KR101294348B1 - A valve operating method based on autonomous cooperation between tele-operated robots and system thereof - Google Patents

Abstract

PURPOSE: A method and a system to control valves based on autonomous cooperation of remote control robots are provided to implement an autonomous movement of the robot by generating and estimating a target movement route of each robot based on movement information and dimension information of objects after the movement information of the robot is stored in a specific storage device. CONSTITUTION: A method to control valves based on autonomous cooperation of remote control robots comprises the steps of: gripping a jig connected to the valve by operating a robot arm of each slave robot (410,420); measuring valve dimension information through the jig; storing a gripper coordinate system of each slave robots based on the measured valve dimension information and generating a movement route of each slave robots; and alternately gripping the jig and rotating the valve while each slave robots are repeatedly estimating the generated route. [Reference numerals] (100) Master device; (200) Wireless communication device; (300) Cooperation and autonomous movement commands generating device; (410) Slave robot #1; (420) Slave robot #2; (500) Target object (valve); (AA) Operator

Description

A valve operating method based on autonomous cooperation between tele-operated robots and system

The present invention relates to a method for operating a remotely controlled robot system and a system thereof, and more particularly, a plurality of robots for a valve in which a rotational force is insufficient in a single robot or a rotation range of a valve is outside the working space of the robot. The present invention relates to an autonomous collaboration-based valve operation method and a system of a remote control robot, which enables the operator to directly control the robot or autonomously collaborate with each other.

A tele-operating robotic system refers to a system that enables a robot to perform work while a remote robot is being operated by a worker. It is used for maintenance and monitoring of a remote work site, such as a nuclear power plant, Remote control of combat robots, maintenance of national infrastructure facilities and social overhead capital, and energy and resource exploration.

In general, the configuration of a remote control robot system is composed of one master device that collects work commands from an operator and one slave robot that follows the collected work commands.

Japanese Laid-Open Patent Publication No. 2003-200371 (2003.7.15) discloses a robot system and a method of operating the same, which can teach a large number of robots with one teaching device, without complicated cable handling or processing. It is.

1 shows a conventional robot system and a method of operating the same, wherein the robot controller 20 of the robot R is equipped with a radio communication device, a safety device 30 connected with a cable C, and a safety device 30. The side mounting part is provided, and the teaching apparatus 10 is equipped with the radio communication apparatus and the teaching side mounting part attached to the said safety device 30. As shown in FIG.

However, according to the prior art, in order to perform a complicated task by a robot at a remote work site, first, human intervention is essential, and second, only an experienced worker through professional training can perform the task. Workers usually generate work orders through the master device throughout the entire process until the start and end of work, so that the work fatigue is increased when the work is continuously repeated, which affects the work quality.

In addition, since only one robot can control one robot, there is a limit to the work targets to which remote control can be applied. Especially, when one valve is operated in a nuclear power plant and a plant, the rotational force is insufficient for one robot. When the rotation range of the valve is out of the work space of the robot, there is a problem that it is difficult to perform the work by the 1: 1 robot remote control.

Japanese Laid-Open Patent Publication No. 2003-200371 (2003.7.15)

The present invention is to overcome the above-mentioned problems of the prior art, when one operator remotely controls two or more robots, when the operator directly remotely control one robot or when the robot is uncontrolled from the operator The object of the present invention is to provide a method and system for autonomous collaboration based valve operation of a remote control robot that autonomously generates and follows a motion path after the robot determines the surrounding situation.

In addition, the robot performs the operation autonomously through the operator's direct remote operation or the operator's operation start command, perform the cooperative work between a number of robots, the problem situation that occurs during the autonomous operation of the robot through the additional remote operation of the operator The purpose of the present invention is to provide a method and system for autonomous collaboration based valve operation of a remote control robot.

In addition, by storing the motion information of the robot moved through the remote operation of the first operator in a specific storage device, the robot's autonomous operation by generating and following the target motion path of each robot based on the motion information and the dimension information of the workpiece. The purpose is to implement

In order to achieve the above object, an autonomous collaboration-based valve manipulation method of a remote control robot according to the present invention includes a method of collaboratively manipulating one valve using two or more slave robots, the method comprising: (a) Operating a robot arm to grip a jig coupled to the valve; (b) measuring valve dimension information through the jig; (c) storing a gripper coordinate system of each slave robot based on the measured valve dimension information, and generating a movement path of each slave robot arm; And (d) rotating the valve by holding the jig alternately while each slave robot repeatedly follows the generated path.

In addition, the present invention, (e) detecting the contact force generated between the robot arm and the jig when following the path; And (f) stopping following the path of the robot arm when the detected contact force is generated above the reference value, and outputting an alarm alert and an error message.

The reference value of the contact force in the step (f) is; It can be set to the maximum contact force magnitude measured in the direction of the angular axis of the coordinate system of the torque sensor or the force installed at the distal end of the robot arm.

In addition, the present invention, (g) detecting the valve gauge value of the valve; And (h) returning the robot arm to an initial position when the detected valve gauge value reaches a preset target value, displaying a work end state and ending the work.

Autonomous collaboration-based valve operation system of a remote control robot according to the present invention, the path of each robot arm for controlling the autonomous operation of the slave robot based on the robot gripper coordinate system information and the valve dimension information measured from the jig. A device for generating a collaboration and autonomous operation command; And two or more slave robots that rotate and operate the valve by alternately holding the jig while repeatedly following a path generated by the collaboration and autonomous operation command generation device.

The apparatus for generating cooperative and autonomous commands; It is preferable to detect the contact force generated between the robot arm and the jig when the path is followed, and stop the path following the robot arm when the detected contact force is greater than a reference value and output an alarm alarm and an error message. Do.

The apparatus for generating cooperative and autonomous commands; More preferably, the valve gauge value of the valve is detected, and when the detected valve gauge value reaches a preset target value, the robot arm is returned to an initial position, an operation end state is displayed, and the operation is finished.

According to the autonomous collaboration-based valve operation method and system of the remote control robot according to the present invention configured as described above, a single operator remotely operates at least two robots to perform a valve operation operation difficult to work with one robot Although controlled by the operator, the robot directly operates a single robot directly or when the robot is uncontrolled from the operator, the robot has an effect of autonomously generating and following the movement path after determining the surrounding situation.

In addition, the robot performs autonomous operation through the direct teleoperation method and the operation start command of one worker. Through this, there is an effect of solving a problem situation that occurs during the autonomous operation of the robot.

In addition, by storing the motion information of the robot moved through the remote operation of the first operator in a specific storage device, the robot's autonomous operation by generating and following the target motion path of each robot based on the motion information and the dimension information of the workpiece. There is also an effect that can be implemented.

1 is a block diagram showing a conventional robot system and its operation method.
Figure 2 is a block diagram showing an embodiment of an autonomous collaboration based valve operation system of a remote control robot according to the present invention.
Figure 3 is a flow chart showing an embodiment of the autonomous collaboration-based valve operation method of the remote control robot according to the present invention.
4 is a block diagram showing in detail the master device of FIG.
Figure 5 is a block diagram showing in more detail the autonomous collaboration-based valve operation apparatus of the remote control robot according to the present invention of FIG.
6 is a system configuration diagram showing a working state for implementing the autonomous collaboration-based valve operation method of the remote control robot according to the present invention.
7 and 8 are a view showing a jig of the autonomous collaboration-based valve operation apparatus of the remote control robot according to the present invention.
9 is a view showing a working state of a slave robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a block diagram showing an embodiment of an autonomous collaboration-based valve operation system of a remote control robot according to the present invention.

In the present invention, there are many obstacles in the periphery, but a little formalization (in real time, the position or posture of the obstacles hardly change, and the human-accessible working environment (for example, nuclear power plant and a remote plant, etc.) in a circular valve (wheel) Two or three spokes are operated by a remote control robot system, but a single robot has a 1: N (1: operator for a valve that lacks rotational force or the valve's rotation range is out of the robot's working space. Number, N: number of robots), that is, to enable the operator to remotely control a large number of robots or to autonomously collaborate with each other, to perform a valve rotation operation that was not possible with one robot.

As shown in FIG. 2, the autonomous collaboration-based valve operation system of the remote control robot according to an embodiment of the present invention for performing the above operation includes a master device 100, a wireless communication device 200, collaboration and autonomy. Operation command generating device 300 and two or more slave robots (410, 420).

The master device 100 receives a remote operation command of the operator (S1) and converts it into an operation control signal of the slave robots 410 and 420 and an autonomous collaboration operation signal between the slave robots, and transmits it to the wireless communication device 200 (S1 to S2). ), And receives and displays the image information about the contact force and the work generated when the valve rotates from the wireless communication device 200 (S9 ~ S10).

The wireless communication device 200 converts the operation control signal and the collaboration operation signal of the master device 100 into a wireless signal and transmits the same to the collaboration and autonomous operation command generation device 300 (S2 to S3), and the collaboration and autonomy. The operation command generation device 300 transmits the image information about the contact force and the work generated when the valve is rotated to the master device 100 (S8 to S9).

The collaboration and autonomous operation command generation device 300 generates an operation control signal or an autonomous collaboration operation control signal of each slave robot 410 and 420 according to the operation control signal and the cooperation operation signal transmitted from the wireless communication device 200. Outputs (S3 to S4, S4 '), and receives the contact force measured from each slave robot 410 and 420, an operation signal of the robot and an image signal related to the operation, an operation state and an error message signal generated in the middle of the wireless communication device ( 200) (S7, S7 'to S8).

Two or more slave robots 410 and 420 generate a physical rotational force in accordance with the signal of the cooperative and autonomous operation command generation device 300 to rotate the valve 500 (S4, S5 'to S5, S5'), and when the valve rotates. Image information about the generated contact force, an error message, and a job is obtained and transmitted to the collaboration and autonomous operation command generation device 300 (S6, S6 'to S7, S7').

Here, the cooperative and autonomous operation command generation device 300 is based on the gripper coordinate system information of each slave robot (410,420) and the valve dimension information measured from the jig 600 (see FIG. 6) coupled to the valve 500. As a result, a path of each robot arm 401 for controlling autonomous operation of each slave robot 410 and 420 is generated.

The two or more slave robots 410 and 420 rotate the valve 500 by alternately gripping the jig 600 while repeatedly following the path generated by the cooperative and autonomous operation command generation device 300. Do the work.

At this time, the collaboration and autonomous operation command generation device 300; Detects contact force generated between the robot arm 401 and the jig 600 when the path is followed, and stops following the path of the robot arm 401 when the detected contact force is greater than or equal to a reference value and alarms. Alarm and error messages can be output.

In addition, the collaboration and autonomous operation command generation device 300; When the valve gauge value of the valve 500 is detected, and the detected valve gauge value reaches a preset target value, the robot arm 401 is returned to an initial position, the operation end state is displayed, and the operation is terminated. Can be.

As shown in Figures 2 to 4, in the autonomous collaboration-based valve operation system of the remote control robot according to an embodiment of the present invention, the operator works by using the operator remote operation device 112 of the master device 100 When a command is input, the work command is converted into operation control signals of the slave robots 410 and 420 in the master device 100, and the operation control signal is transmitted to the cooperative and autonomous operation command generation device via the wireless communication device 200 ( 300).

The collaboration and autonomous operation command generation device 300 is responsible for delivering the signal to the robot (410,420) by wireless communication, when the operator independently remote control each slave robot (410,420), When the autonomous collaborative operation of the slave robots 410 and 420 is required, the movement path to be followed by each slave robot 410 and 420 in the device 300 is based on various task information obtained from the surrounding work environment and the movement information of the slave robots 410 and 420. The path is automatically generated and transferred to the controllers of the slave robots 410 and 420 in wireless communication.

The reaction force (contact force) information generated when the actual slave robots 410 and 420 come into contact with the work object, that is, the valve 500, and the movement information of the actual slave robots 410 and 420 actually move the slave robots 410 and 420. The image information measured by various sensors mounted on the) and showing the current work situation is obtained from the camera 501 mounted on the slave robots 410 and 420 and the camera 501 installed in the surrounding work environment.

The information is finally passed back to the master device 100 via the wireless communication device 200, the reaction force (contact force) information to the worker through the remote control device (haptic device) 112 of the master device 100, In addition, the monitoring device 101 and various display windows 102 and 103 provide the worker with the current work status and the motion information of the slave robots 410 and 420.

Figure 3 is a flow chart showing an embodiment of a method for autonomous collaboration-based valve operation of the remote control robot according to the present invention, Figure 4 is a block diagram showing in detail the master device of Figure 2, Figure 5 is the present invention of Figure 2 The block diagram showing the autonomous collaboration-based valve operation system of the remote control robot according to the present invention in more detail.

In the autonomous collaboration-based valve operation system of the remote control robot according to the present invention, the robot operates autonomously through the direct teleoperation work of the operator and the operation start command of the operator (1 person), and performs the robot-to-robot collaboration. In addition, it is possible to implement a further remote operation of the operator to solve the problem situation occurring during the autonomous operation of the robot, and the flow chart of the system-based valve rotation operation including each detailed operation is shown in FIG.

As shown in FIG. 3, in a method of cooperatively operating one valve using two or more slave robots, (a) each slave robot 410 and 420 is moved to a specific position, and each slave robot ( Operating the robot arms 401 of 410 and 420 to grip the jig 600 coupled to the valve 500 (S101 to S102); (b) measuring valve dimension information through the jig 600 as the autonomous operation switch 104a of the robot is turned on (S103 to S104); (c) storing gripper coordinate systems of the slave robots 410 and 420 based on the measured valve dimension information, and generating movement paths of the slave robot arms 401 (S105 to S106); And (d) rotating each of the valves by alternately gripping the jig 600 while the slave robots 410 and 420 repeatedly follow the generated path.

In addition, (e) detecting a contact force generated between the robot arm 401 and the jig 600 when following the path (S109); And (f) stopping following the path of the robot arm 401 when the detected contact force is generated above the reference value, and outputting an alarm alert and an error message (S109 to S111). The reference value of the contact force in the step (f) is; It may be set to the maximum contact force magnitude measured in the direction of the angular axis of the coordinate system of the torque sensor or the torque sensor provided on the distal end of the robot arm 401.

In addition, (g) detecting the valve gauge value of the valve 500 (S113); And (h) returning the robot arm 401 to an initial position when the detected valve gauge value reaches a preset target value, displaying a work end state, and ending the work (S114 to S115). .

In FIG. 3, a configuration of a master device for receiving a work command from an operator for providing a valve rotation operation or for providing a worker with current task information and motion information of the slave robots 410 and 420 is proposed in FIG. 4.

As shown in FIG. 4, the master device 100 is composed of various switches 104a and 104b and a worker remote control device for largely converting a worker's work intention into control signals of slave robots 410 and 420 through physical manipulation. 112, various display windows 103 for providing the current job information and the motion information of the slave robot to the worker, the monitoring device 101, and the haptic device 112 inside the worker remote control device. The configuration of the master device 100 is a representative example of a master device for 1: N robot remote control, which can be changed according to a work object and a work type, and various modifications may be made according to the gist of the present invention.

1: N robot remote control system for the valve rotation operation proposed in the present invention is the master device 100, the collaboration and autonomous operation command generating device 300, the slave robot (410, 420) and the valve ( 500). The block diagram of FIG. 5 is characterized in that the devices 100 and 300 are wirelessly communicated with each other, and implements a remote operation of an operator and autonomous collaboration between robots through various switches and observers. For example, switch # 1 of FIG. 5 is associated with the remote control selection switch 104b of FIG. 4, switch # 2 is associated with switch SR1, switch # 3 is associated with switch SR2, and switches # 4 and 5 are Associated with the autonomous selection switch 104a, switches # 6, 7 are initially closed and open when a signal above the reference value is detected by the contact force observer 503 or valve gauge observer 504. All switches except switch # 6,7 are initially open and closed when the activation signal is applied, but switch # 1 and switch # 4,5 are connected to each other so that the other switch is closed in reverse. In other words, when switch # 1 is closed for remote operation of the operator, switches # 4 and 5 for autonomous operation of the robot are automatically opened, and vice versa. In addition, when the gripper 402 of the slave robot 410 and 420 is in contact with the surrounding obstacle during remote operation of the operator, the target motion path Xd1 and 2 of the robot generated by the master device 100 and the actual robot are A path following error occurs between the tracked motion paths X1 and 2. The error information is transmitted to the haptic device 112 of the operator remote control device, the reaction force is generated in proportion to the error inside the device is provided with the contact information of the contact with the surrounding obstacles, including the collision.

6 is a system configuration diagram showing a working state for implementing an autonomous collaboration-based valve operation method of a remote control robot according to the present invention. Referring to FIGS. 6 and 3, the operation of the present invention will be described.

The direct remote operation of the first worker moves the mobile platform of each slave robot 410 and 420 to a specific position through the worker remote control device 112 of the master device 100 shown in FIG. 4 (S101). The robot arm 401 is operated to allow the robot gripper 402 to grip the jig handle 610 (S102). When the autonomous operation selection switch 104 is operated by the master device 100 (S103), various distance information measured from the jig 600 is input to the valve dimension input device 105 of Fig. 4 (S104).

In the step S101, the operator operates the remote operation selection switch 104 in the master device 100, and then selects the remote control target slave robots 410 and 420 in the SR1 and SR2 switches, and then the mobile platform for the operator remote operation device 112. Enter a work command to control 403. In other words, a predetermined position is defined so that the actual valve 500 can be rotated in consideration of the robot arm 401 working range of the slave robots 410 and 420, and a specific plane in the basis coordinate system of the slave robots 410 and 420 rotates the valve. An operation of moving and rotating the mobile platform 403 to a specific orientation parallel to a specific plane of the central coordinate system. Here, the image information obtained from the upper part of the mobile platform 403 of the slave robots 410 and 420, the robot arm, and the camera 501 installed in the work environment is output to the monitoring device 101 of FIG. 4, and each mobile platform 403 is provided. The signals measured from the distance and orientation sensors mounted on the, i.e., the current position and orientation of each mobile platform 403 are displayed on the mobile platform position and orientation display window 109 of FIG. Therefore, the operator can check whether the mobile platform 403 reaches the specific position and orientation from the display window 109.

In step S102, the operator selects the remote control target slave robots 410 and 420 as the switches SR1 and SR2 of FIG. 4, and then inputs a work command for controlling the robot arm to the worker remote control device 112. The gripper 402 of 410 and 420 grips the handle 610 of the jig mounted to the valve. In the operation, the image information obtained from the camera 501 is also output to the monitoring device 101 of FIG. 4, and the information collected from the rotation angle measuring sensor mounted inside the robot arm 401 is converted into Cartesian coordinate system information. Since the distance and azimuth information from the robot base coordinate system to the robot gripper coordinate system are displayed on the robot gripper coordinate system display window 110 of FIG. 4, the operator may move the grip position of the robot gripper 402 and the specific axis in the coordinate system of the robot gripper 402. The orientation of each robot gripper 402 can be controlled to be parallel to the axis passing through the center of the handle 610.

Jig 600 for the valve rotation operation proposed in the present invention, as shown in the plan view, front view and side view of Figure 7 (a) to (c), the jig top plate 601, jig handle 610 , Jig rod 612, clamp 620, etc., the distance between the jig rod 612 can be freely adjusted to enable the valve rotation operation irrespective of the size of the valve 500. In addition, a scale is attached to the jig upper plate 601 and a display needle is attached to the jig handle 610 so that the distance between the jig handles 610 can be easily measured. In addition, the rotational force of the robot can be uniformly transmitted to the valve regardless of the direction of rotation, and the 'L' shaped clamp 620 is attached so that the jig 600 and the valve wheel 630 can be in close contact with each other, The clamp 620 may also change the fixed position according to the size of the valve 500. In the method of mounting the jig 600 to the valve heel 630, the valve wheel 630 and the wheel spokes 640 of the jig rod 612 of the fixed jig handle 610 of FIG. 7 meet as shown in FIG. 6. After contacting the portion, the jig rod 612 of the movable jig handle 610 is brought into close contact with the portion where the opposite valve wheel 630 and the wheel spoke 640 meet, and the jig rod 612 of the movable jig handle 610 is contacted. Re-tighten to fix the jig handle 610 to the jig top plate 601. Then, the 'L' shaped clamps 620 are fixed with the hexagon wrench bolts 613 such that the wheel spokes 640 and the two-point contact (the wheel spoke axis and the length of the clamp are perpendicular to each other) are fixed to the jig 600. Is completed.

In the present invention, a distance measuring jig 700 (see FIG. 8) for measuring a distance between a jig handle 610 center and a valve rotation center together with a dedicated jig 600 for valve operation is disclosed. The jig 700 has a jig handle inserting portion 711, a bolt head inserting portion 713 which can be replaced according to the size of the bolt, and a scale as shown in the plan view and front view of FIGS. 8A and 8B. Piston 712, cylinder body 710 is indicated. The usage of the jig 700 is to insert the jig handle 610 of FIG. 7 into the jig handle insert 711 of FIG. 8, and then the opposite bolt head insert 713 to the bolt head located at the valve rotation center. When the operator checks the change in length of the piston 712, which changes when it is inserted, the distance between the center of the jig handle 610 and the center of rotation of the valve 500 can be measured.

After the operation is completed, the operator operates the autonomous operation selection switch 104a in the master device 100 of FIG. 4, and inputs the distance information measured from the jig 600 of FIGS. 7 and 8 to display the slave robots 410 and 420. Autonomous collaboration initiates valve rotation. The operation includes storing the gripper coordinate system of the first slave robot 410 and 420 as shown in FIG. 3 (S105), generating a movement path of the second slave robot arm 401 (S106), and generating a third slave robot ( Steps S107 to S018 repeatedly following the generated paths 410 and 420, and observing whether the robot arm 401 and the robot gripper 402 and the jig handle 610 generate abnormal reference force when following the fourth path. In step S109, when the fifth contact force is higher than the reference level, the operation status indicator operation and an error message are displayed on the master device 100 (S110 to S111), and in the autonomous operation of the sixth slave robot 410 and 420. Step (S112) to automatically switch to the additional remote operation of the operator, the step of observing whether the seventh valve gauge information reaches the target value (S113 ~ S114), and finally the motion information of the current slave robot (410,420) And displaying the operation state (including valve gauge information) on the master device 100 (S115). The operations of the first, second, fourth, sixth, and seventh stages of the above operations are controlled by the cooperative and autonomous operation command generation device 300 of FIG. 5 proposed in the present invention, and the operation of the third stage is slave In the robots 410 and 420 controllers, the fifth and eighth stages of operation may be controlled in the master device 100 including the monitoring device 101.

The detailed description of the autonomous collaborative work of the robot is as follows.

이 상기 X축을 중심으로 반시계 방향으로 회전한 각도를 삼각 함수 공식을 통해 구할 수 있다. 상기 구해진 각도와 밸브 치수 정보(a)로부터 슬레이브 로봇 #1(410)의 그리퍼 좌표계 {G₁}에서 밸브 회전 중심의 좌표계 {O}까지의 상대 위치 및 방위 정보를 구할 수 있다.(마찬가지 방법으로 슬레이브 로봇 #2(420)의 그리퍼 좌표계 {G₂}에서 밸브(500)의 회전 중심의 좌표계 {O}까지의 상대 위치 및 방위 정보를 구할 수 있다.) 슬레이브 로봇 #1(410)의 목표 운동 경로는 상기 {O}의 X축을 중심으로

가 기울어진 각도를 초기 각도로 하여 밸브(500)를 열고 닫는 동작에 따라 시계 및 반시계 방향으로 θ만큼 회전할 때

의 좌표

로 표현된다. 다시 말해 {G₁}로 표현된 가상의 회전축({O}의 X축)을 중심으로

가 θ만큼 회전 시 생성되는 궤적이 슬레이브 로봇 #1(410)의 그리퍼(402)가 추종해야할 목표 이동 경로이다. 슬레이브 로봇 #1(410)의 목표 운동 경로는 상기 방법과 마찬가지로 상기 {O}의 X축을 중심으로

가 기울어진 각도를 초기 각도로 하여 밸브를 열고 닫는 동작에 따라 시계 및 반시계 방향으로 θ만큼 회전할 때

의 좌표

로 표현된다. When the operator operates the autonomous operation selection switch 104 in the master device 100 of FIG. 4, # 4 and 5 are closed in FIG. 5, while switch # 1 necessary for remote operation of the operator is automatically opened. In addition, gripper coordinate system information {G ₁ } and {G ₂ } of the slave robots 410 and 420 inputted to the collaboration and autonomous operation command generation device 300 of FIG. 5 are stored in the device, and then FIG. 4. The valve dimension information (a, b, c in FIG. 9) input by the operator in the master device 100 of FIG. 9 is also input to the master device 100. Through the above operation, the cooperative and autonomous command generating apparatus 300 of FIG. 5 uses the second cosine law to meet the center of rotation of the valve 500 and the center of both jig handles 610 in FIG. 9 from the valve dimension information. You can get the information of the cabinet of the isosceles triangle. In addition, the angle at which the jig 600 rotates counterclockwise around the X axis of the center coordinate system {G ₁ } of the jig handle 610, and similarly, the valve rotation center coordinate system {O} is connected in the coordinate system {G ₁ }. line

The angle rotated counterclockwise about the X axis can be obtained through a trigonometric formula. Relative position and orientation information from the gripper coordinate system {G ₁ } of the slave robot # 1 410 to the coordinate system {O} of the valve rotation center can be obtained from the obtained angle and valve dimension information (a). The relative position and orientation information from the gripper coordinate system {G ₂ } of the slave robot # 2 420 to the coordinate system {O} of the rotation center of the valve 500 may be obtained.) Target motion of the slave robot # 1 410 The path is around the X axis of the {O}

Rotates clockwise and counterclockwise by θ according to the opening and closing operation of the valve 500 using the inclined angle as an initial angle.

Coordinates of

Lt; / RTI > In other words, the virtual axis of rotation (X axis of {O}) expressed as {G ₁ }

Is a target movement path that the gripper 402 of the slave robot # 1 410 should follow when rotating by θ. The target motion path of the slave robot # 1 410 is centered on the X axis of the {O} as in the above method.

Rotates clockwise and counterclockwise θ by opening and closing the valve with the tilted angle as the initial angle

Coordinates of

Lt; / RTI >

As described above, when each slave robot 410, 420 rotates by θ in the rotation direction about the X axis of the valve rotation center coordinate system {O}, each slave robot 410, 420 alternately rotates the jig handle 610 with each other. Holding, the path starting point of one slave robot 410 becomes the path arrival point of the other slave robot 420. If other words rotated by nine to {G _1} in the X-axis of the left slave robot # 1 410 {O} clockwise direction, the slave robot # 1 jig handle 610 where 410 is grasped The slave robot # 2 420 grips the next rotation operation, and the slave robot # 1 410 grips the jig handle 610 held by the slave robot # 2 420 during the next rotation operation. At this time, the position and orientation information {G _x } received after the slave robot # 2 420 rotates clockwise θ about the X axis of {O} is converted to the coordinate system {G ₁ } of the slave robot # 1 410. It is converted and stored in the collaboration and autonomous operation command generation device 300 of FIG. Therefore, the slave robot # 1 410 automatically moves to {G _x } for the next rotation operation. The coordinate system information is the same as the coordinate system information that the slave robot # 2 420 arrived in during the previous rotation operation. In summary, the cooperative and autonomous operation command generating device 300 of FIG. 5 has each slave robot 410 and 420 passing through {G ₁ }, {G ₂ }, {G _x } of FIG. The target paths of the slave robots 410 and 420 may be generated such that the path arrival point of one slave robot 410 is alternately gripped while the jig handle 610 is gripped alternately.

When the slave robots 410 and 420 perform the valve rotation operation along the generated path, the cause of the abnormal reference force between the robot gripper 402 and the jig handle 610 may be generated. When the mobile platform 403 reaches a specific position through the operator teleoperation apparatus 112 of FIG. 4, and then rotates in a specific orientation, a specific plane in the base coordinate system of the slave robot 410, 420 is a specific plane of the valve rotation center coordinate system. It is caused when it is not parallel with each other. If a contact force above the reference is detected through the contact force observer 503 of FIG. 5, switches # 6 and 7 are automatically opened so that the autonomous collaboration operation of the robot is immediately stopped and the switch # 1 is closed to allow further remote operation of the operator. do. In addition, the collaboration and autonomous operation command generation device 300 of FIG. 5 outputs a signal for displaying a work status indicator operation and an error message to the master device 100 of FIG. 4.

The second cause of the contact force above the reference is because the valve rotation operation through the robot is terminated and the rotation operation is no longer possible. In this case, after the valve gauge observer 504 determines the end of the work in FIG. 5, switches # 6 and 7 are also opened to immediately stop the autonomous collaboration operation of the robot, and enable the robot to return to the robot through remote operation of the operator. Close 1 Similarly, the cooperative and autonomous operation command generating device 300 of FIG. 5 outputs a signal for displaying the motion information and the working state (including valve gauge information) of the current slave robot 410 and 420 to the master device 100 of FIG. 4. .

The embodiments of the present invention described in the present specification and the configurations shown in the drawings relate to the most preferred embodiments of the present invention and are not intended to encompass all of the technical ideas of the present invention so that various equivalents It should be understood that water and variations may be present. Therefore, it is to be understood that the present invention is not limited to the above-described embodiment, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. , Such changes shall be within the scope of the claims set forth in the claims.

100: master device 101: monitoring device
200: wireless communication device 300: collaboration and autonomous operation command generation device
410, 420: slave robot 401: robot arm
402: Robot Gripper 403: Mobile Platform
500: valve (work object) 502: valve gauge
503: contact force observer 504: valve gauge observer
600: jig 610: jig handle
620: clamp 630: valve wheel
640: Wheel Spokes

Claims (7)

In a method of cooperatively operating a valve using two or more slave robots,
(a) operating a robot arm of each slave robot to grip a jig coupled to the valve;
(b) measuring valve dimension information through the jig;
(c) storing a gripper coordinate system of each slave robot based on the measured valve dimension information, and generating a movement path of each slave robot arm; And
(d) autonomous collaboration-based valve operation method of a remote control robot comprising the step of rotating the valve by holding the jig alternately while each slave robot repeatedly following the generated path.
The method of claim 1,
(e) detecting a contact force generated between the robot arm and the jig when following the path; And
(f) autonomous collaboration-based valve operation of the remote control robot further comprising stopping a path following the robot arm and outputting an alarm alarm and an error message when the detected contact force is generated above a reference value. Way.
The method of claim 2,
The reference value of the contact force in the step (f) is; The autonomous collaboration-based valve operation method of the remote control robot, characterized in that the maximum contact force measured in the direction of the axis of the coordinate system of the torque sensor or the torque sensor installed in the distal end of the robot arm.
The method of claim 1,
(g) detecting a valve gauge value of the valve; And
(h) returning the robot arm to an initial position when the detected valve gauge value reaches a preset target value, displaying a job end state, and ending the job. Autonomous collaboration-based valve operation method.
A cooperative and autonomous operation command generation device for generating a path of each robot arm for controlling autonomous operation of the slave robot based on gripper coordinate system information of the slave robot and valve dimension information measured from a jig; And
Autonomous collaboration-based valve of a remote control robot including two or more slave robots that perform the operation of rotating the valve by alternately holding the jig while repeatedly following the path generated by the collaboration and autonomous operation command generation device Operation system.
6. The method of claim 5,
The apparatus for generating cooperative and autonomous commands;
Detects contact force generated between the robot arm and the jig when the path is followed, and stops following the path of the robot arm when the detected contact force is greater than a reference value, and outputs an alarm alert and an error message. Autonomous collaboration based valve operation system of a remote control robot.
6. The method of claim 5,
The apparatus for generating cooperative and autonomous commands;
Detecting a valve gauge value of the valve, and when the detected valve gauge value reaches a preset target value, the robot arm returns to an initial position, displays a work end state, and ends the work. Robotic autonomous collaboration-based valve manipulation system.

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