magnification of the camera 111 are provided.

Then, the field of the camera 111 is calculated based on the camera position supplied from the camera position detector 112, the magnification of the camera 111 detected by the camera magnification detector 113, and the angle of view of the camera 111. Thus, the camera field calculation means 114 for supplying the tracking ratio automatic setting means 5 is provided.

Next, the operation of the remote control robot according to the fifth embodiment of the present invention constructed as described above will be explained.

First, the camera position detector 112 and the camera magnification detector 113 attached to the camera 111 detect the position and magnification of the camera, and based on these values and the angle of view of the camera 111, the camera field calculation means 114. Calculate the field of view of the camera.

The basic formula for calculating the field of view of the camera is as follows.

First, the angle of view of the camera 111 is calculated. FIG. 15 is a simplified representation of the relationship between the lens, the focal plane, and the angle of view. The following equation is obtained from FIG.

Θ _W = 2 × tan-1 {(W _O / 2 × α) / nf _O } (4) θ _H = 2 × tan-1 {(H _O / 2 × α) / nf _O } ... (5) However, each variable is as follows.

W _O : horizontal dimension of CCD H _O : vertical dimension of CCD θ _W : angle of view (horizontal direction) θ _H : angle of view (vertical direction) n: magnification f _O : minimum focal length of lens f: focal length (F = nf _O ) α: Monitor overscan coefficient Next, the x-coordinate of the hand of the slave arm in the camera coordinate system as shown in FIG. 16 is defined as the distance L from the lens to the hand of the slave arm in the camera axis direction. Then, the vertical dimension H and the horizontal dimension W of the field of view of the camera are H = L · tan θ _H (6) W = L · tan θ _W (7), respectively.

The camera image field calculated by the camera image field calculation means 114 is supplied to the tracking ratio automatic setting means 5.

The following ratio automatic setting means 5 is further provided with
The camera magnification detector 113 supplies the magnification of the camera 111, and the slave arm tip position calculation means 7 supplies the current slave arm tip position data.

When the follower ratio automatic setting means 5 determines that the slave arm tip position is within the camera image field, the follower ratio of the slave arm to the movement amount of the master arm is inversely proportional to the magnification of the camera. Set automatically.

The determination as to whether or not the position of the hand of the slave arm is within this camera image field is made as follows.

As shown in FIG. 16, the center point A of the field of view of the camera is A (L, 0, 0), so the condition that the point whose x coordinate is L is within the field of camera is It looks like this:

-W / 2 <y <W / 2 (8) -H / 2 <x <H / 2 (9) Therefore, the hand position coordinates of the slave arm in the camera coordinate system satisfy this expression. If so, it can be determined that the slave arm minions are within the camera image field.

It should be noted that if the slave arm follow-up ratio is suddenly changed at the boundary of the field of view, a feeling of strangeness is great, and therefore it may be gradually changed.

In this embodiment, the different-structure master-slave manipulator is taken up. However, in the case of the same-structure master-slave manipulator, the slave arm does not follow all joints of the master arm. Alternatively, it may be configured to follow only the hand position.

Therefore, according to the remote control robot of the fifth embodiment of the present invention, the slave arm tip position obtained by the slave arm tip position calculating means enters the camera image field obtained by the camera image field calculating means. If the following is detected, the follow-up ratio is automatically set so that it is inversely proportional to the magnification detected by the camera magnification detector. Since it can be constant regardless of changes, it is possible to provide a remote control robot with improved operability.

<Sixth Embodiment> FIG. 17 shows a sixth embodiment of the present invention.
15 is a functional block diagram for explaining a configuration of a control system of the remote-controlled robot according to the embodiment of the present invention. The same portions as those in FIG. 14 are denoted by the same reference numerals, the description thereof will be omitted, and only different portions will be described here. .

That is, the remote control robot of the present invention is
As shown in FIG. 17, in addition to the above configuration, the camera 111 is further provided with a camera moving motor 121 for moving the camera 111 and a camera axis motor 122 for adjusting the attitude of the camera 112.

A camera attitude detector 123 for detecting the attitude of the camera 111 is provided in each of the camera motors 122.
Is attached.

On the output side of the camera field calculation means 114, a camera avoidance position / orientation calculation means 124 for calculating the avoidance position / orientation of the camera 111 is provided.

This camera avoidance position / orientation calculation means 124
Further, on the input side of, the movement vector of the slave arm tip is calculated from the work target portion position calculation means 125 for calculating the position of the work target portion, and the speed command information supplied from the slave arm speed command calculation means 8. The slave arm hand movement vector calculation means 126 and the slave arm hand position calculation means 7 for calculating the hand position of the slave arm are connected.

Then, the camera avoidance position / attitude calculation means 1
Reference numeral 24 denotes a camera image field calculation unit 114, a work target part position calculation unit 125, a slave arm hand movement vector calculation unit 126, and a camera field supplied from the slave arm hand position calculation unit 7, a work target position, and a slave arm hand. The avoidance position and posture of the camera 111 are calculated based on the movement vector, and can be supplied to the camera movement motor 121 and the camera axis motors 122.

As described above, the position and magnification of the camera 111 are the camera position detector 112 and the camera magnification detector 11.
3 and the camera attitude, that is, the angles of the camera axes in the horizontal and vertical directions are calculated by the camera attitude detector 123.

The slave arm tip position is obtained by the slave arm tip position detecting means 7, and from the speed command information supplied from the slave arm speed command calculating means 8, the slave arm hand movement vector calculating means 126.
The movement vector of the hand of the slave arm is calculated by.

On the other hand, the position of the work target portion is obtained by the work target portion position calculating means 125. As a method therefor, the slave arm hand is brought into contact with the work target portion before the work to determine the absolute coordinate position of the work target portion. It is based on a known method such as a teaching method for recognition, a method for recognizing a work target portion in a target frame or a cursor center of a camera having a distance measuring function.

Next, how to determine the camera coordinate system when moving the camera and how to calculate the position of the work target point and the hand of the slave arm in the camera coordinate system will be described.

In the camera coordinate system shown in FIG. 16, the X coordinate L of the field center A is taken as the X coordinate of the work target P, and the coordinates of the work target P and the slave arm tip Q are respectively (L, y). ₁ , z ₁ ) and (x ₂ , y ₂ , z ₂ ).

For simplification, the description will be made only on the XY plane. In FIG. 18A, the origin, that is, the camera lens O.
Slave hand position Q (x _2, y ₂₎ and a line connecting the working object point P (L, y ₁₎ intersection to Q ₁ coordinates the foot PA of perpendicular dropped from the axis OA of the camera (x ₂₁ , Y ₂₁ ) is x ₂₁ = L (10) y ₂₁ = y ₂ · L / x ₂ (11), and when the image field in the y direction at x = L is W,
Since P and Q are within the field of view, -W / 2 <y ₁ <W / 2 (12) -W / 2 <y ₂₁ <W / 2 (13), and y ₁ and y _When the distance from ₂₁ is less than or equal to the set value, it is possible to detect the overlap between the work target part and the hand of the slave arm. The angle of the work target point P with respect to the camera axis OA is θ.

Here, when the camera is translated in the y direction by a distance d, as shown in FIG.
In order to keep the same position on the screen,
And a straight line O'P connecting the work target point P with the camera axis O '
The posture of the camera may be rotated by −θc with respect to the coordinate system before movement so that the angle becomes θ with respect to A ′.

At this time, if θ ₁ = tan−1 {(d−y ₁ ) / L} (14), then θ _c = θ ₁ + θ (15) L ′ = L · cos θ / cos θ ₁ (16) However, L'moves the origin to O'and sets the camera axis to -θc.
It is the x'coordinate of the work target point P in the rotated new camera coordinate system x'-y ', and the distance of the new field center A'from the camera.

[0175] The y 'coordinate y1' of work object point P for new coordinate system _{y 1 '= L · sin θ} c + (y 1 -d) cos θ c = L'tan θ ... (17), the slave arm The coordinates of the hand Q (x ₂ ′, y ₂ ′) are x ₂ ′ = x ₂ cos θ _c −y ₂ sin θ _c (18) y ₂ ′ = x ₂ sin θ _c + y ₂ cos θ _c ((18) 19).

If the image field in the y'direction at this time is W ', then W' = W.L '/ L (20) and the y'coordinate y ₂₁ of the intersection Q1' of O'Q and PA '. When ′ = y ₂ ′ · L ′ / x ₂ ′ (21) is −W / 2 <y ₂₁ ′ <W / 2 (22), the slave arm tip Q is in the new field.

The above is the description on the horizontal plane of the camera coordinate system, that is, the XY plane, but the same relational expression holds on the vertical plane, that is, the XY plane, and the camera posture angle when the camera moves. , And the coordinate position of the work target point and the hand of the slave arm in the camera coordinate system after movement and posture change, and the field of view can be calculated.

There are some known mechanisms for moving and adjusting the attitude of the camera, and a representative example thereof is shown in FIG.

As shown in FIG. 19, the camera 111 is supported by the traverser 131 via a pan head (not shown).
The traverser 131 has a function of sliding the camera platform in the Y-axis direction by driving a belt or the like.

Further, the platform has a function of swinging the camera 111 about the Y-axis and the Z-axis, and the posture of the camera can be changed.

If the support 132 of the traverser 131 is provided with a telescopic mechanism, the camera can be moved in the Z-axis direction.

Next, the operation of the remote control robot according to the sixth embodiment of the present invention constructed as described above will be explained.

First, the camera image field calculating means 114, the work target position calculating means 125, the slave arm tip position calculating means 7, the slave arm hand movement vector calculating means 12
6, the camera avoidance position / orientation calculating means 124 based on the information of the camera image field, the work target position, the slave arm hand end position, and the slave arm hand end movement vector supplied from 6.
Detects the overlap between the work target part and the hand position of the slave arm in the camera image field.

When the overlap between the work target portion and the slave arm tip position is detected, the camera avoidance position / attitude calculation means 124 causes the camera movement direction component of the movement vector of the slave arm tip, that is, as shown in FIG. In the case of the Y-axis direction slide system by the traverser mechanism, when the camera moving direction is moved away from the slave arm hand from the Y-axis direction component, that is, when the slave arm hand moves from the Y + direction to the Y- direction, , The avoidance direction of the camera is set to the Y-direction, and the camera movement motor 121 is instructed to move to a position where the distance in the Y′-axis direction between the work target part and the hand of the slave arm becomes a set value or more in the new camera coordinate system after movement. Output to.

In the case of FIG. 19, the camera moving motor 121 is composed of a traverser driving motor.

At the same time, the camera posture that can maintain the relative position of the work target portion on the screen at the moving position at the same position as before the movement is calculated by the above method, and the motors for each axis of the camera 12 are calculated.
Issue a posture change command to 2.

The motor 122 for each axis of the camera is, for example, as shown in FIG.
As shown in FIG. 9, it is a swinging motor around the Y-axis and Z-axis of the platform.

As shown in FIG. 19, when the support 132 has an expansion / contraction function, the movement of the camera is controlled in the Z-axis direction in the same manner as above.

In actual work, there are many cases in which it is not possible to avoid overlapping of the slave arm hand on the work target portion even if the position of the camera is changed, such as when the work target is grasped by the slave arm hand. Further, in such a state, there is no problem in the work even if the hand of the slave arm overlaps the work target part.

Therefore, in addition to the physical limits such as the end points of the traverser, the camera movement limit is the point at which the camera movement direction component of the movement vector of the slave arm tip is maximum, that is, the camera with respect to the movement direction of the slave arm tip. It is recommended that the point be directly beside.

Even in a normal movement operation of the slave arm, the slave arm hand may sometimes overlap the work target portion on the screen, that is, on the YZ projection plane at the field center A of the camera coordinate system. In order to make it harder to move, it is necessary to move the work part and the slave arm tip X
If the axial distance is equal to or larger than the set value, or if the magnification of the camera is equal to or smaller than the set value, the avoidance operation of the camera may not be performed.

Therefore, according to the remote control robot of the sixth embodiment of the present invention, when the slave arm tip portion tries to overlap the work target portion within the camera image field, the camera 1
A camera 111 for maintaining the avoidance position 11 and the relative position in the camera image field of the work target portion at that position in the same manner as before the avoidance position.
The posture of the camera, that is, the angle of convergence and the elevation angle are calculated, and the movement and posture adjustment of the camera 111 can be automatically performed, and the movement to the avoidance position and the posture adjustment of the camera can be automatically performed. It is possible to secure the image of the work target portion on the monitor screen and to improve the operability of the remote control robot without the complicated operation of interrupting the operation of and correcting the position of the camera.

<Seventh Embodiment> A remote-controlled robot according to a seventh embodiment of the present invention includes an image projected from a slave-arm hand camera provided at the hand of a slave arm and a camera provided at the remote-controlled robot. It is characterized by switching the image of.

FIG. 20 is a functional block diagram for explaining the configuration of the control system of the remote control robot according to the seventh embodiment of the present invention. The same parts as those in FIG. It is omitted and only different parts will be described here.

As shown in the figure, the camera image field calculating means 1
On the output side of the work portion position calculating means 125, the slave arm tip position calculating means 7, a video switching command calculating means 141 for outputting a video switching command signal is provided.

At the output side of the video switching command calculation means 141, the video from the camera 111 and the slave arm hand camera 142 provided at the hand of the slave arm is changed to the switching command supplied from the video switching command calculation means 141. An image switch 143 for switching the image based on the image is provided.

The slave arm hand camera 142 is
The fixed camera provided at the hand of the slave arm has a magnification and a mounting posture suitable for capturing the image of the tool of the hand of the slave arm and the range of the work target of the tool.

On the output side of the image switch 143, there is provided a monitor 144 for displaying the image of the switched camera 111 or slave arm hand camera 142.

Then, the overlap between the position of the work target portion and the hand of the slave arm is detected in the same manner as in the above-described embodiment.

When it is detected that the hand of the slave arm overlaps the position of the work target portion, the image switching command calculation means 14
A video switching command is output to the video switching device 143 from 1 to switch the video to be transmitted to the monitor 144 from the camera 111 to the slave arm hand camera 142.

In the normal movement operation of the slave arm, the switching of the camera can be suppressed by the distance between the work object and the hand of the slave arm in the X-axis direction or the camera magnification in the present embodiment as well.

Therefore, according to the remote-controlled robot according to the seventh embodiment of the present invention, when the work target portion and the slave arm hand end overlap in the camera image field,
From the image switching command calculation means 141, the image switching device 143
A command to switch the received image of the monitor 144 to the image from the slave arm hand camera 142, and a close-up image of the slave arm hand and the work target portion suitable for the work is automatically displayed on the monitor 144. It is possible to provide a remote control robot having improved property.

[0203]

As described in detail above, according to the remote control robot of the first aspect of the present invention, the relative position between the work robot and the work object is measured, and based on this, the moving mechanism is automatically operated. By operating the parts, it is possible to improve the efficiency of the robot moving work.

According to the remote-controlled robot of the second aspect of the present invention, the movement of the moving mechanism is regulated at the relative position with respect to the work object, thereby avoiding the interference between the work robot and the work object. it can.

Further, according to the remote control robot of the third aspect of the present invention, the states of the moving mechanism section, the work robot and the work target are displayed in real time from a desired viewpoint at a desired angle of view by computer graphics. Therefore, the worker can easily grasp the work situation, and as a result, the work efficiency can be improved.

Further, according to the remote controlled robot of the present invention, the interference between the work robot and the moving mechanism section and the work object is detected from the image data on the computer graphic, and the message display means combines them. Since a predetermined message is displayed in the image, it is possible to avoid the risk of the work robot coming into contact with the work target during work.

Further, according to the remote control robot of the fifth aspect of the invention, the follow-up ratio setting means automatically sets the follow-up ratio of the slave arm to the master arm based on the force calculated by the external force calculating means. Since the slave arm is driven by the drive unit at the follow-up ratio set by the follow-up ratio setting means, the slave arm can be finely operated without changing the master arm operation amount of the operator, and as a result, operability is improved. It is possible to provide a remote control robot.

Further, according to the remote controlled robot of the present invention, the follow-up ratio setting means sets the follow-up ratio of the slave arm to the master arm so as to be inversely proportional to the magnification of the image pickup means detected by the magnification detector. Since it is set automatically, the operation amount of the slave arm on the monitor for the same master arm operation amount can be made constant regardless of the change in magnification.

Further, according to the remote-controlled robot of the invention of claim 7, the avoiding position of the image pickup means with respect to the hand of the slave arm and the relative position of the work target in the image field before the image pickup means avoids. Similarly, the posture to be kept is automatically calculated by the avoidance position / posture calculation means, so that the operator does not have to perform a complicated operation of correcting the position of the image pickup means by interrupting the operation of the master arm, and the work target is displayed on the monitor screen. You can secure the video of the club.

Further, according to the remote controlled robot of the present invention, when the overlap between the work object and the hand arm position of the slave arm is calculated within the field of the image pickup means, the switching means causes the image pickup means. Since the image of the slave arm is picked up to the image of the slave arm image pickup means, the close image of the slave arm hand and the work target part suitable for the work is automatically displayed on the monitor, and therefore a remote control robot with improved operability is provided. You can

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a remote control robot for performing a power distribution work according to a first embodiment of the present invention.

FIG. 2 is a diagram for explaining movement of the remote-controlled robot in the first embodiment.

FIG. 3 is a diagram for explaining movement of the remote-controlled robot in the first embodiment.

FIG. 4 is a diagram for explaining movement of the remote-controlled robot in the first embodiment.

FIG. 5 is a block diagram showing a configuration of a control system of the remote control robot according to the first embodiment.

FIG. 6 is a diagram showing a relationship between a remote control robot and telephone poles in the first embodiment.

FIG. 7 is a diagram showing a regulation range of a remote control robot according to a second embodiment of the present invention.

FIG. 8 is a functional block diagram showing a configuration of a control system of a remote control robot according to the second embodiment.

FIG. 9 is a diagram for explaining the operation of the remote control robot according to the second embodiment.

FIG. 10 is a functional block diagram showing a configuration of a control system of a remote control robot according to a third exemplary embodiment of the present invention.

FIG. 11 is a functional block diagram illustrating a configuration of a control system of a remote control robot according to a fourth exemplary embodiment of the present invention.

FIG. 12 is a conceptual diagram illustrating the operation of the remote control robot according to the fourth embodiment.

FIG. 13 is a diagram showing a configuration when the remote control robot according to the fourth embodiment is used as a manipulator for power distribution work.

FIG. 14 is a functional block diagram illustrating a configuration of a remote control robot according to a fifth exemplary embodiment of the present invention.

FIG. 15 is a diagram for explaining the relationship among the lens of the camera, the focal plane, and the angle of view in the fifth embodiment.

FIG. 16 is a diagram for explaining a camera image field in the fifth embodiment.

FIG. 17 is a functional block diagram for explaining a configuration of a control system of a remote control robot according to a sixth embodiment of the present invention.

FIG. 18 is a diagram for explaining the camera position and posture before and after avoiding the camera according to the sixth embodiment.

FIG. 19 is a view showing the arrangement of a camera movement / attitude adjustment mechanism according to the sixth embodiment.

FIG. 20 is a functional block diagram illustrating a configuration of a control system of a remote control robot according to a seventh embodiment of the present invention.

FIG. 21 is a functional block diagram illustrating a configuration of a conventional remote control robot.

[Explanation of Codes] 1 ... Master arm axis motors, 2 ... Master arm position detectors, 3 ... Master arm hand end position calculation means, 4 ... Coordinate conversion means, 5 ... Follow-up ratio manual setting means, 6 ... Slave arm position detection Container, 7 ... Slave arm hand position calculating means, 8
... Speed command calculation means, 9 ... Slave arm axis motors,
11 ... Vehicle, 12 ... Movement mechanism part, 13 ... Utility pole, 14 ... Work robot, 15 ... Work target position, 16 ... Utility pole coordinate robot position, 17 ... Work robot position, 18 ... Utility pole coordinate origin, 19 ... Vehicle coordinate origin , 20 ... Vehicle / telephone pole relative position, 21 ... Telephone pole coordinate teaching position, 22 ... Vehicle coordinate teaching position, 31 ... Work robot position detector, 32 ... Hand position calculator, 33 ... Moving mechanism position detector, 34 ... Move Mechanism tip position calculator, 35 ... Vehicle / electric pole relative position calculator, 36
... utility pole coordinate position calculating / storing device, 37 ... vehicle coordinate position calculating device, 38 ... linear interpolation calculating device, 39 ... each axis speed calculating device, 4
0 ... moving mechanism drive device, 41 ... hand of work robot,
42 ... Utility pole, 43 ... Coordinate origin of work robot, 51 ... Utility pole, 52 ... Restriction range, 61 ... Restriction range setter, 62 ... Vehicle coordinate range calculator, 63 ... Manipulator, 64 ... Tip speed calculator, 71 ... Each boundary surface of the regulation range, 81 ... Manipulator / moving mechanism position detector, 82 ... Manipulator / moving mechanism shape data storage device, 83 ... Manipulator / moving mechanism image generation unit, 84 ... Utility pole / device shape data storage device, 85
… Relative position calculator, 86… Utility pole / equipment image generator, 87
... viewpoint / direction / angle of view input device, 88 ... image memory, 89
... image display, 92 ... force sensor, 93 ... external force calculating means,
95 ... Master arm, 96 ... Slave arm, 97 ... Work object, 101 ... Manipulator for power distribution work, 102
... vehicle, 103 ... boom, 104 ... force sensor, 105 ...
Slave arm, 106 ... Camera, 111 ... Camera, 1
12 ... Camera position detector, 113 ... Camera magnification detector,
114 ... Camera image field calculating means, 121 ... Camera moving motor, 122 ... Camera axis motors, 123 ... Camera attitude detector, 124 ... Camera avoidance position / attitude calculating means, 125
... Work target part position calculating means 126 ... Slave arm hand movement vector calculating means 131 ... Traverser 132
... Support, 141 ... Video switching command calculation means, 142 ...
Slave arm hand camera, 143 ... Image switching device, 14
4 ... Monitor.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kumiko Suzuki, 4-4 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Inside the Keihin office of Toshiba Corporation (72) Nobuo Kikuchi 2-cue, Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa Address Inside Toshiba Keihin Office (72) Inventor Satoshi Mimura 2-4 Suehiro-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Inside Toshiba Keihin Office

Claims (8)

[Claims] 1. A moving mechanism part which is provided on a vehicle whose base end side is movable and is rotatable and expandable and contractible; and a work robot main body which is attached to the tip end side of the moving mechanism part and which works on an object to be worked. And a relative position measuring means for measuring the relative position of the work robot main body with respect to the work target, and the work robot main body performing work on the work target. A storage unit that stores the relative position measured by the relative position measurement unit when it moves to an optimum position, and a relative position of the work robot main body stored in the storage unit with respect to the work target is Coordinate conversion means for performing coordinate conversion to a relative position with respect to the vehicle, and the work robot body is automatically moved to the relative position obtained by the coordinate conversion means. As described above, a remote control robot comprising: a drive unit that drives the moving mechanism unit. 2. A moving mechanism unit having a base end side which is movable, and which is rotatable and expandable and contractible, and a work robot which is attached to a distal end side of the moving mechanism unit and works on a work target. A remote control robot comprising: a main body; and a relative position measuring means for measuring a relative position of the work robot main body with respect to the work target; and the work robot main body performs work on the work target. Storage means for storing the relative position measured by the relative position measuring means, and the relative position of the work robot main body stored in the storage means with respect to the work object Coordinate conversion means for performing coordinate conversion to a relative position with respect to the vehicle, and the work robot body is automatically moved to the relative position obtained by the coordinate conversion means. Driving means for driving the moving mechanism so as to move, operation restriction range setting means for setting an operation restriction range of the work robot main body with respect to the work object, and the drive means for the work robot main body A remote control robot, comprising: a control unit that controls a movement range so as to be out of the movement regulation range set by the movement regulation range setting unit. 3. A moving mechanism portion provided on a vehicle whose base end side is movable, capable of rotating and expanding and contracting, and a work robot main body attached to the tip end side of this moving mechanism portion, for performing work on a work target. And a relative position measuring means for measuring a relative position of the work robot main body with respect to the work target, and a position of the work robot main body and a moving position of the moving mechanism section. Position detection means, first storage means for storing a predetermined shape of the work target object, second storage means for storing the shapes of the moving mechanism section and the work robot body, and a desired image Input means for inputting the viewpoint, direction, and angle of view of the object, the shape stored by the second storage means, the position detected by the position detection means, and the input means. Based on the view point and direction, angle of view, viewpoint-entered
First image generating means for generating an image of a direction / angle of view, the shape of the work object stored by the first storage means, the relative position detected by the relative position measuring means,
Second image generation means for generating an image of the input viewpoint, direction, and angle of view based on the shape stored by the first storage means and the viewpoint, direction, and angle of view input by the input means An image synthesizing unit for synthesizing the images output from the first image generating unit and the second image generating unit based on the relative position detected by the relative position measuring unit; An image display means for displaying the composite image, and a remote-controlled robot characterized by the following. 4. The remote-controlled robot according to claim 3, wherein a space between the work object, the work robot, and the moving mechanism section in the composite image obtained by the image composition means is calculated. A message to the effect that the work object interferes with the work robot main body or the moving mechanism unit in the composite image when the space calculation unit and the space obtained by the space calculation unit is less than or equal to a predetermined value. A remote control robot characterized by comprising: a message display means for displaying. 5. A moving mechanism part which is provided on a vehicle whose base end side is movable and is rotatable and expandable and contractible; and a work robot main body which is attached to the tip end side of this moving mechanism part and works on an object to be worked. And a slave arm provided on the work robot for performing a work on the work object, a master arm for operating the slave arm, and a remote arm attached to the slave arm. A force sensor, an external force calculating means for calculating a force acting on the force sensor from the outside, and a follow-up for automatically setting a follow-up ratio of the slave arm to the master arm based on the force calculated by the external force calculating means. Ratio setting means and drive means for driving the slave arm so that the following ratio set by the following ratio setting means is obtained. A remote control robot characterized by being equipped. 6. A moving mechanism part, which is provided on a vehicle whose base end side is movable, and is rotatable and expandable and contractible, and a work robot main body, which is attached to the tip end side of this moving mechanism part, for performing work on an object to be worked. A remote control robot comprising: a slave arm provided in the work robot main body for performing a work on the work target; and a slave arm hand position detecting means for detecting a hand position of the slave arm, A master arm for operating the slave arm, an image pickup unit installed near the slave arm for picking up an image of the work target, a magnification detection unit for detecting a magnification of the image pickup unit, and an image field of the image pickup unit is calculated. And an image field calculating means for performing the image field calculation, and the slave arm hand position detecting means for obtaining the image field calculated by the image field calculating means. Follow-up ratio setting means for automatically setting a follow-up ratio of the slave arm with respect to the master arm, which is inversely proportional to the magnification of the imaging means detected by the magnification detection means when the hand position of the slave arm exists, A remote control robot comprising: drive means for driving the slave arm so that the follow-up ratio set by the follow-up ratio setting means is provided. 7. A moving mechanism part, which is provided on a vehicle whose base end side is movable and is rotatable and expandable and contractible, and a work robot main body, which is attached to the tip end side of this moving mechanism part, for performing work on an object to be worked. A remote control robot comprising: a slave arm provided in the work robot main body for performing a work on the work target; and a slave arm hand position detecting means for detecting a hand position of the slave arm, A slave arm hand movement vector calculation means for calculating a hand movement vector of the slave arm; a master arm for operating the slave arm; and an image pickup means installed near the slave arm for picking up an image of the work target, Image field calculating means for calculating the image field of the image pickup means, and work object position detection for detecting the position of the work object Means, the image field calculated by the image field calculation means, the hand position of the slave arm calculated by the slave arm hand position detection means, and the movement of the hand end of the slave arm calculated by the slave arm hand movement vector calculation means. When the overlap between the work object and the hand position of the slave arm is calculated in the field based on the vector, the avoidance position of the imaging unit with respect to the hand of the slave arm and the work object in the field are calculated. And the avoidance position of the imaging means calculated by the avoidance position / orientation calculating means for automatically calculating the attitude for keeping the relative position in the same position as before the avoidance by the imaging means. A remote control robot, comprising: a drive unit that drives the image pickup unit so as to be in a posture. 8. A moving mechanism part, which is provided on a vehicle whose base end side is movable and is rotatable and expandable and contractible, and a work robot main body which is attached to the tip end side of this moving mechanism part and works on an object to be worked. And a slave arm provided on the work robot body for performing work on the work target, and a slave arm hand end position calculating unit for calculating a hand end position of the slave arm, An image pickup means installed near the slave arm for projecting the work object; a slave arm hand end image pickup means provided at the hand end of the slave arm; an image field calculation means for calculating an image field of the image pickup means; Work target position detecting means for calculating the position of the target object, the image field calculated by the image field calculating means, and the work target part position calculating hand Based on the work target position calculated by a step and the hand position of the slave arm calculated by the slave arm hand position calculation means, the overlap between the work object and the hand position of the slave arm in the field is When calculated, there is provided switching means for switching from the image of the image pickup means to the image of the slave arm hand image pickup means, and a monitor for displaying the image of the slave arm hand image pickup means changed by the switch means. A characteristic remote control robot.