KR102251025B1 - Disaster relief robot control system and method - Google Patents

Abstract

It relates to a disaster rescue robot control system and method, which is installed in a disaster rescue robot and has a multi-degree of freedom slave arm that performs recovery and rescue operations in a disaster environment, a master arm receiving an operator's operation command, and the operation of the master arm. A control unit for controlling the operation of the slave arm in conjunction and an operation limiting unit for limiting the operation of the master arm based on the operation region of the slave arm so that the command of the master arm occurs inside the operation region of the slave arm. In order to perform recovery and rescue operations in a disaster environment by operating the slave arm based on the operation applied to the master arm, the command of the master arm even if the operation region of the slave arm and the command region of the master arm are inconsistent with each other. It can be restricted so that it is not created outside the operating area of this slave arm.

Description

Disaster rescue robot control system and method {DISASTER RELIEF ROBOT CONTROL SYSTEM AND METHOD}

The present invention relates to a disaster rescue robot control system and method, and more particularly, to a disaster rescue robot control system and method for controlling a robot that is put into a disaster environment such as fire, earthquake, typhoon, and tsunami to perform recovery and rescue activities. It is about.

Unmanned personnel that can be directly put into a disaster situation in a situation where the damage to people due to disasters such as fire, earthquake, tsunami, and typhoon increases, and in particular, secondary human and material damage that occurs during the rescue of life in a disaster situation increases. Research on robots is being actively conducted.

In the following Patent Documents 1 to 4, a disaster rescue robot and a disaster rescue system technology using the same are disclosed in a disaster situation according to the prior art.

Patent Document 1 discloses an obstacle avoidance thrust device including a main body moving by a driving unit, a device mounted on the main body for disaster recovery and lifesaving, and a thrust device mounted on the lower part of the main body to provide thrust to lift the main body in the air. Disaster recovery and lifesaving robot configuration is described.

Patent Literature 2 describes a configuration of a disaster rescue operation in which a command is recognized by hand motion and the emergency rescue robot is controlled with a hand motion.

In Patent Document 3, a control value receiving unit that receives a control value according to the operation direction of the master device from a plurality of master devices that divide and control a robot arm with multiple degrees of freedom of a single slave robot controlled remotely according to a pre-allocated control axis. , Of the control values, only the control values corresponding to each control axis of the master device are transferred to the robot arm, respectively, using a preset value to perform calculations on the received control values, and to transfer the calculated control values to the robot arm, respectively. A configuration of a robot arm division control device capable of effectively splitting and controlling a robot arm having multiple degrees of freedom of a single slave robot according to a control axis to which a plurality of master devices are pre-allocated is described.

In Patent Document 4, the configuration of a disaster rescue system using a disaster rescue robot that collects disaster site information while moving to a disaster location by throwing a user, transmits the collected disaster site information, and outputs evacuation information to the disaster victims. It is described.

Korean Patent Publication No. 10-2016-0141493 (published on December 9, 2016) Korean Patent Publication No. 10-2016-0125837 (published on November 1, 2016) Korean Patent Registration No. 10-1497320 (announced on February 24, 2015) Korean Patent Registration No. 10-1589133 (announced on January 21, 2016)

In the case of a disaster rescue robot according to the prior art, in the case of a boarding-type robot, an operator directly boards and controls the operation, and in the case of a non-boarding type, an operator manipulates an operation panel at a remote location to control the operation of the robot.

The disaster rescue robot according to the prior art is a position that is generated by the master arm and transmitted to the slave arm according to the difference in shape and size of the operation panel operated by the operator, that is, the arm installed in the master arm and the actual robot, that is, the slave arm. A command region (hereinafter referred to as a “command region”) and an operable region of the slave arm (hereinafter referred to as a “slave arm operation region”) may be inconsistent with each other.

At this time, the command area generated by the operation of the master arm may cause the slave arm to be inoperable. This may cause the slave arm to be unable to follow the command, resulting in a control contradiction between the master arm and the slave arm. , There is a problem that the operability of the operator is deteriorated, and it may lead to damage to the slave arm.

Therefore, there is a need to develop a technology that limits the operation of the master arm so that the command of the master arm is within the operation area of the slave arm.

An object of the present invention is to solve the above-described problems, and to provide a disaster rescue robot control system and method capable of performing recovery and rescue activities by controlling the driving of a disaster rescue robot that is put into a disaster environment.

Another object of the present invention is to provide a disaster relief robot control system and method that restricts the command of the master arm from being generated outside the operation area of the slave arm even if the operation area of the slave arm and the command area of the master arm do not match each other.

Another object of the present invention is to provide a disaster rescue robot control system and method capable of limiting the command of the master arm to the inside of the boundary by generating a reaction force on the master arm when the command of the master arm is near the boundary of the operation area of the slave arm. To provide.

In order to achieve the above object, the disaster rescue robot control system according to the present invention is installed in a disaster rescue robot, and a multi-degree of freedom slave arm that performs recovery and rescue operations in a disaster environment, and receives an operator's operation command. The master arm, a control unit for controlling the operation of the slave arm in connection with the operation of the master arm, and the master arm based on the operation region of the slave arm so that the command of the master arm occurs within the operation region of the slave arm. It characterized in that it comprises an operation limiting unit for limiting the operation of.

In addition, in order to achieve the above object, the method of controlling a disaster rescue robot according to the present invention comprises the steps of: (a) receiving an operation command from an operator using a master arm, (b) input through the master arm in the control unit. Operating the slave arm provided in the disaster relief robot according to the operation command and (c) driving the operation limiting unit based on the operation region of the slave arm so that the command of the master arm occurs inside the operation region of the slave arm. It characterized in that it comprises the step of limiting the operation of the master arm.

As described above, according to the disaster rescue robot control system and method according to the present invention, it is possible to perform recovery and rescue operations in a disaster environment by operating the slave arm based on an operation applied to the master arm.

In addition, according to the present invention, even if the operation area of the slave arm and the command area of the master arm do not match each other, an effect of restricting the command of the master arm from being generated outside the operation area of the slave arm is obtained.

Further, according to the present invention, by generating a reaction force on the master arm when the command of the master arm is near the boundary of the operation region of the slave arm, an effect of naturally limiting the command of the master arm to the inside of the boundary is obtained.

1 is a block diagram of a disaster rescue robot control system according to a preferred embodiment of the present invention,
2 is an exemplary diagram of a master arm and a slave arm,
3 is a diagram illustrating an operation region of a slave arm and a command region of a master arm shown in FIG. 2;
4 is a block diagram of a disaster rescue robot control system according to a preferred embodiment of the present invention,
5 is a flowchart illustrating step-by-step a control method of a disaster rescue robot control system according to a preferred embodiment of the present invention.

Hereinafter, a disaster rescue robot control system and method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, a configuration of a disaster rescue robot control system according to a preferred embodiment of the present invention will be described as a whole with reference to FIG. 1.

1 is a block diagram of a disaster rescue robot control system according to a preferred embodiment of the present invention.

Hereinafter, terms indicating directions such as'left','right','front','rear','upward' and'downward' are defined as indicating each direction based on the state shown in each drawing. do.

Disaster rescue robot control system 10 according to a preferred embodiment of the present invention, as shown in Figure 1, a multi-degree of freedom robot arm (hereinafter referred to as a'slave arm') that performs recovery and rescue operations in a disaster environment ( 40) and a control device (hereinafter referred to as'master arm') 50 for controlling the operation of the disaster rescue robot 20 and the slave arm. The master arm 50 may be installed in the boarding space 21 provided inside the disaster rescue robot 20, and may be installed in an integrated control vehicle 11 or a control center located in a separate remote location. A control server 30 may be provided in the integrated control vehicle 11 or the control center.

The configuration of the master arm and the slave arm will be described in detail with reference to FIGS. 2 and 3.

2 is an exemplary diagram of a master arm and a slave arm, and FIG. 3 is a diagram illustrating an operation region of the slave arm and a command region of the master arm shown in FIG. 2.

Fig. 3(a) shows the operation area of the slave arm, and Fig. 3(b) shows the command area of the master arm.

Basically, when the operator manipulates the master arm 50, it operates so that the position of the slave arm 40 corresponds to the position of the master arm 50 in conjunction with the operation of the master arm 50.

The area of the position command generated by the master arm 50 (hereinafter referred to as'command area') and the operable area of the slave arm 40 (hereinafter referred to as'moving area') are each joint of the slave arm 40 It can be expressed in a space for (hereinafter referred to as'joint space'), and also expressed in a space for the position and direction of the end of the slave arm 40 (hereinafter referred to as a'task space'). Can be.

That is, the position of the _{master arm 50 may be a joint position vector θ m} of the master arm 50 for manipulating each joint to correspond to _{the joint position vector θ s} of the slave arm 40 in the joint space. At this time, the position of each joint of the slave arm 40 is controlled to follow the position of each joint of the master arm 50, and the motion region of the slave arm 40 is θ _simin <θ _si <θ _simax (i = 1, 2, 3, …).

_{Alternatively, the position of the master arm 50 may be the end position x m} of the master arm 50 for manipulating in response to _{the end position x s} of the slave arm 40 in the work space. Here, the end unit value x _m of the master arm 50 is the position of the end of the master arm 50, which can be expressed as a function x _m =f _m (θ _{m ) for the joint position vector θ m of the master arm 50} Means the direction vector. And the end position x _s of the slave arm 40 is the position and direction of the end of the slave arm 40 that can be expressed as a function x _s = f _s (θ _s ) for the joint position vector θ _{s of the slave arm 40} Means vector. At this time, the end position x _s of the slave arm 40 is controlled to follow the command generated by _{the end position x m} of the master arm 50, _{and the operation area of the slave arm 40 is x simin} <x _si <x _simax (i=1, 2, 3, ...).

Here, as the physical shape and size of the master arm 50 and the slave arm 40 are different, and the operation region of each axis provided in each arm is different, the command region of the master arm 50 and the slave arm 40 Most of the operating areas of are not consistent. That is, there occurs a case where the command area of the master arm 50 and the operation area of the slave arm 40 do not match each other.

For example, in the joint space, as shown in (a) and (b) of FIG. 3, when the command area (B) of the master arm 50 is larger than the operation area (A) of the slave arm 40 , An operator who manipulates the master arm 50 may manipulate the master arm 50 so that the slave arm 40 operates in an unreachable area.

3 is an illustration of an area for one joint when manipulated in response to a joint space, and when manipulated in response to a working space, one of the three degrees of freedom position and the three degrees of freedom direction in the three-dimensional space is illustrated. The area for the location or direction of is illustrated.

That is, the present invention may describe the command area of the master arm and the operation area of the slave arm with respect to the joint space with reference to FIG. 3, and explain the command area of the master arm and the operation area of the slave arm in the work space. May be.

In this way, when the master arm 50 is manipulated into an unreachable area of the slave arm 40, the slave arm 40 cannot reach the slave arm 40 by the command of the master arm 50, so that the master arm 50 and the slave arm ( Controlling contradiction may occur due to the inconsistency of the operation of 40), the operator's operability may be deteriorated, and the slave arm 40 may be damaged.

Accordingly, as shown in FIG. 3, the master arm 50 controls the command region B of the slave arm 50 to the master arm on both sides of the region A'corresponding to the operation region A of the slave arm 40. It is set as a restricted area E that restricts the arm 50 from being operated.

In addition, the present invention divides the area (A') corresponding to the entire operation area (A) of the slave arm 40 into a safety section (C) inside the boundary and boundary sections (D1, D2) adjacent to the boundary, and It provides a reaction force that limits the operation of the master arm 50 in (D1, D2).

For example, the safety section (C) is set to about 60% to 90% of the entire operation area (A) of the slave arm 40, and the boundary sections D1 and D2 on both sides are respectively It may be set to about 5% to 20% of the total operation area A.

Of course, the present invention is not necessarily limited thereto, and the safety section (C) and the boundary section (D1) according to various conditions, such as the length of the slave arm 40 and the master arm 50, the size of the entire operation area, and the rotatable angle. ,D2) can be changed to set.

Next, Figure 4 is a block diagram of a disaster rescue robot control system according to a preferred embodiment of the present invention.

Disaster rescue robot control system 10 according to a preferred embodiment of the present invention, as shown in Figure 4, the slave arm 40 installed in the disaster rescue robot 20 and performs recovery and rescue operations in a disaster environment, The master arm 50 receiving an operator's operation command input, the control unit 60 controlling the operation of the slave arm 40 in conjunction with the operation of the master arm 50, and the command of the master arm 50 are the slave arm 40 It includes an operation limiting unit 70 that limits the operation of the master arm 50 based on the operation region of the slave arm 40 so as to occur within the operation region of ).

Therefore, the slave arm 40 is provided in the disaster rescue robot 20, and the master arm 50 is an integrated control vehicle 11 or a control center located in a separate remote location or the boarding space 21 of the disaster rescue robot 20. It can also be installed in the same place.

The slave arm 40 may be provided as a robot arm having multiple degrees of freedom so as to secure an access road using a plurality of joints in a disaster environment and perform recovery operations such as debris removal and lifesaving operations.

The master arm 50 is a remote control device that receives an operation command for operating the disaster rescue robot 20 in which the slave arm 40 and the slave arm 40 are installed, and a plurality of joints corresponding to the slave arm 40 It can be configured to have multiple degrees of freedom by using.

The master arm 50 is provided with a plurality of detection sensors 51 for detecting changes in the angle and position of each joint, and a detection signal output from each detection sensor 51 is transmitted to the control unit 60.

Therefore, the control unit 60 calculates the end position of the master arm 50 based on the detection signal of each detection sensor 51, and a control signal that operates to move the slave arm 40 to a position corresponding to the calculated position. Occurs.

In detail, as shown in FIG. 3, the control unit 60 limits the command area B of the master arm 50 to correspond to the operation area A of the slave arm 40.

Therefore, even if the command region B of the master arm 50 is larger than the operation region A of the slave arm 40, the master arm 50 corresponds to the operation region A of the slave arm 40. It can only be operated in areas.

The control unit 60 divides the entire operation area (A) of the slave arm 40 into a safety section (C) and a boundary section (D1, D2) on both sides of the safety section (C) in which a certain section is set to both sides of the center point. It can be controlled to provide a reaction force that limits the operation of the master arm 50 in the boundary section (D1, D2).

Here, the reaction force (F) acting in each boundary section (D1, D2) set to the left and right of the safety section (C) may be defined as in Equation 1 and Equation 2 below.

[Equation 1]

[Equation 2]

Here, x _b- and x _b+ correspond to the lower and upper limit positions of the safety section (C) expressed in the work space, respectively. k _(x) represents the spring coefficient in the boundary section (D1, D2) as a function of the working space. In the safety section (C), k _(x) = 0 can be set. In addition, b _(x) is the friction coefficient for control stability expressed as a function of the working space.

When the reaction force is calculated and applied to the master arm 50 as in Equations 1 and 2, the master arm 50 exhibits the same impedance behavior as in Equations 3 and 4 in the boundary sections D1 and D2.

[Equation 3]

[Equation 4]

Here, m _(x) represents the inherent inertia of the master arm 50 in the work space, and F _ext refers to an external force on the work space applied to the master arm 50 by an operator.

If k _(x) = 0 is set in the safety section (C), when the master arm 50 is in the safety section (C), the impedance behavior as shown in Equation 5 excluding the spring reaction force is shown.

[Equation 5]

And the reaction force (T) acting on the master arm 50 in each boundary section (D1, D2) set to the left and right of the safety section (D1, D2) in the joint space as shown in Equation 6 and Equation 7 below. Can be approved.

[Equation 6]

[Equation 7]

Here, θ _b- and θ _b+ correspond to the lower and upper limit positions of the safety section (C) expressed in the joint space, respectively, and k _(x) is the spring coefficient at the boundary section (D1, D2) for the joint space. It is expressed as a function, and in the safety section (C), k _(θ) = 0 can be set. In addition, b _(θ) is the friction coefficient for control stability expressed as a function of the joint space.

When the reaction force is calculated and applied to the master arm 50 as shown in Equations 6 and 7, the master arm 50 exhibits the same impedance behavior as Equations 8 and 9 in the boundary sections D1 and D2.

[Equation 8]

[Equation 9]

Here, m _(x) denotes the inherent inertia of the master arm 50 in the joint space, and T _ext denotes an external force in the joint space applied to the master arm 50 by an operator.

If k _(θ) = 0 is set in the safety section (C), when the master arm 50 is in the safety section (C), the impedance behavior as shown in Equation 10, excluding the spring reaction force, is shown.

[Equation 10]

In this way, the reaction force acting on the master arm 50 in the boundary section D1, D2 is an impedance-based equation acting on the operation limiting unit 70 according to the distance between the master arm 50 and the safety section 40. In this case, the impedance may have a variable impedance form in which a coefficient varies according to the position of the master arm 50.

As shown in Equation 1, Equation 2, Equation 6, and Equation 7, the spring reaction force acting on the master arm 50 in the boundary section (D1, D2) decreases as it approaches the safety section (C), The further away from the safety section (C), that is, toward both ends of the boundary section (D1, D2), it increases. So, the spring reaction force acting on the master arm 50 becomes maximum when it reaches the limit point of the boundary section (D1, D2).

The control unit 60 may be provided as a central control unit that controls the driving of each device provided in the disaster relief robot 20.

Of course, when the unmanned robot is remotely controlled, the control unit 60 may be provided in an integrated control vehicle 11 located at a remote location.

The operation limiting unit 70 limits the command area of the master arm 50 to correspond to the operation area of the slave arm 40, and the master arm at the boundary sections D1 and D2 on both sides of the command area of the master arm 50 Provides a reaction force to (50).

For example, the operation limiting unit 70 is driven according to a control signal from the control unit 60 to generate a driving force, and the driving force generated from the driving motor 71 is transmitted to the master arm 50. Unit 72 may be included.

In addition, the operation limiting unit 70 is an impedance adjusting unit 73 that adjusts the magnitude of the reaction force generated by the driving motor 71 based on the variable impedance according to the distance between the master arm 50 and the safety section 40. ) May be further included. Therefore, the driving force generated by the driving motor 71 is adjusted according to the impedance that varies according to the distance between the master arm 50 and the safety section C in the boundary section.

The transmission unit 72 may be composed of a plurality of gears and pulleys, chains or belts.

As described above, the present invention limits the command area of the master arm based on the operation area of the slave arm when the command area of the slave arm and the master arm are inconsistent with each other.

In particular, in the present invention, when the command area of the master arm is larger than the operation area of the slave arm, the command area of the master arm is limited to correspond to the operation area of the slave arm, and the safety section at the center of the restricted operation area and the boundary between both sides of the safety section It is divided into sections and provides a reaction force to limit the motion to the master arm in the boundary section.

Next, a control method of a disaster rescue robot control system according to a preferred embodiment of the present invention will be described in detail with reference to FIG. 5.

5 is a flowchart illustrating step-by-step a control method of a disaster rescue robot control system according to an exemplary embodiment of the present invention.

When power is supplied to the disaster rescue robot 20 in step S10 of FIG. 5, the controller 60 provided in the disaster rescue robot 20 initializes each device and drives each device to perform recovery and rescue activities ( S12).

In step S14, the control unit 60 receives an operation command through an operation applied to the master arm 50 from the operator.

Therefore, the plurality of detection sensors 51 installed in the master arm 50 detects changes in the angle and position of each joint provided in the master arm 50, and the detection signal output from each detection sensor 51 is the control unit 60 Is delivered to.

The control unit 60 calculates the end position of the master arm 50 based on the detection signal of each detection sensor 51, and generates a control signal for operating the slave arm 40 to move to a position corresponding to the calculated position. Occurs.

At this time, when the end position of the master arm 50 is in a state where the end position of the master arm 50 is out of the safety section C of the operation area A of the slave arm 40 and is disposed in the boundary section D1, D2, the master arm Controls the driving of the operation limiting unit 70 to provide a reaction force that limits the operation of 50.

In detail, in step S16, it is checked whether the end position of the master arm 50 corresponds to the safety section (C).

If, as a result of the inspection in step S16, the end position of the master arm 50 deviates from the safety section (C) and falls within the boundary sections (D1, D2), the operation limiting unit 70 includes the master arm 50 and the safety section ( 40) Provides a reaction force to the master arm 50 according to the distance between (S18).

At this time, the impedance adjusting unit 73 provided in the operation limiting unit 70 adjusts the magnitude of the reaction force generated by the driving motor 71 by varying the impedance.

Accordingly, in the present invention, even if the command regions of the slave arm and the master arm are inconsistent with each other, it is possible to restrict the command of the master arm from being generated outside the operation region of the slave arm.

On the other hand, as a result of the inspection in step S16, the end position of the master arm 50 corresponds to the safety section (C), or after providing a reaction force to the master arm 50 in step S18, the control unit 60 controls the master arm 50 Controls to operate the slave arm 40 to a position corresponding to the end position of.

Through this process, the slave arm 40 may perform various types of recovery and rescue operations such as securing an access road and removing debris in a disaster environment (S22).

In step S24, the controller 60 checks whether power supply to the disaster relief robot 20 is stopped, and controls to perform recovery and rescue operations by repeating steps S14 to S24 until the power supply is stopped.

On the other hand, when the power supply is stopped as a result of the inspection in step S24, the control unit 60 stops driving each device provided in the disaster rescue robot 20 and ends.

Through the above-described process, the present invention can perform recovery and rescue operations in a disaster environment by operating the slave arm based on an operation applied to the master arm.

Further, according to the present invention, even if the operation region of the slave arm and the command region of the master arm are inconsistent with each other, the command of the master arm may be restricted so that the command of the master arm is not generated outside the operation region of the slave arm.

Further, according to the present invention, by generating a reaction force on the master arm when the command of the master arm is near the boundary of the operation region of the slave arm, it is possible to naturally limit the command of the master arm to the inside of the boundary.

Although the invention made by the present inventor has been described in detail according to the above embodiment, the invention is not limited to the above embodiment, and it goes without saying that it can be changed in various ways without departing from the gist of the invention.

In the above embodiment, it has been described that when the master arm corresponds to the boundary section of the operation area of the slave arm, the reaction force is provided by using the motion limiting unit, and the operation of the master arm is limited when it is out of the boundary section. It is not limited.

That is, in the disaster rescue robot control system according to another embodiment of the present invention, when the master arm 50 is out of the operating region of the slave arm 40, the controller 60 is outside the operating region of the slave arm 40. The operation of the master arm 50 may be ignored, and the slave arm 40 may be controlled to operate only in an operable region.

To this end, the control unit 60 generates a motion trajectory of the slave arm 40 based on a method of least squares for the operation of the master arm 50, and the slave arm 40 ) Can be controlled to operate within the operating area.

The present invention is applied to a disaster rescue robot control system and method technology for performing recovery and rescue operations in a disaster environment by operating a slave arm based on an operation applied to a master arm.

10: Disaster rescue robot control system
11: Integrated control vehicle
20: disaster rescue robot 21: boarding space
30: control server 40: slave arm
50: master arm 51: detection sensor
60: control unit
70: operation limiting unit 71: drive motor
72: transmission unit 73: impedance control unit

Claims (9)

A multi-degree of freedom slave arm installed on a disaster rescue robot and performing recovery and rescue operations in a disaster environment,
Master arm that receives operator's operation command,
A control unit for controlling the operation of the slave arm in connection with the operation of the master arm, and
When the master arm and the command region and the operation region of the slave arm are inconsistent, the operation of the master arm is restricted based on the operation region of the slave arm so that the command of the master arm occurs inside the operation region of the slave arm. It includes an operation limiting unit,
A plurality of detection sensors are installed on the master arm to detect changes in the angle and position of each joint,
The control unit calculates the end position of the master arm based on the detection signals of the plurality of detection sensors, and moves the slave arm to a position corresponding to the calculated position,
The operation area of the slave arm is divided into a boundary section adjacent to the boundary of the operation area and a safety section other than the boundary section. Disaster rescue robot control system, characterized in that. delete The method of claim 1,
Disaster rescue robot control system, characterized in that the reaction force acting on the master arm in the boundary section is adjusted according to the distance between the safety section and the master arm. The method of claim 3,
Disaster rescue robot control system, characterized in that the reaction force is adjusted based on a variable impedance. The method of claim 4, wherein the operation limiting unit
A driving motor that is driven according to a control signal from the control unit to generate a driving force,
A transmission unit that transmits the driving force generated by the driving motor to the master arm, and
And an impedance adjusting unit for adjusting the variable impedance for calculating the magnitude of the reaction force generated by the driving motor according to the distance between the master arm and the safety section. The method of claim 1,
The control unit ignores the operation of the master arm when the master arm is out of the operation region of the slave arm, and generates a motion trajectory of the slave arm based on the least squares method for the operation of the master arm, and the generated operation A disaster rescue robot control system, characterized in that controlling the slave arm to operate only in an operable area according to a trajectory. In the control method of the disaster recovery robot control system according to any one of claims 1 and 3 to 6,
(a) receiving an operation command from an operator using a master arm,
(b) operating the slave arm provided in the disaster rescue robot according to the operation command input through the master arm in the control unit, and
(c) When the command region of the master arm and the operation region of the slave arm are inconsistent with each other, an operation limiting unit based on the operation region of the slave arm so that the command of the master arm occurs inside the operation region of the slave arm. It includes the step of limiting the operation of the master arm by driving,
In the step (a), the control unit receives an operation command using detection signals from a plurality of detection sensors that detect a change in angle and position of each joint provided in the master arm,
In the step (b), the end position of the master arm is calculated based on the detection signals of the plurality of detection sensors, and the slave arm is controlled to move to a position corresponding to the calculated position,
In step (c), the operation area of the slave arm is divided into a boundary section adjacent to the boundary of the operation area and a safety section other than the boundary section, and a reaction force is provided to limit the operation of the master arm in the boundary section. Disaster rescue robot control method, characterized in that to generate a control signal so as to. delete The method of claim 7,
The operation limiting unit adjusts the magnitude of the reaction force generated by the driving motor by varying the impedance according to the distance between the master arm and the safety section,
The reaction force acting on the master arm in the boundary section is controlled according to a distance between the safety section and the master arm.

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