JPH08257949A - Controller of hot-line work robot - Google Patents

Abstract

PURPOSE: To perform operations safely and smoothly by making the progress of the operations easy to grasp, and displaying the current attitude of a manipulator and the configuration of the boom of a working vehicle in graphic form. CONSTITUTION: A controller, for a hot-line work robot which is made to do hot-line work by means of a manipulator as the operator controls the robot from the ground level, has at least two displays 1, 2, one of the displays serving as a various-operation executing screen 1 for executing a variety of preprogrammed operations, in which the controller and the operator interactively make the operations proceed to match the progress of the operations. The other display serves as a graphic display screen 2 on which the attitude of the manipulator, calculated on the basis of information about the rotation angle of each axis of the manipulator, is displayed as computer graphics as seen from a viewing point that can be freely designated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a live-line work robot, and more particularly to an operating device for a ground-operated live-line work robot.

[0002]

2. Description of the Related Art A live-line work robot performs a work such as connecting an electric wire by an operation from the ground, instead of a conventional dangerous work at a high place by a worker on a work cart. An operating device for a conventional ground-operated live-work robot is shown in FIG. In FIG. 10, 27 is a touch panel and 28 is a monitor. The operator touches the work name displayed on the touch panel 27 to select the live-line work to be executed, presses the start button 29 to start the robot, and operates the joystick 31 to perform the live-line work. . Further, the posture of the robot manipulator is monitored by displaying an image from a camera attached to the robot on the monitor 28. In the figure, 30 is a spherical indicator for displaying the state of a robot or a live-line work vehicle, and 32 is an emergency stop button.

[0003]

However, in the conventional apparatus, once the work is started, it is difficult for the operator to know which part of the work the robot is currently performing. Further, there is a problem that the operator cannot fully grasp the posture of the manipulator and the form of the boom from the image on the monitor. Japanese Unexamined Patent Publication No. 62-199376 discloses that the contents of the current work item are displayed on the display, and the target position is superposed on the image of the manipulator imaged by the camera by computer graphics. There is. However, with this conventional technique, it is difficult to grasp the flow of the entire work and the content of which part is currently being executed. In addition, there is a problem that it is difficult to see the movement of the manipulator depending on the angle because only the image from the fixed viewpoint from the camera is displayed on the display. Further, since the live-line work robot uses a dual-arm manipulator, there is a problem that it is difficult to grasp the degree of approach between the two with a video image from a camera. Therefore, the problem to be solved by the present invention is to easily understand the progress of work, and to graphically display the current posture of the manipulator and the boom configuration of the live-line work vehicle to perform work safely and smoothly. .

[0004]

In order to solve the above problems, an operating device for a live-line work robot according to the present invention is an operating device for a live-line work robot in which an operator operates from the ground and performs live-line work by a manipulator. , The operation device includes at least two displays, one of the displays displaying a screen for performing various preprogrammed operations, and various types of operations for interactively proceeding with the operator in accordance with the work execution situation A graphic display for displaying the manipulator posture calculated from the rotation angle information of each axis of the manipulator as a computer graphic from a view point that can be arbitrarily specified It is a screen.
The graphic display screen is configured to further display, as a computer graphic, the shape of the boom calculated based on the boom extension / contraction length, the hoisting angle, and the turning angle information of the boom of the hot-line work vehicle equipped with the hot-line work robot. .

[0005]

By means of the above means, the operator is allowed to access the inside of the operating device.
With one display, the progress of work and the posture of the manipulator or the form of the boom from any viewpoint can be grasped at the same time.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a view showing an operating device of the present invention. In FIG. 1, reference numeral 1 is a computer having a display for displaying various operation screens and work execution screens, and 2 is a manipulator posture and boom form. A computer with a display to display. Both computers have a touch panel function, and input to both computers is performed by touching their respective displays. Hereinafter, the first computer 1 is an operation touch panel, and the second computer 2 is
Is called a display touch panel. FIG. 2 is a block diagram of the present invention. In FIG. 2, 8 is a central CPU board that acts as an intermediary between the touch panel and various boards, and 9 is a manipulator control board on which control circuits for controlling the left and right manipulators are mounted. . Reference numeral 10 is an interface board between each board in the control device 21 and the operation touch panel 1 and the display touch panel 2.

When performing hot line work, the work button 13 of the operation touch panel 1 is pushed as shown in FIG. Then, the program of the operation touch panel 1 displays a screen for selecting a work as shown in FIG. When the operator presses the work name 14, the work flow chart 15 is displayed in a tree shape as shown in FIG. 4, and the work name is output to the manipulator control board 9 via the central CPU board 8. In addition, when the start button 3 on the operating device is pressed, the manipulator control board 9 is similarly operated.
The start command is output to. When the work is started, the program of the operation touch panel 1 periodically reads out the progress status of the work from the manipulator control board 9 via the central CPU board 8, and highlights the execution part of the work flow chart 15 according to the progress status. When an operator's input is required during work, the manipulator control board 9 outputs an input request to the operation touch panel 1 via the central CPU board 8. Upon receiving the input request, the program of the operation touch panel 1 displays an input request screen 16 for prompting the operator to make an input on the display as shown in FIG. When the operator presses either the “YES” or “NO” button on the input request screen 16 to make an input, the input request screen 16 disappears and the input result is output to the central CPU board 8.

When displaying the posture of the manipulator, as shown in FIG. 6, the work status button 17 on the display touch panel 2 is pressed. Then, the program of the display touch panel 2 reads the rotation angle of each axis of the manipulator output from the manipulator control board 9 via the central CPU board 8, and calculates the attitude of the manipulator based on the value, and To display the computer graphic of the manipulator. Furthermore, the position and angle of the manipulator tip are displayed numerically. When the viewpoint moving button 18 is pressed, the viewpoint moves corresponding to the pressed button, and the computer graphic of the manipulator viewed from that viewpoint is displayed again. When the trihedral button 19 is pressed, the manipulator is displayed in a trihedral view as shown in FIG. To display the boom form, the boom button 20 on the display touch panel 2 is pressed as shown in FIG. Then, the program of the display touch panel 2 reads out the boom extension / contraction length, the undulation angle, and the turning angle from the control device 21, calculates the boom form based on the values, and calculates the boom work vehicle and the boom as shown in FIG. Display computer graphics in three views. Furthermore, the distance between the base of the boom and the tip is displayed. During operation, the display touch panel 2 periodically reads out information necessary for graphic display from the central CPU board 8 to display computer graphics in accordance with the actual movement of the manipulator or the boom 25, and redisplays.

FIG. 9 is a view showing the appearance of a live-line work robot and a live-line work vehicle using the operating device of the present invention. In FIG. 9, reference numeral 21 is a control device including the central CPU board 8 and the manipulator control board 9 shown in FIG.
Is an operating device of the present invention shown in FIG. 1, and 23 is an operator. Reference numeral 24 is an operation cabin for accommodating the operation device 22, and the operator 23 works in the operation cabin 24. Reference numeral 26 is a live-line work robot, which has two left and right manipulators. 25 is a live-line work robot 2
It is a boom that lifts 6 to the height of the work target.

[0010]

As described above, according to the present invention, it is possible to visually confirm which part of the work is being performed by the operation touch panel 1, and the posture of the manipulator and the boom of the manipulator during the work can be confirmed by the display touch panel 2. The form can be grasped on the operating device. Therefore, the operation can be stopped when the manipulator is about to collide with the other manipulator or the robot body. by this,
This can greatly contribute to safe and smooth hot line work by the robot.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

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

FIG. 3 is an explanatory diagram showing an example of a work list screen of the operation touch panel 1 of the present invention.

FIG. 4 is an explanatory diagram showing an example of a screen of a work flow chart of the operation touch panel 1 of the present invention.

FIG. 5 is an explanatory diagram showing an example of an input request screen for an operator of the operation touch panel 1 of the present invention.

FIG. 6 is an explanatory diagram showing an example of a screen displaying the posture of the manipulator of the display touch panel 2 of the present invention.

FIG. 7 is an explanatory diagram showing an example of a screen for displaying the posture of the manipulator of the display touch panel 2 of the present invention in three views.

FIG. 8 is an explanatory diagram showing an example of a screen for displaying the shape of a boom of the display touch panel 2 of the present invention.

FIG. 9 is a side view showing appearances of a live-line work robot and a live-line work vehicle using the operating device of the present invention.

FIG. 10 is a front view showing an example of a conventional operating device.

[Explanation of symbols]

1 operation touch panel (first computer), 2 operation touch panel (second computer), 3 start button, 4 monitor, 5 spherical display, 6 emergency stop button, 7 joystick, 8 central CPU board, 9
Manipulator control board, 10 VME-PC / AT
Interface board, 11 manipulator axis motors, 12 motor control board, 13 work buttons, 14
Work name, 15 work flow chart, 16 input request screen, 1
7 work status button, 18 viewpoint movement button, 19 three-sided view button, 20 boom button, 21 control device, 2
2 operation device, 23 operator, 24 operation cabin, 25
Boom, 26 live-line work robot, 27 touch panel, 28 monitor, 29 start button, 30 spherical display, 31 joystick, 32 emergency stop button

Front page continuation (72) Inventor Kacho Maruyama 2-82 Watanabe-dori, Chuo-ku, Fukuoka, Fukuoka Prefecture Kyushu Electric Power Co., Inc. (72) Morinoyuki Nakajima 2-chome, Watanabe-dori, Chuo-ku, Fukuoka, Fukuoka No. 82 in Kyushu Electric Power Co., Inc.

Claims (2)

[Claims] 1. An operating device of a hot-line work robot in which an operator operates from the ground and performs live-line work by a manipulator, wherein the operating device is provided with at least two displays, and one of the displays is preprogrammed. A screen for executing various operations is displayed, and an operation execution screen for various operations for interactively advancing work with the operator according to the work execution situation is used as another operation display screen, and another display is used for the rotation angle information of each axis of the manipulator. An operating device for a live-line work robot, characterized in that the posture of the manipulator calculated based on the above is used as a graphic display screen that is displayed as a computer graphic viewed from an arbitrarily specifiable viewpoint. 2. The graphic display screen further displays, as a computer graphic, the shape of the boom calculated based on the extension / contraction length, the undulation angle, and the turning angle information of the boom of the live-line work vehicle equipped with the live-line work robot. The operating device for a live-line work robot according to claim 1, wherein the operating device has a configuration.