JPH09216184A - Remote operation type robot monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accomplish certain safety monitoring with high reliability. SOLUTION: On the basis of a control signal generated in an operation command generating unit, an operation prediction for a robot main body 10 is simulated in a simulation unit 16, and then, it is determined whether safety of an operation situation for the robot main body 10 is secured or not on the basis of the simulation information and the operation information detected by means of an internal/external sensor 14 in the robot main body 10, and consequently, safety monitoring for the robot main body 10 is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention performs safety monitoring of remotely operated remote control robots such as manipulator type space robots, planetary movement robots and nuclear power station robots that are used for various operations in outer space. The present invention relates to a remote-controlled robot monitoring system used in the field.

[0002]

2. Description of the Related Art Generally, in the field of space development, a method of performing a desired work using a remote-controlled robot is considered when performing various works in outer space. Such a remote-controlled robot has a robot body mounted on, for example, an on-orbit working machine that flies in outer space, and the robot body can be remotely controlled by operating an operation unit provided in a command station on the ground or the like. Operation control is performed to perform a desired work. Therefore, various safety measures are taken for the remote control robot.

FIG. 2 shows a monitoring system used for such a remote-controlled robot. When the operation unit 1 is operated, an operation command corresponding to the operation amount is input to the operation command generation unit 2. It The operation command generation unit 2 generates a control signal as an operation command according to the operation command to generate the robot main body 3
Is output to the calculation unit 4. The calculation unit 4 generates a drive signal for each drive unit such as a joint drive unit (not shown) based on the input control signal to drive and control the drive unit, and the robot body 3
Control the operation.

Further, the robot body 3 is provided with an internal / external sensor 5 such as a joint angle detection sensor and a surveillance camera,
The inner / outer world sensor 5 detects the operating state of each part of the robot body 3, and outputs the operating information to, for example, the monitoring unit 6 provided in the ground station. The monitoring unit 6 determines the presence / absence of safety on the basis of the input operation information and a preset environment model, and outputs a danger signal to the operation command unit 2 in a state of determining danger. When the danger signal is input, the operation command unit 2 outputs a stop signal to the calculation unit 4 to stop the operation of the robot body 2.

However, in the above monitoring system, the operating state of the robot body 3 is detected, the safety of the robot body 3 is judged based on the operation information, and the operation of the robot body 3 is controlled. Because there is a time delay due to transfer of motion information, etc.
There is a risk that the robot body 3 may enter a dangerous area, and there is a problem that the safety is poor.

Further, when the internal / external sensor 5 cannot detect the motion information due to the operating environment of the robot body 3, it is difficult to make a safety judgment, so that there is a problem that the reliability is deteriorated.

The situation is not limited to the space manipulator system mounted on a space work machine to perform various kinds of work in outer space, but it is possible to remotely control a planetary traveling robot, a nuclear power generation robot, or an underwater work. The same applies to various robot systems that are remotely operated, such as a mobile robot.

[0008]

As described above, the conventional monitoring system has the problems of low reliability and low safety. The present invention has been made in view of the above circumstances, and an object thereof is to provide a remote-controlled robot monitoring system having a simple structure and capable of realizing reliable and reliable safety monitoring.

[0009]

According to the present invention, operation is controlled based on a control signal, and a robot main body equipped with a detection sensor for detecting an operation state, and the control signal based on an operation command. And a motion command generation unit for generating and outputting to the robot main body, a motion prediction of the robot main body based on the control signal generated by the motion command generation unit, the kinematics and dynamics model of the robot main body, and the environment model. And a monitoring unit that determines and monitors the operation status of the robot body based on the simulation information of the simulation unit and the operation information of the robot body detected by the detection sensor. This is a configuration of a type robot monitoring system.

According to the above configuration, the simulation unit simulates the motion prediction of the robot body based on the control signal generated by the motion command generation unit, and outputs the simulation information to the monitoring unit. The monitoring unit determines whether or not the operation status of the robot body is safe, based on the simulation information from the simulation unit and the operation information detected by the detection sensor of the robot body. As a result, the operation status of the robot body can be monitored in real time with little time delay, and reliable and safe monitoring can be performed.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a remote-controlled robot monitoring system according to an embodiment of the present invention, in which a robot body 10 is provided, for example, in a space work machine flying in outer space so that its operation can be controlled.

The robot body 10 is provided with an operation control arithmetic unit 11, and an output end of an operation command generation unit 12 is connected to the arithmetic unit 11. The operation command generation unit 12 is arranged, for example, on the command station side constructed on the ground or the like, and the command input operation unit 13 is connected to the input end thereof. And
When an operation command corresponding to a work menu is input from the operation unit 13, the operation command generation unit 12 generates a control signal as an operation command according to the operation command and outputs the control signal to the calculation unit 11.

The robot body 10 is also provided with an internal / external sensor 14 such as a joint angle detection sensor and a surveillance camera. The internal / external sensor 14 is used for the robot body 10
Detecting the operating state of the drive unit (not shown) such as the joints of
The detection information is sent to the monitoring unit 1 on the command station side via the calculation unit 11.
5 is output.

A simulation unit 16 is connected to the operation command unit 12. The simulation unit 16 includes
The storage unit 17 in which the kinematics and dynamics model of the robot body 13 and the environment model are stored is connected.
The motion prediction of the robot body 10 is simulated based on the kinematics and dynamics model and the environment model of the robot body 10 and the control signals generated by the motion command generation unit 12, and the simulation information is monitored. It is output to the unit 15.

The connection between the operation command generator 12 and the monitor 15 on the command station side and the calculator 11 of the robot body 10 on the outer space side may be either wireless or wired.
In the above configuration, when an operation command is input from the operation unit 13, the operation command is input to the operation command generation unit 12.
Then, the operation command generation unit 12 generates a control signal according to the operation command and outputs the control signal to the calculation unit 11 of the robot body 10.

The calculation unit 11 generates a drive signal for the drive unit (not shown) based on the input control signal to drive and control the drive unit (not shown), and the robot body 10 is changed to a work menu. Based on the operation control. Here, in the robot body 10, the operating state of each unit including the drive unit (not shown) associated with its operation is detected by the internal / external sensor 14,
The robot body 10 detected by the internal / external sensor 14
The operation information of is input to the monitoring unit 15.

At the same time, the operation command generating section 12 outputs the control signal to the simulation section 16. The simulation unit 16 uses the input control signal and the storage unit 17
The motion prediction data of the robot body 10 is generated based on the kinematics and dynamics model of the robot body 10 and the environment model stored in, and a simulation is executed based on the motion prediction data. It is output to the monitoring unit 15.

The monitoring unit 15 is used to detect the inside / outside of the robot body 10.
The operation information from the external sensor 14 and the simulation information from the simulation unit 16 are compared to compare and examine whether or not the robot body 10 is safe, and for example, a danger signal is output to the operation command generation unit 12 in a state where a danger is determined. To do.
Here, the operation command generation unit 12 generates a stop signal and outputs the stop signal to the calculation unit 11 of the robot body 10.
0 operation is stopped. As a result, the robot body 10
Are avoided from dangerous situations.

As described above, the remote control type robot monitoring system simulates the motion prediction of the robot body 10 on the basis of the control signal generated by the motion command generation unit 12 in the simulation unit 16, and the simulation information and the robot. It is configured to determine whether or not there is a safety in the operation status of the robot body 10 based on the operation information detected by the inside / outside world sensor 10 of the body 10, and to monitor the safety of the robot body 10.

According to this, the operation status of the robot body 10 is determined based on both the operation information from the inside / outside world sensor 14 and the simulation information from the simulation section 16, so that the robot body 10 is determined.
It is possible to determine the operating state in real time without being affected by the presence or absence of the operating information, and a reliable and stable monitoring operation is realized.

Further, according to this, since the monitoring operation is executed by using the simulation information acquired by the simulation section 16, there is no collision or the like due to the transmission time delay of the operation information detected by the internal / external sensor 14. Danger can be effectively prevented and safety can be improved.

In the above embodiment, the danger signal is sent to the operation command generator 12 while the monitor 15 judges the danger.
In the above description, the robot main body 10 is automatically stopped so that it is not limited to this. The danger may be avoided by notifying the robot operator of the danger.

In the above embodiment, the operation command generator 12 and the simulation unit 16 are arranged on the command station side. However, the invention is not limited to this. It is possible to combine and arrange the above. The command station is not limited to the ground side, and may be remotely arranged on the space side such as a space station with respect to the robot body 10, for example.

Further, in the above embodiment, the description has been made on the case of being applied to the manipulator type remote control robot mounted on the space work machine. It can be applied to various types of remote control robots used in the environment such as nuclear power plants and underwater, and the same effects are expected. In this case, the sensor that detects the operating state of each part of the robot is appropriately set according to the function of the robot itself. Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention.

[0025]

As described in detail above, according to the present invention, it is possible to provide a remote-controlled robot monitoring system having a simple structure and capable of realizing reliable and reliable safety monitoring. .

[Brief description of drawings]

FIG. 1 is a diagram showing a remote-controlled robot monitoring system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a monitoring system used in a conventional remote-controlled robot.

[Explanation of symbols]

 10 ... Robot body. 11 ... Operation unit. 12 ... Operation command generation unit. 13 ... Operation part. 14 ... Internal / external sensor. 15 ... Monitoring unit. 16 ... Simulation part. 17 ... Storage unit.

Claims (5)

[Claims] 1. A robot body, which is controlled based on a control signal, in which a detection sensor for detecting an operating state is mounted, and the robot body which generates the control signal based on an operation command. A motion command generation unit for outputting, a simulation unit for simulating motion prediction of the robot main body based on the control signal generated by the motion command generation unit and the kinematic and dynamics model of the robot main body and the environment model; A remote-controlled robot monitor, comprising: a monitoring unit that determines and monitors the operation status of the robot body based on the simulation information of the simulation unit and the operation information of the robot body detected by the detection sensor. system. 2. The monitoring unit, in a state of determining a danger,
The remote-controlled robot monitoring system according to claim 1, wherein a danger signal is output to the operation command generation unit to stop the robot body in an emergency. 3. The monitoring unit, in a state of determining a danger,
The remote-controlled robot monitoring system according to claim 1, wherein a dangerous state is displayed. 4. The remote-controlled robot according to claim 1, wherein the robot main body is mounted on a mounting base so as to be controllable in operation, and is remotely operated. Monitoring system. 5. The remote-controlled robot monitoring system according to claim 1, wherein the robot main body is provided so as to be movable and travelable, and is remotely operated to travel.