JPH08216065A - Remote control device of mobile manipulator - Google Patents

Abstract

PURPOSE: To reduce a work burden by providing a means to switch operation to control to cooperate with an operation command of a manipulator when a moving means completes an autonomous movement up to a work point in a remote control device of a mobile manipulator having the moving means to autonomously move while avoiding an obstacle. CONSTITUTION: A mobile robot manipulator 1 autonomously moves up to a work point while avoiding an obstacle by an obstacle detecting part 4c and a monitoring camera 1c. When it arrives at the work point, an operator OP performs various works by operating a manipulator 1a by a manipulator operating device 2a while looking at the state of affairs of a job site whose image is picked up by the monitoring camera 1c by an image display device 2b. In this case, after the manipulator 1 arrives at the work point, a moving carriage 1b is switched to an automatic adjusting mode, and at this time, a movement of the carriage is determined by a manipulator control part, and for example, when approach is determined, an approach flag is transmitted to a moving carriage control part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for a mobile manipulator for remote operation, that is, a master-slave type robot manipulator mounted on an autonomous moving means such as an automatic guided vehicle.

[0002]

2. Description of the Related Art When a moving means (for example, a mobile trolley) moves to a work point and performs work such as maintenance, repair, and collection there, due to kinematic restrictions such as a work range of a manipulator and a movable range of a joint shaft In addition, the manipulator's hand may not reach the work object, or the manipulator may be unable to work unless the manipulator is in an unnatural posture, and the manipulator may be limited by the joint axis. In such a situation, conventionally, the operator himself worked while adjusting the position of the movable table. Therefore, in addition to the manipulator operating device, an operating device for the moving carriage is required. However,
There is a problem that the operator cannot concentrate on the work because he / she does not know when the hand of the manipulator reaches the limit of the work range, the work load increases because the position of the moving table must be adjusted, and the work time increases. on the other hand,
Japanese Utility Model Publication No. 6-41818 discloses a device that does not require an operating device for a moving carriage and that moves the moving base in a predetermined work area direction even when the operating range of the manipulator is reached. ing.

[0003]

[Problems to be Solved by the Invention] However, the fairness 6-4
In the technology disclosed in Japanese Patent No. 1818, the boom does not move autonomously, and there is a premise that the master arm and the slave arm have a geometrically similar relationship.
Further, it is necessary to provide the master arm with an end sensor for detecting a limit and a load detecting means for detecting a load.
Therefore, there is a problem that it cannot be applied when the master arm and the slave arm have a geometrically different relationship (for example, when the master side is a joystick).
Therefore, the present invention provides a device capable of automatically operating the position of the moving base in cooperation with each other remotely without attaching a special detector on the master side even when the master arm and the slave arm have a geometrically different relationship. The purpose is to provide.

[0004]

In order to solve the above problems, the present invention is equipped with a manipulator for work and a surveillance camera, recognizes the surrounding environment substantially along a route stored in advance to a work point, and detects obstacles. A moving means that moves autonomously while avoiding the above, an image display device that displays an image of the work point captured by the surveillance camera to an operator at a remote place, and a remote control device that remotely operates the manipulator for work. In the remote control device for the mobile manipulator, the mobile means is provided with means for switching to autonomous control of the mobile means when the mobile means completes the autonomous movement to the work point, the control being in coordination with the manipulator operation command from the remote operation device. It is characterized by that.

[0005]

When the moving means completes the autonomous movement to the work point by the above means, the autonomous movement control of the moving means is automatically switched to the control cooperating with the manipulator operation command from the remote operation device. Can continue working without considering the kinematic restrictions of the manipulator and the position of the moving carriage.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention in which the mobile table is a mobile vehicle will be described below with reference to the drawings. FIG. 1 is an example of a work system assumed in the present invention. A mobile robot manipulator 1 has a configuration in which a manipulator 1a, a surveillance camera 1c, a wireless communication device 1d, and an obstacle detection unit 4c are mounted on an autonomous mobile vehicle 1b. A robot operating unit 2 for operating the mobile robot manipulator 1 includes a manipulator operating device 2a, an image display device 2b, and a wireless communication device 2c, and is operated by an operator OP. This system is a mobile robot manipulator 1
Is moving autonomously to the work point while avoiding obstacles by the obstacle detection unit 4c or the surveillance camera 1c, and when reaching the work point, the operator OP who operates the robot operation unit 2 uses the image display device 2b to monitor the surveillance camera. This is a system in which the manipulator 1a is operated by the manipulator operating device 2a to perform work such as pipe repair while watching the state of the work site imaged by 1c. The mobile robot manipulator 1 and the robot operation unit 2 communicate with each other via the wireless communication devices 1d and 2c. In this example, the manipulator operating device 2a uses a magnetic sensor or the like and is not restricted by a signal line or the like (for example, JP-A-1-153288 or Japanese Patent Application No. 6-6 of the present applicant).
7748 "master hand device").

After the mobile robot manipulator 1 arrives at the work point, the movable carriage 1b enters the automatic adjustment mode (switches from autonomous control to automatic adjustment mode). Figure 2
Is the manipulator 1a when the automatic adjustment mode is entered.
FIG. 3 is a control block diagram of a manipulator control unit 3 that controls the moving carriage and a moving carriage control unit 4 that controls the moving carriage 1b. Although the manipulator control unit 3 and the moving carriage control unit 4 are mounted on the mobile robot manipulator 1, they are not shown in FIG. The manipulator control unit 3 receives an operation command from the manipulator operating device 2a via the operation command input unit 3a. After that, the movement determination of the trolley is performed by the approach determination unit 3e through the joint angle limit approach detection unit 3c and the work range boundary approach detection unit 3d. Joint limits,
If both work range boundaries are not approached, the manipulator outputs a motion command to the angular axis. If there is an approach decision,
An approach flag is transmitted to the moving carriage control unit (automatic adjustment mode) 4. The moving carriage control unit (automatic adjustment mode) 4 detects the approach flag from the approach determination unit 3e of the manipulator control unit 3 by the movement flag detection unit 4a. If not detected, a stop command is output, and the moving carriage remains stopped. When the approach flag is detected, the moving direction / speed calculating unit 4b calculates the moving direction and speed of the carriage from the command from the robot operating unit 2. If no obstacle is detected, an operation command is output to the truck motor.

FIG. 3 shows an example of the operation of the manipulator and the mobile carriage according to this cooperative control system. When the hand 1a 'of the manipulator approaches the preset work range boundary line (when the hand 1a' of the manipulator reaches the work range boundary approach line), the operation of the manipulator 1a stops and the moving carriage 1b moves in the approaching direction. Move (Fig. 3
(See (a)). Further, when a certain joint axis approaches a preset joint angle limit, the operation of the manipulator 1a is stopped and the moving carriage 1b moves in the operation direction of the hand 1a 'of the manipulator (see FIG. 3 (b)).

[0009]

As described above, according to the present invention, when the manipulator operated by the operator tries to exceed the working range, or when a certain joint axis approaches the limit due to an unreasonable posture of the manipulator, the automatic Since the position of the movable carriage is adjusted, the operator can concentrate on the work without considering the kinematic limitation of the manipulator, and the work load is reduced, and the work time can be shortened.

[Brief description of drawings]

FIG. 1 is an example of a work situation assumed by the present invention.

FIG. 2 is a control block diagram showing an embodiment of the present invention.

FIG. 3 is an explanatory view of the operation of the present invention

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Mobile robot manipulator 1a ... Manipulator 1a '... Manipulator hand 1b ... Mobile cart 1c ... Monitoring camera 1d ... Wireless communication device 2 ... Robot operating unit 2a ... Manipulator operating device 2b ... Image display device 2c ... Wireless communication device 3 ... Manipulator control unit 4 ... Mobile trolley control unit (automatic adjustment mode) 4c ... Obstacle detection unit

Claims (3)

[Claims] 1. A moving means for carrying a manipulator for work and a surveillance camera, which autonomously moves while recognizing the surrounding environment and avoiding obstacles along a prestored route to a work point, and the surveillance camera. In a remote control device for a mobile manipulator, comprising: an image display device for displaying an image of a captured work point to an operator at a remote place; and a remote operation device for remotely operating the work manipulator, wherein the moving means is a work device. A remote control device for a mobile manipulator, comprising means for switching the autonomous movement control of the moving means to control in cooperation with a manipulator operation command from the remote operation device when the autonomous movement to the point is completed. 2. The control that cooperates with the operation command of the manipulator analyzes the operation command of the manipulator from the remote operation device, and when the manipulator approaches the work range limit of the manipulator itself, the moving means is operated. The remote control device for a mobile manipulator according to claim 1, which issues a movement command to approach a work target. 3. The control that cooperates with the operation command of the manipulator analyzes the operation command of the manipulator from the remote operation device, and when the manipulator approaches a rotation limit angle of each joint shaft, the moving means is moved. 2. The remote control device for a mobile manipulator according to claim 1, which issues a command to move in a direction away from it.