JPS58143971A - Operating device for master/slave type manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a simple control device for a master slave type manipulator.

When the object to be worked on is dangerous, the working environment is poor, or rapid repetitive work is to be carried out.

It is desirable to use robots to perform these tasks in order to improve the working conditions of workers.

Therefore, the robot must be operated by a remote operator or automatically operated by numerical control for simple tasks.

Conventional. As a remote control method for a robot, a method is often used in which a worker operates the robot while using a telescope, an industrial television, or directly observing the workpiece and the robot with the naked eye. However, with this method, when high accuracy is required or when the work is complex, it is difficult to operate the robot and highly skilled workers are required. Robots operated by numerical control do not have this problem at all, but if the shape of the workpiece or the work content changes frequently, new data must be created each time, which reduces versatility. There are some shortcomings.

The master-slave type manipulator is useful as a device that compensates for the above-mentioned drawbacks, and allows a work robot (slave) that performs work on a work object to follow the movement of an operating robot (master) operated by a worker to complete one work. The robot's hands are photographed with a television camera, and the robot's hands are observed on a television monitor as it works.

In this case, since the image taken by the TV camera is a flat image and cannot grasp the 3D MA such as depth, generally multiple TV cameras are used and the images are observed on multiple monitor TVs. We are trying to determine the position of the work robot's hands. For this reason, the workability is poor and the risk of erroneous operation is high, so a high level of skill is required for the work. Furthermore, since the position of the television camera does not change even if the posture of one worker changes, the position of the television camera must be adjusted by operating the control panel each time. This means that the work performed by the robot is interrupted, and is another cause of reducing work efficiency.

Therefore, two television cameras are placed side by side, and the two images obtained are observed with the left and right eyes of the worker, respectively, to form a three-dimensional virtual image, and the operating robot (7) A manipulator control device as described above has been previously announced, and it has been confirmed that it has extremely superior workability compared to the conventional L7 mentioned above.

However, since the virtual image of the standing tree is formed on a device that is at the same height as the worker's eye level, when two workers operate the operating robot without looking at the 3D virtual image, the worker's shoulder or arm may come into contact with the TV monitor, making it difficult to operate the robot. It becomes a nuisance rC.

Also, 3D virtual images are formed at eye level.

The operator must always lift his hand up to eye level where the three-dimensional virtual image is located to operate the operating robot, which makes him easily tired and reduces work efficiency.

SUMMARY OF THE INVENTION Accordingly, the present invention provides a master-slave type manipulator operating device that overcomes these drawbacks and can withstand long hours of operation.

The configuration of the present invention that achieves this object includes: a pair of imaging devices that are juxtaposed and move together to take images of a workpiece;
A pair of image planes that project two images of the work object by the nuclear imaging equipment W/lK and are established opposite each other on a substantially horizontal plane, and a plane equidistant from the pair of image planes. and an eyepiece provided on the horizontal plane approximately at the center of the pair of image planes, and each image is separately reflected to the eyepiece to combine the two images and create a virtual image. an image synthesizing device consisting of an optical system mirror, an operating robot that is operated by an operator and works on the three-dimensional virtual image, and a robot that follows the movements of the operating robot;
and a master-slave type manipulator comprising a work robot that performs work on the work object, and a line-of-sight tracking device that is fixed to the head of the worker and causes the imaging device to follow the movement of the head. The control device is characterized in that the pair of image planes are tilted inwardly from each other, and the pair of image planes are tilted so that the rotation of the three-dimensional virtual image coincides with the rotation of the workpiece.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a master-slave type manipulator control device according to the present invention will be described in detail below with reference to FIGS. 1 to 4. The first example represents the basic principle of this embodiment.
[2] is a working robot which performs work on one work object 11 as shown in FIG. 2 which shows the figure and the actual working state.

A work following device 15 connected to the operating robot 14 operated by the worker j3 is configured to follow the same movements as the operating robot 14.

There are various types of work 711 for work target Ial111.
There are tools, grips, and measuring instruments that correspond to these types of work, such as single-tool, assembly, measurement, and movement, and are selectively attached to the tips of the work robot 12 and the operation robot 14, but the operation robot 14 is not actually Since the operation robot 14 is not intended to perform any of the above operations, the operating robot 14 may be equipped with a model of a tool, a gripping tool, or a measuring instrument. Note that as the work robot 120 work follower 15 for the operating robot 14, it is preferable to use a conventionally known mechanical copying device using an electrical copying device, a hydraulic device, or the like. Two identical television cameras (
The imaging devices @) 16 and 17 are arranged parallel to each other so that the distance between the optical axes of their photographic lenses is equal to the pupillary distance Pl) of the worker 13, and the line of sight tracking device 18 directs the workpiece 11 to the workpiece 11. #Move along the same lines. ^1J image is produced by a cathode ray tube 22 assembled in the image composition device 19.
23, and by observing the images of the two work objects 11 through the image synthesis device 19, the worker 13
creates an illusion as if the operating robot 14 is working on the three-dimensional virtual image 20 of the work object 11.

1. The external appearance and internal structure of the image synthesis device 19 according to this embodiment are shown in FIGS. 3 and 4. As shown in FIG. 4, cathode ray tubes 22 and 23 are provided as a pair of image planes connected to the television camera 16 and 17 and facing each other,
An eyepiece 24 is provided on the horizontal plane 21 equidistant from the cathode ray tubes 22, 23. In order to reflect the images reflected on the cathode ray tubes 22 and 23 separately to the eyepiece 24, semi-transparent mirrors 25 and 26 are installed on the horizontal plane 21 approximately in the middle of the cathode ray tubes 22 and 23, forming an angle α to each other. be done. At this time, the optical path lengths from the eyepiece s24 to the pair of cathode ray tubes 22 and 23 are set to be equal. And a semi-transparent mirror 25°2
6 are tilted inward towards each other, so that the translucent mirrors 25.2
6 and a point perpendicular to the horizontal plane 21 is θ. Conventionally, the semi-transparent mirrors 25, 26 are at right angles to the horizontal plane 21.

When the cathode ray tubes 22 and 23 placed on the horizontal plane 21 are viewed from the eyepiece 24 through the semi-transparent mirrors 925 and 26 with separate left and right eyes, a three-dimensional virtual image appears as if it were behind the semi-transparent mirrors 25 and 26. 20 is a horizontal plane 21 as shown by the broken line in the figure.
It is located above. In the present invention, as described above, the semi-transparent mirror 2
5 and 26 to form an image of the 3D imaginary f#20 at a distance h below the horizontal plane 21. Furthermore, in this embodiment, the cathode ray tubes 22 and 23 are raised above the horizontal plane 21 by an amount H, so that the Care is taken to prevent the arm from coming into contact with the image synthesis device 19. In this case, the position where the three-dimensional virtual image 20 is formed is not only lowered.

Since the cathode ray tubes 22, 23 are raised above the horizontal plane 21, the translucent mirrors 25, 26 are tilted considerably. By tilting the semi-transparent *25, 26 in this way, the three-dimensional virtual image 20 also tilts, which does not correspond to reality.
2°23 is tilted. That is, θ1. It is tilted at an angle of θ2 with respect to a direction perpendicular to the horizontal plane 21. From the above, the appearance of the image synthesizing device 19 is V-shaped, as shown in FIG. 3, which is twisted by an angle θ], θ2, and both ends are raised by an amount corresponding to the height H, forming an angle θ3. In this example, by using a semi-transparent mirror 25°26, the actual operating robot 1
4 and the three-dimensional virtual image 20 of the workpiece 11 can be observed at the same time, but instead of this semi-transparent mirror 25, 26, a total reflection mirror with numerous small holes or an extremely short-period flicker mechanism is used. A similar effect can be expected by using a total reflection mirror or a refraction prism. In this case, the operating robot 14
However, the three-dimensional virtual image 20 of the working robot 11 can be observed using the television cameras 16 and 17.
It is possible to grasp the working status by the movement of the working robot 14.

On the other hand, the 1mJ line-of-sight tracking device fi18 is a line-of-sight tracking device 11 that is integrated with a helmet 27 fixed to the head of the worker 13.
A pair of television cameras 16 and 17 are arranged to move following the movement of the head (that is, the direction of the line of sight) of the worker 13 (91). In other words, these line-of-sight tracking devices [
9. 18 has a multi-joint telescopic mechanism so that the television camera 16.17 can be moved in three dimensions. Its operating principle is exactly the same as that of the working robot 12 and the operating robot 14.

In addition, the image synthesis g&place 19 also includes helmets 27 and 14.
If set to F, vignetting of one image will be eliminated, making observation of the three-dimensional virtual image 20 much easier.

When the three-dimensional virtual image 20 of the work object 11 and the work robot 12 and the actual operating robot 14 are simultaneously observed overlapping each other using semi-transparent mirrors 25, 26, etc., as in this embodiment, the work robot 12 is The working robot 12 is arranged so that the three-dimensional virtual image and the operating robot 14 can be observed in the same size.
and the distance between the TV camera 16.17 or the eyepiece s24
The optical path length between the camera and the cathode ray tubes 22, 23 is adjusted by 1, but if the television camera 16, 17 is equipped with a zoom lens, this can be easily done by operating the zoom lens. Therefore, this television camera 16
．． When the three-dimensional virtual image 2o is enlarged by operating the zoom lens 17.

It is possible to perform highly accurate work, but at the same time, by bringing the distance f between the eyepiece 24 and the operation port (bottom) 14 closer together, the entire size of the three-dimensional virtual image of the operation robot 14 and the work robot 12 can be reduced. Matching allows for higher N degrees and more complex work.

Furthermore, in the present invention, the three-dimensional virtual image 2o of the work object 11 seen from the image synthesis device 19 can be placed below eye level by h, so the worker 13 can operate the operating robot 14 from a low position. Since the image synthesizing device 19 has a V-shape as described in -IJ, there is no possibility of the worker's 13 coming into contact with debris or his arms. In this embodiment, the image synthesizing device 19 has a V-shape by installing the cathode ray tubes 22 and 23 above the horizontal plane 21 by a distance H, but since the eyes are operated at a low position, Even when H=00, the shoulders and arms of the worker 13 do not come into contact with the image synthesis device 19.

As described above with one embodiment, according to the present invention, three-dimensional virtual images of two work objects are formed below eye level, and the image synthesis device # is V-shaped, so that one worker can You can operate the operating robot below the height, so you won't get tired.

There is no need for the image synthesis device to come in contact with your arm or shoulder and make it difficult to operate.

[Brief explanation of the drawing]

FIGS. 1 to #c4 relate to an implementation of a master-slave type manipulator control device according to the present invention, in which FIG. 1 is a basic principle diagram and FIG. 2 is a working state diagram. FIG. 3 is an external view of the image synthesizing apparatus, and FIG. 4 is an internal structural diagram of the image synthesizing apparatus. In the drawing. 11 is the object to be worked on. 12 is a working robot. 13 is a worker. 14 is an operating robot, and 15 is a work follower. ], 6, 17 are television cameras. 18 is a line-of-sight tracking device, and 19 is an image composition device. 20 is a three-dimensional virtual image. 2111''j Horizontal plane. 22. 23 is a cathode ray tube, and it touches 24! section. 25, 6 is a semi-transparent mirror. 27 is a helmet. Patent applicant Meidensha Co., Ltd. Representative Patent Attorney Mitsuishi Shibu (and 1 other person) ) Figure 1 11 Figure 2

Claims (1)

[Claims] A pair of imaging devices arranged side by side and moving together to image the entire work object, and a nuclear imaging device projecting two images of the work object, and installed facing each other on a substantially horizontal plane. a pair of image planes; an eyepiece provided on the plane at a bed distance from the pair of image planes; An image synthesizing device consisting of an original school bell that synthesizes two images to create a three-dimensional virtual image by reflecting it to the eye, an operating robot that is operated by a worker and works on the three-dimensional virtual image, and this operating robot. A work robot that follows the movement of the worker and performs work on the work object, and a line-of-sight tracking device that is fixed to the head of the worker and causes the imaging device to follow the movement of the head. In the control device of the master-slave type manipulator, the pair of AJJ mirrors are tilted inwardly, while the pair of image planes are respectively arranged so that the rotation of the three-dimensional virtual image matches the rotation of the workpiece. A master-slave type manipulator control device with all the features.