KR101741498B1 - A device for measuring performance of a remote controlling system - Google Patents

Abstract

The present invention relates to an apparatus for measuring the performance of a remote handling system, comprising a start detecting unit for outputting a start signal when the slave device starts at a starting point, an arrival detecting unit for outputting an arrival signal when the slave device arrives at a set position, A slave device receiving a start signal of the slave device from the start detecting part and receiving an arrival signal of the slave device from the arrival detecting part, And a time measuring unit for measuring a time taken to move from the starting point to the arrival point, so that the working difficulty level can be easily changed and the erroneous working rate can be measured.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a remote-

The present invention relates to an apparatus for measuring the performance of a remote handling system, and more particularly to a system for measuring the performance of a remote handling system for measuring the working capability of a remote handling system that performs an operation on behalf of an operator.

Generally, in an extreme environment such as a radiation environment, deep sea, or space, an operator is in direct contact with the outside environment and is difficult to work, and thus employs a remote handling system to replace the operator.

The remote handling system comprises a slave device in contact with the external environment on behalf of the operator and a master device for operating the slave device in a safe position.

Particularly, in a radiation environment, a mechanical master slave actuator for mechanically connecting a master device and a slave device is widely used. Servo-type slave devices are mainly used in environments such as space and deep sea due to large physical distance difference between master and slave devices.

In order to compare the performance of various remote handling systems, a performance index that standardizes the performance of each device is required and a means for measuring the performance index is needed. A method of measuring the throughput by measuring the time according to the degree of difficulty is widely used as a technique for quantifying the operation performance of a device.

The conventional method of measurement of the whit was designed for the purpose of measuring human body ability in the 1950s. It was designed based on the 1 degree-of-freedom experiment and manually adjusted the work difficulty, There was a limit to the accuracy of the test.

Since the 1980s, various computer input devices have appeared along with the development of electronic industry, and the method of Whit has been paid attention again to compare the workability of computer input devices. When using the whit method to compare computer input devices, instead of using a physical button or a mechanical experiment device, a virtual pointer is pressed on a computer screen to perform a pressing operation of a virtual button. Measurement is performed in a virtual space. In this case, although the degree of difficulty of the operation can be easily adjusted and the measurement can be performed precisely, there is a limitation in that it is not possible to provide a means of measuring by directly pressing the mechanical button directly. A measuring device using the method of Whit, which is designed to perform a performance measurement through an automated method on a remote handling system with physical movement, such as a remote handling device, a force amplifier, a master slave system, Measuring devices have not been reported.

An object of the present invention is to provide an automated measuring apparatus which improves the problems of the measuring apparatus based on the conventional whitening method and is suitable for evaluating the performance of the remote handling system. The present invention can easily change the working difficulty, And it is an object of the present invention to provide a performance measuring apparatus for a remote handling system capable of measuring the distance.

In order to achieve the above object, an apparatus for measuring the performance of a remote handling system according to the present invention is characterized in that an operator operates the slave device of the remote handling system to repeatedly perform an operation of departing from a starting point and reaching a target area at an arrival point The distance between the start point and the arrival point and the width of the target area are changed to adjust the degree of difficulty so as to measure the correlation of the work time from the start point to the arrival point for each degree of difficulty , It is easy to control the degree of difficulty by changing the area of the target area and features that automatically perform the change of the distance between the start point and the arrival point and features that perform the time measurement automatically .

A slave device includes a slave device that moves according to a user's operation intention, a start detector that outputs a start signal when the slave device starts from a start point, and an output device that outputs an arrival signal when the slave device reaches a target area located at an arrival point And a control unit for receiving a start signal of the slave device from the start detecting unit and receiving an arrival signal of the slave device from the arrival detecting unit, And a time measuring unit for measuring a time taken to move from the starting point to the arrival point.

In the apparatus for measuring the performance of a remote handling system according to an embodiment of the present invention, the start detecting unit may include a start button operated by the slave device and a start button operated by the start button to apply a start signal to the time measuring unit And a start switch.

The arrival detecting unit includes an arrival button having a pressing surface having the same shape as the shape of the target area and capable of pressing operation by the slave device, And an arrival switch for applying an arrival signal to the time measuring unit.

In the arrival detection unit of the performance measuring apparatus of the remote handling system according to the embodiment of the present invention, the arrival button may include a plurality of arrival buttons of different shapes and widths, which are detachable so as to present target areas of various shapes and widths And an arrival button guide coupled to one of the plurality of arrival buttons to support a linear movement.

In the apparatus for measuring performance of a remote handling system according to an embodiment of the present invention, the arrival detecting unit may further include an error detecting unit for outputting an error signal to the vicinity of the arrival button so that an operator can detect when the user is out of a target area It is also possible.

In the apparatus for measuring the performance of a remote handling system according to an embodiment of the present invention, the error detecting unit may include a button receiving hole therein to receive a pressing surface shape of the arrival button, An error detection button provided at a height of the slave device and capable of being pressed by the slave device, and an error switch for opening and closing by the error detection button and outputting an error signal.

In the apparatus for measuring the performance of a remote handling system according to an embodiment of the present invention, the arrival button or the error detection button is formed in a circular shape such that the distance from the edge of the error detection button to the arrival button is the same, The receiving hole may be formed at the center of the arrival button.

The apparatus for measuring performance of a remote handling system according to an embodiment of the present invention may further include a position controller for generating coordinates of a target position to which the slave device arrives and applying a command to the position transmitter.

In the apparatus for measuring the performance of a remote handling system according to an embodiment of the present invention, the position transfer unit includes a lateral direction transfer unit for horizontally moving the arrival detection unit on a plane, and a horizontal direction transfer unit for horizontally And a longitudinal transfer unit for moving the arrival detection unit.

In the apparatus for measuring performance of a remote handling system according to an embodiment of the present invention, the lateral direction transfer unit may include a lateral directional transfer nut that moves integrally with the arrival detection unit, And a lateral drive motor for driving the transverse feed screw. The transverse feed screw may include a transverse feed screw for supporting the transverse feed screw, a transverse feed guide for supporting the transverse feed nut, and a transverse feed screw for feeding the transverse feed nut.

The apparatus for measuring the performance of a remote handling system according to an embodiment of the present invention is characterized in that the longitudinal conveying unit includes a longitudinal conveying nut which moves integrally with the lateral conveying guide, It is also possible to include a longitudinal conveying guide for supporting the longitudinal conveying guide movably, a longitudinal conveying screw for conveying the longitudinal conveying guide, and a longitudinal driving motor for driving the longitudinal conveying screw.

The apparatus for measuring performance of a remote handling system according to an embodiment of the present invention may further include a pushing mechanism mounted on a slave device of the remote handling system and operating a start detecting portion and an arrival detecting portion.

As described above, the performance measuring apparatus of the remote handling system according to the present invention is capable of extending the measuring method of the whiteness to more than two degrees of freedom, and automatically transferring the arrival button portion for various distances And a plurality of arrival buttons can be selectively detached and replaced so as to provide various target areas for changing the degree of difficulty of operation and an effect that an area for detecting an error around the target area can be provided, Can be measured. As a result, in measuring the performance of various remote handling systems based on the whit method through the present invention, it is possible not only to automatically process repetitive tasks, but also to easily control the degree of difficulty in each task.

1 is a perspective view showing an embodiment of an apparatus for measuring performance of a remote handling system according to the present invention,
FIG. 2 is a side view showing the arrival button shown in FIG. 1;
FIG. 3 is an assembled sectional view showing the arrival detector and the error detector shown in FIG. 1;
4 is a plan view showing one embodiment of a performance measuring apparatus for a remote handling system according to the present invention,
FIG. 5 is a side view taken along line AA of FIG. 4,
FIG. 6 is an exploded perspective view showing one embodiment of the arrival detector and the error detector shown in FIG. 4;
FIG. 7 and FIG. 8 are combined sectional views showing one embodiment of the arrival detector and the error detector shown in FIG. 6,
FIG. 9 is a conceptual diagram showing a measurement principle of the performance measuring apparatus of the remote handling system shown in FIG. 4;
10 is an assembled cross-sectional view showing another embodiment of the arrival detector and the error detector of the present invention.

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

1 to 3, an apparatus for measuring the performance of a remote handling system according to the present invention includes an operation detecting unit 130 for detecting a movement of a slave device 100 of a remote handling system from a start detecting unit 120 to an arrival detecting unit 130 Is repeated several times or more, and the time is measured by performing the corresponding operation. The distance from the start detecting portion 120 to the arrival detecting portion 130 or the size of the contact surface at which the slave device 100 contacts the arrival detecting portion 130 is changed to suitably adjust the work difficulty.

The measuring apparatus of the present invention measures the performance of the remote handling system by comparing the execution time according to the degree of difficulty of each operation. The slave device 100 can directly make contact with the start detection part 120 or the arrival detection part 130 in the measuring device of the present invention and can perform measurement by holding the pushing device 10 with the slave device 100, And the start detection unit 120 or the arrival detection unit 130 can be operated through the pushing mechanism 10. It is preferable to grasp the pushing mechanism 10 with the slave device 100 so as to prevent the measurement deviation according to the end effector shape of the slave device 100 from occurring. Hereinafter, the operation of the start detecting unit 120 or the arrival detecting unit 130 is described based on the slave device 100 holding the pushing mechanism 10. However, it is also possible to operate the direct start detection unit 120 or the arrival detection unit 130 to the slave device 100 without using the pushing mechanism 10. [ 1, the slave device 100 grasps and moves the pushing mechanism 10 to move the start button 121 of the start detecting part 120 and the arrival button 131 of the arrival detecting part 130, The error detection button 141 of the error detection unit 140 is pressed to operate.

The start detecting unit 120 includes a start button 121 that is pressed by the pushing mechanism 10 and a start button that is operated by the start button 121 to apply a start signal to a time measuring unit 80 And a start switch (not shown). The start switch is structured in the same manner as the arrival switch 135 and the error switch 145 shown in FIG. 3, but only the contact operation is reversed, so that the drawing and the detailed description are omitted. The start switch 121 is raised and the start switch is grounded to output an electric signal and the arrival switch 135 or the below-described switch 135 In the case of the error switch 145, it is grounded when it is depressed by the pushing mechanism 10 and outputs an electric signal. The start button 121 is fixedly coupled to the base panel 61 of Figs. 4 and 5 to be described later.

The departure detection unit 120 and the arrival detection unit 130 can be simply configured using buttons and switches. The button has a contact surface of a certain width contacting the slave device 100 and must be capable of being pressed by the slave device 100. [ When the button is pressed by the slave device 100, the button opens and closes the switch to generate a signal for time measurement. It is preferable that the size of the departure button 121 and the departure switch 121 constituting the departure detection unit 120 are made as small as possible in order to reduce the error range of the origin, It is recommended that the width is set in the range of 1 mm to 50 mm. The start button 121 can be implemented in various shapes, but a circular shape is preferable. The size of the contact surface of the arrival button 131 and the arrival switch 135 constituting the arrival detection unit 130 is directly related to the degree of difficulty of operation and therefore an accurate value selected in advance should be implemented. The shape of the arrival button is preferably circular so that it has the same width for each direction.

The arrival detection unit 130 may include an arrival button 131, an arrival button guide 132 for supporting the arrival button 131, and an arrival switch 135. The arrival button 131 is detachable and has a contact surface 131a contacting the slave device 100 so that the slave device 100 can perform a pressing operation. As shown in FIG. 2, a plurality of arrival buttons 131 having various widths are prepared, and then the attachment buttons 131 are detachably attached You can adjust the difficulty level by changing to another size of arrival button. The arrival button guide 132 is coupled to one of the plurality of arrival buttons so that when the slave device 100 is operated to depress the arrival button 131, Allows linear motion. The arrival button guide 132 supports the arrival button 131 so that the arrival button 131 is not separated from the set point on the plane.

In order to determine whether or not each operation is failed when the operation of moving from the start detecting unit 120 to the arrival detecting unit 130 is repeated a plurality of times through the performance measuring apparatus of the present invention, And an error detector 140 for detecting contact with the vicinity of the arrival detector 130 may be added.

3, the error detecting unit 140 is operated by the slave device. The error detecting button 141 is operated by the slave device. And an error switch 145 for outputting an error signal. The error detection button 141 has a contact surface 141a contacting the slave device 100 and has a button receiving hole 141b for receiving the arrival button 131 therein. The height of the contact surface 141a of the error detection button 141 is adjusted to be similar to the height of the contact surface of the arrival button 131 and the contact surface 141a of the error detection button 141 and the contact surface 131a of the arrival button 131, The tolerance should be adjusted so that the gap does not open. It is preferable that the button receiving hole 141b is located at the center of the contact surface 141a of the error detection button 141 so that the arrival button 131 is positioned at the center of the error detection area. Particularly, when the plurality of arrival buttons 131 having different sizes are detached and used, it is preferable that the error detection button 141 is also detachable in accordance with the size thereof. That is, if the size of the arrival button 131 accommodated therein is changed, an error detection button 141 that matches the size and shape of the arrival button 131 is used so that the surroundings do not overlap or open.

Another embodiment of the performance handling apparatus of the remote handling system according to the present invention will be described with reference to Figs. 4 to 10. Fig.

Referring to FIGS. 4 to 10, an apparatus for measuring the performance of a remote handling system according to another embodiment of the present invention includes a slave device 100 and a slave device 100, which are moved by operation of an operator, An arrival detector 30 for detecting that the slave device 100 arrives inside the target area of the arrival point and outputting a work completion signal, a slave device 100 An error detection unit 40 for detecting an arrival of the target area at an arrival point and outputting an error signal, a position control unit 40 for automatically generating coordinates of an arrival point in accordance with the degree of difficulty of each measurement task, A position transfer unit 70 for transferring the arrival detection unit 30 to a specific position according to a transfer command of the position control unit 70, And a time measuring unit (80) for measuring a time required for the operation from the start signal detection time for departing the unit (120) to the end signal or the error signal detection time reaching the arrival point.

4, a plurality of coupling holes 61a are formed on the base panel 61 at predetermined intervals to allow the start button 21 to be engaged with an arbitrary coupling hole 61a, The position of the departure button 21 can be adjusted.

The arrival detection unit 30 includes an arrival button 31 pressed by the pushing mechanism 10, an arrival button guide 32 slidably supporting the arrival button 31, And an arrival switch 35 for applying a start signal to the time measuring unit 80.

7, the arrival button 31 includes a button body portion 31a fitted to the arrival button guide 32, a button head portion 31a detachably attached to the button body portion 31a, 31b.

The arrival button guide 32 is fixed to the button housing 39 and is formed into a tubular shape so as to guide the button body 31a in a slidable manner in the vertical direction. The button body portion 31a separates only the button head portion 31b in a state where the button body portion 31a is inserted into the arrival button guide 32. [ The button head 31b has a seat groove 31c and is engaged with the upper end of the button body 31a. That is, the button body 31a is slidably fitted in the seat 31c of the button head 31b. Therefore, the button head 31b can be easily lifted and separated from the button body 31a, and the button head 31b can be lifted up by aligning the seating groove 31c with the upper end of the button body 31a. . As a result, the button head 31b can be easily replaced with another size as shown in FIG. If the size of the button head 31b is changed and changed, the degree of difficulty of operation is changed. That is, as the size of the button head 31b increases, the probability of the pushing mechanism 10 pushing the arrival button 31 increases, so that the degree of difficulty of the operation decreases. As the size of the button head 31b decreases, do.

Referring to FIG. 10, the button body 31a 'and the button head 31b' may be integrally formed with the arrival button 31 'and may be replaced together. 10 shows another embodiment of the arrival button 31. The button body 31a 'and the button head 31b' are provided as one body and the button body 31a 'and the button head 31b' It can be lifted in one piece and separated. 7, the button 33 is formed at an upper end portion of the button guide 31 so that the button body 31a can be prevented from slipping upward. Thus, only the button head 31b can be detached. On the other hand, the arrival button guide 32 'shown in FIG. 10 is not provided with the latching jaw 33, so that the entire arrival button 31' including the button body 31a 'can be integrally separated.

The button body 31a is supported on the arrival switch 35 and elastically supported. 6, the arrival switch 35 is provided with a switching lever 36 which is operated elastically and has a support roller 37 at the upper end of the switching lever 36 so that the button body 31a So that the arrival button 31 is elastically supported. When the arrival button 31 is pressed by the pressing mechanism 10, the switching lever 36 is elastically deformed, the arrival switch 35 is switched to output an arrival signal, The elasticity restoring force of the switching lever 36 pushes the arrival button 31 upward.

The error detection unit 40 includes an error detection button 41 that is pressed by the pushing mechanism 10 and an error switch 45 that is operated by opening and closing by the error detection button 41 to output an error signal have.

As shown in FIG. 7, the error detection button 41 includes a button receiving hole 41a for accommodating the arrival button 31 at the center thereof. The pushing mechanism 10 presses the arrival button 31 or the error detection button 41 with the arrival button 31 positioned in the button receiving hole 41a. When the slave device 101 does not reach the arrival button 31 and comes close, the error detection button 41 is pressed.

The arrival button 31 and the error detection button 41 are each formed in a circular shape and the button receiving hole 41a is formed at the center of the arrival button 31. [ Therefore, the distance at which the pushing mechanism 10 reaches the arrival button 31 from the edge of the error detection button 41 becomes equal. 9, the pushing mechanism 10 starting from the departure button 21 passes through the error detection button 41 and reaches the arrival button 31. When the error detection button 41 is operated by the donut and the arrival button 31 is formed in a circular shape so that the pushing mechanism 10 can be moved from the edge of the error detection button 41 to the arrival button 31 ) Are the same. In other words, even if the arrival button 31 and the error detection button 41 are located at arbitrary coordinates on a plane, the probability that the pushing mechanism 10 presses the arrival button 31 and the probability that the error detection button 41 is pressed are the same So that the measurement can be performed under the same conditions.

5, the arrival button 31 and the error detection button 41 are disposed in a state in which the inner diameter of the button receiving hole 41a and the inner diameter of the button head 31b The error detection button 41 is not pressed simultaneously when the end portion of the pushing mechanism 10 presses the arrival button 31. [

8, when the arrival button 31 is replaced with a button head 31b having a different size, the error detecting button 41 is operated by the button of the arrival button 31 to be replaced, It is replaced with a button receiving hole 41a corresponding to the size of the head portion 31b. The interval between the button receiving hole 41a and the button head portion 31b is kept constant at a predetermined distance. The height of the upper end face of the arrival button 31 and the upper end face of the error detection button 41 can be adjusted so that the pushing mechanism 10 passes through the error detection button 41 and arrives at the arrival button 31 It does not interfere.

The outer size of the error detection button 41 changes only the size of the arrival button 31 and the button receiving hole 41a in the same state. For example, if the error detection button 41 has the same outer diameter and the size of the arrival button 31 and the button receiving hole 41a is increased, the area of the error detection button 41 is reduced. On the other hand, Becomes smaller, the area of the error detection button 41 is increased.

Referring to Fig. 7, the error detection button 41 is slidably inserted into the button housing 39 and is elastically supported by the button supporting member 42. As shown in Fig. The button support member 42 is elastically supported by an elastic spring 44 that is supported by the error detection button guide 43 so as to be slidable in the vertical direction and fitted outside the error detection button guide 43.

The error switch 45 is operated by the error detection button 41 in the same structure and the same principle as the arrival switch 35. When the pushing mechanism 10 presses the error detection button 41, the error switch 45 is switched to output an error signal. At this time, the button support member 42 descends along the error detection button guide 43, The spring 44 is compressed. In this state, when the pressure of the pressing mechanism 10 is removed, the error detecting button 41 is raised by the restoring force of the elastic spring 44 and the error switch 45 to return to the original position.

On the other hand, as shown in FIG. 10, it is also possible that the error detection button 41 'is not directly contacted to the error switch 45 but is supported via the button support member 32'. That is, the button supporting member 42 'is placed on the error switch 45, and the error detecting button 41' is placed on the button supporting member 42 '. In this case, the height of the button support member 32 'is limited by the stopper member 46. [ The stopper member 46 is formed in a shape of a letter "A" in cross section and the cross section of the button supporting member 32 'is formed in a "B" shape so that the button supporting member 32' So that the elevation height of the error detection button 41 'can be aligned in parallel with the arrival button 31'. The button support member 32 'is fixedly coupled to the button housing 39'.

The time measuring unit 80 receives the start signal of the slave device 101 from the start detecting unit 20 and receives the arrival signal of the slave device 101 from the arrival detecting unit 30, Calculates the time until the button 31 is depressed after leaving the departure button 21. The time taken for the slave device 101 holding the pressing mechanism 10 to move is calculated and the distance L between the start button 21 and the arrival button 31 is measured, Can be measured.

In order to adjust the degree of difficulty of the slave device 101, the position control unit 70 arbitrarily generates coordinates for a set position at which the slave device 101 arrives and applies a transfer command to the position transfer unit. That is, as shown in FIG. 9, the position controller 70 randomly generates coordinates in an arbitrary direction with respect to a predetermined distance L according to the degree of difficulty of operation, and then transmits the coordinates to the position transmitter, The arrival detector 30 and the error detector 40 are transferred according to a transfer command received from the position controller 70.

The button housing 39 is fixedly coupled to the position transferring portion and is transferred in the lateral direction and the longitudinal direction, so that the button 33 and the button 33 can be moved to any position (x, y coordinates) on the plane as shown in FIG. The error detection button 41 can be moved.

4 to 5, the position transfer unit includes a lateral direction transfer unit 50 for horizontally moving the arrival detection unit 30, and a lateral direction transfer unit 50 for transferring the arrival detection unit 30 And a longitudinal direction transfer unit (60) for moving the arrival detection unit (30) in the longitudinal direction across the movement direction.

The lateral direction transfer unit 50 includes a lateral directional transfer nut 52 that moves integrally with the arrival detection unit 30, a lateral directional transfer nut 52 that supports the lateral directional transfer nut 52 in a planar manner, And includes a guide 53, a transverse feed screw 54 for feeding the transverse feed nut 52, and a transverse drive motor 55 for driving the transverse feed screw 54.

The transverse conveyance guide 53 and the transverse conveyance screw 54, the transverse conveyance screw 54 and the transverse drive motor 55 are fixed to the transverse conveyance panel 51. The button housing 39 is fixedly coupled to the transverse direction feeding nut 52 so that the arrival detecting unit 30 and the error detecting unit 40 are moved together with the transverse feeding nut 52. When the lateral direction driving motor 55 rotates in the forward and reverse directions to rotate the transverse direction feed screw 54 in the forward and reverse directions, the transverse direction feeding nut 52 reciprocally moves the arrival detection unit 30 and the error detection unit 40 horizontally Direction (x-coordinate). The transverse feed screw 54 represents the x-axis on the xy coordinate. The transverse conveyance panel 51 is moved in the longitudinal direction by the longitudinal conveyance portion 60. [

The vertical transfer unit 60 includes a vertical transfer nut 62 that moves integrally with the horizontal transfer guide 53, a vertical transfer nut 62 that supports the vertical transfer nuts 62, A longitudinal conveying guide 63 for conveying the longitudinal conveying guide 63, a longitudinal conveying screw 64 for conveying the longitudinal conveying guide 63, and a longitudinal driving motor 65 for driving the longitudinal conveying screw 64.

And the longitudinal direction feeding nut 62 is fixed to the bottom surface of the lateral direction transfer panel 51. The horizontal transfer guide 53, the vertical transfer screw 64, and the vertical drive motor 65 are fixedly coupled to the upper portion of the base panel 61.

When the longitudinal driving motor 65 is driven to rotate the longitudinal conveying screw 64 in the forward and reverse directions, the longitudinal conveying nut 62 reciprocates to move the transverse conveying panel 51 in the longitudinal direction do. The longitudinal transporting screw 64 represents the y-axis on the xy coordinate.

The operation method of the performance measuring apparatus of the remote handling system according to the present invention will be described in detail.

In a first method of operating the measuring apparatus according to the present invention, the experiment manager sets the distance of the arrival detection unit from the start detection unit according to the degree of difficulty and inputs the distance to the position control unit. A third step of automatically generating a setting position in an arbitrary direction so as to secure the set distance through the position control unit, a fourth step of transmitting the arrival detection unit to the coordinates of the setting position through the transfer unit, A fifth step in which the operator operates the slave device to prepare a job in the start detecting section, a sixth step in which the worker operates the slave device to depart from the start detecting section and reaches the arrival detecting section, A seventh step of recording the number of failed jobs or the number of successful jobs, And a ninth step of determining whether the experiment is completed by comparing the number of times of the operation inputted in the second step and the number of successes of operation recorded in the seventh step in the time measuring unit, The performance of the system can be measured.

In the seventh step, when a signal of the error detection unit is detected and the job is determined as an error, the error count is recorded and the process returns to the third step. In the seventh step, when the signal of the arrival detector is received without a signal of the error detector, since the task has been successfully completed, the number of successful tasks is recorded and the process proceeds to the eighth step. In the ninth step, the number of desired operations inputted in the second step is compared with the number of successful operations detected in the seventh step, and the experiment is terminated when the number of desired operations matches the number of successful operations.

In the present invention, when a plurality of arrival buttons of various sizes are used and replaced, an arrival button of a desired size is set according to the degree of difficulty, The performance of the handling system can be measured.

In this case, first, an arrival button having a desired size is inserted into the arrival button guide according to the degree of difficulty of operation, and then a series of operations of the first to ninth steps are performed. If the end of the experiment is determined in the ninth step, the tenth step is performed. In the tenth step, an arrival button of a different size is installed to decide whether to perform the experiment additionally or not. If you select an additional experiment, go back to the Arrival Button Replacement step and install an Arrival button of a different size to continue the experiment. When the end of the experiment is selected, the throughput of the remote system is derived by analyzing the measurement results after completing all the experiments.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious that the modification or the modification is possible by the person.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: Press mechanism 20:
21: start button 30: arrival detector
31: Arrival button 31a: Button body part
31b: Button head portion 31c:
32: arrival button guide 33: latching jaw
35: arrival switch 36: switching lever
37: support roller 39: button housing
40: error detection unit 41: error detection button
41a: button receiving hole 42: button supporting member
43: Error detection button guide 44: Elastic spring
45: error switch 46: stopper member
50: lateral direction transfer part 51: lateral direction transfer panel
52: Lateral feed nut 53: Lateral feed guide
54: transverse direction feeding screw 55: transverse direction driving motor
60: longitudinal conveyance portion 61: base panel
61a: Coupling hole 62: Longitudinal feed nut
63: longitudinal direction feed guide 64: longitudinal direction feeding screw
65: longitudinal drive motor 70: position control section
80: time measuring unit 120: start detecting unit
121: Departure button 130:
131: Arrival button 132: Arrival button guide
135: arrival switch 140: error detector
141: error detection button 145: error switch

Claims (11)

A slave device of a remote handling system moving according to a user's intention;
A start detector for outputting a start signal when the slave device starts from a start point;
An arrival detector for outputting an arrival signal when the slave device arrives at a target position;
A position transfer unit for moving the arrival detection unit to an arbitrary set position on a plane; And
A time measuring unit that receives a start signal of the slave device from the start detecting unit, receives an arrival signal of the slave device from the arrival detecting unit, and measures a time taken for the slave device to travel from the start point to the arrival point;
And a controller for controlling the performance of the remote handling system. The apparatus according to claim 1,
A start button pushed by the slave device; And
A start switch that is opened and closed by the start button to apply a start signal to the time measurement unit;
And a controller for controlling the performance of the remote handling system. The apparatus of claim 1, wherein the arrival detector comprises:
An arrival button having a contact surface of a predetermined width in contact with the slave device and capable of being pressed by the slave device; And
An arrival switch for opening and closing by the arrival button and applying an arrival signal to the time measurement unit;
And a controller for controlling the performance of the remote handling system. The apparatus of claim 1, wherein the arrival detector comprises:
A plurality of arrival buttons capable of being detached from the arrival detection unit, being capable of pressing operation by the slave device, and having different contact area widths with which the slave device contacts; And
An arrival button guide coupled to one of the plurality of arrival buttons for permitting linear movement to enable depression of the arrival button and supporting the arrival button so as not to depart from the target point;
And a controller for controlling the performance of the remote handling system. The method of claim 3,
Further comprising an error detector for detecting that the slave device is in contact with the vicinity of an arrival button and outputting an error signal. 6. The apparatus of claim 5,
An error detection button having a contact surface of a predetermined width in contact with the slave device and having a button receiving hole for receiving an arrival button inside the contact surface and being pushed by the slave device; And
An error switch for opening and closing by the error detection button and outputting an error signal;
And a controller for controlling the performance of the remote handling system. The method according to claim 6,
Wherein the arrival button and the error detection button are respectively formed in a circular shape and the button receiving hole is formed at the center of the arrival button. The method according to claim 1,
A position control unit for generating coordinates of a setting position to which the arrival detection unit is to be transferred and for applying a transfer command so that the position transfer unit reaches the setting position;
Further comprising means for determining the performance of the remote handling system. The apparatus according to claim 1,
A lateral direction transfer unit for moving the arrival detection unit in one plane direction; And
A longitudinal transfer unit for moving the lateral transfer unit or the arrival detection unit in a direction perpendicular to the lateral transfer unit;
And a controller for controlling the performance of the remote handling system. 10. The sheet conveying apparatus according to claim 9,
A lateral direction feeding nut moving integrally with the arrival detection unit;
A lateral conveying guide for supporting the lateral conveying nut movably along a lateral direction on a plane;
A lateral directional feed screw for feeding the lateral directional feed nut; And
A transverse direction driving motor for driving the transverse direction feeding screw;
And a controller for controlling the performance of the remote handling system. 11. The image forming apparatus according to claim 10,
A longitudinal conveying nut moving integrally with the lateral conveyance portion or the arrival detection portion;
A longitudinal conveying guide for supporting the longitudinal conveying nut movably along the longitudinal direction in the plane;
A vertical conveying screw for conveying the vertical conveying guide; And
A longitudinal drive motor for driving the longitudinal feed screw;
And a controller for controlling the performance of the remote handling system.

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