WO2023166846A1

WO2023166846A1 - Remote operating system and remote operating method

Info

Publication number: WO2023166846A1
Application number: PCT/JP2023/000022
Authority: WO
Inventors: 敬弘腰原; 浩二山下; 勇太徳元
Original assignee: Ｊｆｅスチール株式会社
Priority date: 2022-03-04
Filing date: 2023-01-04
Publication date: 2023-09-07
Also published as: JPWO2023166846A1

Abstract

This remote operating system 1 comprises: an operating unit 12 that accepts an operation from an operator; a manipulator 22 on which a grinding member 4 for grinding a workpiece 7 is mounted; and a control device 30 that moves the manipulator 22 in response to a movement input by the operator on the operating unit 12, and provides, to the operating unit 12, feedback of a reaction received by the manipulator 22.

Description

Remote control system and remote control method

The present disclosure relates to a remote control system and a remote control method.

For example, in the process of manufacturing thin steel sheets, foreign matter adheres to the rolls installed in the production line, or defects occur when the unevenness generated on the roll itself is transferred to the steel sheet due to the foreign matter being caught in the rolls. sometimes. Such defects caused by changes in the state of the rolling rolls are, for example, convex and concave burrs, dull flakes, notches, push scratches, point-like defects called scratches, and linear marks called linear marks in the longitudinal direction of the product. It includes defects that follow, and defects that are long in the width direction called chatter marks. These are also called roll defects. These roll defects are generally extremely fine irregularities. There is a small optical difference between the portion where the roll defect exists and the other portion. Therefore, even if the film is observed as it is, it is difficult to find roll defects. In other words, it is difficult to find roll defects in a thin steel sheet production line. However, when the thin steel sheet is painted, the surface roughness is buried by the paint and the surface becomes smooth, so that the roll defects become clearly visible, which poses a serious problem in terms of appearance. Moreover, the roll-related defects are distributed over the entire length of the coil with periodicity because of the roll-related defects. Therefore, finding such defects before shipment is an important issue in terms of quality control.

In order to find such fine unevenness surface defects, in each inspection line of the steelmaking process, the inspector visually inspects all the coils after stopping the running of the steel plate once during operation and polishing with a whetstone. doing an inspection. When polishing is performed by grinding, the convex portions hit the grindstone more than the concave portions, and the reflectance is higher. Such an inspection is also referred to as a honing inspection.

However, in the grinding inspection, the inspection line is stopped and the inspector touches the steel plate, so there is a risk of cutting hands and feet with the edge of the steel plate or getting caught in the suddenly moving steel plate. In other words, since the grinding inspection is a so-called 3K work, automation is desired.

Inventions described in Patent Documents 1 and 2 have been made to reduce the risk of such a grinding inspection. This technique is characterized by moving the grindstone with a degree of freedom in three directions using a multi-axis robot, and is applicable to defects that are long in the width direction or long in the longitudinal direction. In addition, by setting the pressing force in the normal direction of the object to be inspected to a constant value using the width of the movable surface of the grinding wheel and the tensile strength of the steel plate as parameters, grinding can be performed without uneven grinding.

JP-A-08-54326 JP-A-07-186035

However, in the techniques described in Patent Literatures 1 and 2, the polishing is performed so as to be at a fixed position in the normal direction of the inspection object, or the polishing is performed while pressing with a constant force in the normal direction of the inspection object. , it is not possible to reproduce the delicate force adjustment according to the undulation of the steel plate, which is performed by a skilled inspector. Therefore, there is a problem that the defect detection performance is lower than that of the conventional grinding inspection.

In view of the above facts, an object of the present disclosure is to provide a remote control system and a remote control method capable of performing polishing work by remote control while maintaining the quality of polishing work.

A remote control system according to an embodiment of the present disclosure includes an operation unit that receives operations by a worker, a manipulator equipped with a polishing member that polishes a work target, and a movement input by the worker to the operation unit. and a control device that moves the manipulator in response to and feeds back the reaction force received by the manipulator to the operation unit.

A remote control method according to an embodiment of the present disclosure is a remote control method for a polishing member for polishing a work object, comprising a step of bringing a manipulator mounted with the polishing member close to the work object, and a master operation device. a step of remotely controlling the manipulator by operating the operating portion of to bring the polishing member into contact with the work object; remotely manipulating a member to abrade the work piece with the abrading member.

According to the remote control system and the remote control method according to the present disclosure, the polishing work can be performed by remote control while maintaining the quality of the polishing work.

1 is a diagram showing a configuration example of a remote control system according to the present disclosure; FIG. It is a figure explaining the rotating shaft of a manipulator. FIG. 2 is a diagram showing a configuration example in which the positions of the polishing member and the contact tool are exchanged from FIG. 1; It is a figure which shows the structural example which polishes a coil. 4 is a flow chart showing a procedure example of a remote control method according to the present disclosure;

The present disclosure relates to a remote control system for remotely controlling a manipulator equipped with a polishing member that performs polishing work on a work object, and a remote control method for the manipulator. As an example of the polishing work, an apparatus and method for inspecting a steel plate, which is an object to be worked, with a whetstone, which is an example of a polishing member, will be described. The polishing work may include work that contacts the work object, work that causes friction with the work object, or work that treats the surface of the work object.

It is assumed that the remote control system according to the present disclosure is configured as a master-slave system by so-called bilateral control. The remote operation system realizes remote operation by controlling the operation of a manipulator located away from the master operation device according to the operation movement input to the operation unit of the master operation device. Industrial applications of remote control systems include various fields of work such as maintenance work in areas of buildings or structures that are difficult for humans to access, such as high altitudes, difficult locations, hot or dusty environments.

Hereinafter, embodiments of a remote control system and a remote control method according to the present disclosure will be described based on the drawings. Each drawing is schematic and may differ from reality. Moreover, the following embodiments are intended to exemplify devices or methods for embodying the technical idea of the present disclosure, and are not intended to specify configurations to those described below. That is, the technical idea of the present disclosure can be modified in various ways within the technical scope described in the claims.

<First Embodiment>
(Overall system configuration)
As shown in FIG. 1, the remote control system 1 includes a master control device 10, a slave control device 20, and a control device 30. As shown in FIG. The master operating device 10 has an operating section 12 . The slave operating device 20 includes a manipulator 22 and a polishing member 4 and a patch 5 mounted on the manipulator 22 . Assume that the contact tool 5 is attached to the manipulator 22 via the damper 6 . Manipulator 22 is configured as a slave arm. The polishing member 4 polishes the work object 7 . The contact tool 5 is configured to come into contact with the polishing member 4 when the work object 7 is polished with the polishing member 4 . The damper 6 is configured to reduce the force acting when the contact tool 5 comes into contact with the work object 7 . It is assumed that the work target 7 is a steel plate.

The control device 30 is communicably connected to the master operating device 10 and the slave operating device 20 (manipulator 22). The control device 30 and the master operating device 10 or the slave operating device 20 (manipulator 22) may be connected for wireless communication. The control device 30 controls the operation of the manipulator 22 according to the operation input to the operation unit 12 and feeds back the reaction force received by the manipulator 22 to the operation unit 12 .

The control device 30 may include at least one processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) so as to control and manage each part of the remote control system 1. The control device 30 may be configured with one processor, or may be configured with a plurality of processors. The processor that configures the control device 30 may control and manage each component of the remote control system 1 by reading and executing a program stored in a storage section, which will be described later.

The control device 30 may include a storage unit. The storage unit stores various information or data. The storage unit may store, for example, programs executed by the control device 30, data used in processes executed by the control device 30, results of processing, or the like. Moreover, the storage unit may function as a work memory of the control device 30 . The storage unit may include, for example, a semiconductor memory or the like, but is not limited to this. For example, the storage unit may be configured as an internal memory of a processor used as the control device 30 or configured as a hard disk drive (HDD) accessible from the control device 30 . The storage unit may be configured as a non-transitory readable medium. The storage unit may be configured integrally with the control device 30 or may be configured separately from the control device 30 .

The control device 30 may include a communication unit. The communication unit may include a communication interface for communicating with each component such as the master operating device 10 or the slave operating device 20 of the remote control system 1 by wire or wirelessly. The communication interface may be configured to communicate with other devices over a network. The communication section may include an input/output port for inputting/outputting data with each component of the remote control system 1 . The communication unit transmits and receives necessary data and signals to and from each component of the remote control system 1 . The communication unit may communicate based on a wired communication standard, or may communicate based on a wireless communication standard. For example, wireless communication standards may include cellular phone communication standards such as 3G, 4G or 5G. Also, for example, wireless communication standards may include IEEE 802.11, Bluetooth (registered trademark), and the like. A communication unit may support one or more of these communication standards. The communication unit is not limited to these examples, and may communicate with other devices and input/output data based on various standards.

As an example, as shown in FIG. 2, the manipulator 22 of the slave operating device 20 is a vertically articulated arm robot having six axes (rotating axes) and degrees of freedom in six axial directions. The rotation axes are referred to as the T-axis, B-axis, R-axis, U-axis, L-axis and S-axis in order from the tip of the manipulator 22 . The manipulator 22 is not limited to an arm, and may be configured as a device having various structures or shapes as long as the manipulator 22 is configured to be remotely controlled by the master operating device 10 .

The operation unit 12 of the master operation device 10 accepts operation input by the operator. As an example, the operation unit 12 is assumed to be the same vertically articulated arm robot as the manipulator 22 . By configuring the operation unit 12 of the master operation device 10 and the manipulator 22 of the slave operation device 20 in the same or similar manner, the master-slave control system as the remote control system 1 can be easily controlled. The master operating device 10 and the slave operating device 20 do not necessarily have to be configured with similar shapes, and they do not have to be configured with the same degrees of freedom. The operating unit 12 may be configured as an operating shaft, or may be configured as a rotary controller such as a jog shuttle. The operation unit 12 is not limited to these examples and may be configured in various forms.

The control device 30 controls the master operating device 10 and feeds back the position (angle) of each part of the manipulator 22 and the reaction force acting on each part of the manipulator 22 to the master operating device 10 . Specifically, the control device 30 bilaterally transmits the position and orientation of the tip of the manipulator 22 whose trajectory is calculated from the angle of the arm of the manipulator 22 and the reaction force acting on each part of the manipulator 22. configured as possible. When the arm of the manipulator 22 is configured as a multi-joint robot, the control device 30 may be configured to transmit the torque of the drive motor provided at each joint of the manipulator 22 to the master operating device 10 as a reaction force. .

A grindstone is attached to the manipulator 22 as the polishing member 4 for applying the grindstone to the surface of the steel plate as the work object 7 . In the configuration illustrated in FIG. 1, the polishing member 4 is attached to the tip of the manipulator 22, which rotates about the T-axis.

A damper 6 is attached to the manipulator 22 as a contact member that transmits the reaction force. The damper 6 has a buffering function. In the configuration illustrated in FIG. 1, the damper 6 includes a first rod projecting from between the T-axis (see FIG. 2) and the B-axis (see FIG. 2), and an end of the first rod intersecting the first rod. and a second rod extending in the direction of Note that the shape of the damper 6 is not limited to a rod or the like, and may be configured in such a size and shape that it comes into contact with the work object 7 before the manipulator 22 or together with the manipulator 22 .

A support 5 is attached to the tip of the damper 6 (the tip of the second rod). It can also be said that the contact member includes the damper 6 or the pad 5 . The contact tool 5 has a contact surface shaped to follow the surface of the steel plate, which is the work object 7 , so that it can easily come into contact with the work object 7 . The shape of the support 5 may be a flat block member when the steel plate as the work object 7 is a flat plate, or a curved cover member when the steel plate as the work object 7 is curved. can be The contact tool 5 is arranged side by side with the polishing member 4 . The position of the pressing tool 5 is such that when it comes into contact with the surface of the steel plate, which is the work object 7, the polishing surface of the polishing member 4 (the whetstone surface of the grindstone) is the surface of the steel plate, which is the work object 7 (or a tangent to the surface). , and pressed with an appropriate force (predetermined reaction force acts), the polishing member 4 is adjusted to abut (contact) the steel plate, which is the work object 7. .

(polishing method)
When performing a grinding inspection (grinding work) of a steel plate that is the work object 7, the operator first operates the operation unit 12 of the master manipulator 10 to bring the manipulator 22 closer to the steel plate that is the work object 7. . Next, the operator operates the operation part 12 to bring the polishing member 4 into contact with the surface of the steel plate, which is the work object 7 .

Here, when bringing the polishing member 4 into contact with the steel plate that is the work object 7, the worker moves the pad 5 attached to the manipulator 22 via the damper 6 before the polishing member 4 or the polishing member 4. Together with the member 4, it is brought into contact with a steel plate, which is an object 7 to be worked on. At this time, a reaction force acts on the manipulator 22 from the steel plate, which is the work object 7 , via the polishing member 4 and the contact tool 5 . The operator can operate the damper 6 to support the manipulator 22 by operating the operation unit 12 while detecting the reaction force acting from the steel plate, which is the work object 7 . Then, while the manipulator 22 is supported by the damper 6 on the steel plate that is the work object 7 , the operator moves the manipulator 22 toward a target work place on the surface of the steel plate that is the work object 7 . The position and direction at which the polishing member 4 attached to the tip abuts (contacts) the steel plate, which is the work object 7, is adjusted.

The damper 6 is provided closer to the base of the manipulator 22 than the manipulator 22 has a degree of freedom on the first axis (T-axis) from the tip side. In this way, after the contact tool 5 is brought into contact with the steel plate as the work object 7, only the polishing member 4 is rotated by the rotation of the T-axis without moving the contact tool 5. can be freely oriented in a direction parallel to the surface of the

After that, the operator operates the operation unit 12 of the master operating device 10 based on the reaction force (the reaction force of the manipulator 22) that the polishing member 4 receives from the steel plate that is the work object 7, thereby performing the work with the polishing member 4. The surface of the steel plate, which is the object 7, is polished (grinded). When the surface of the steel plate, which is the work object 7, is largely polished (applied with a grindstone), the operation of each axis of the manipulator 22 is used to keep the contact tool 5 in contact with the steel plate, which is the work object 7. Polishing (grinding) is performed by moving the polishing member 4 and the pressing tool 5 together in a direction along the surface of the steel plate, which is the work object 7 .

As described above, by operating the operation unit 12 of the master operating device 10 based on the reaction force that the polishing member 4 receives from the steel plate, which is the work object 7, the operator can remotely feel the reaction force. While adjusting the contact condition of the polishing member 4, the polishing work (grinding test) can be performed. In addition, when the polishing member 4 is rotated or moved with respect to the steel plate, which is the work object 7, by bringing the contact tool 5 into contact with the steel plate, which is the work object 7, the polishing member 4 can be brought into contact with the work object. The force that presses the object 7 can be easily stabilized. The quality of the polishing work can be controlled by the force with which the polishing member 4 is pressed against the work piece 7 . By stabilizing the force pressing the polishing member 4 against the workpiece 7, the quality of the polishing work can be improved. For this reason, it is possible to reproduce the delicate force adjustment according to the waviness of the work object 7 (steel plate), which is performed by a skilled inspector.

<Second embodiment>
(composition)
In the remote control system 1 according to the second embodiment, as shown in FIG. 3, the positions of the damper 6 and the support 5 are closer to the base than the B axis (they are attached between the B axis and the R axis). ) is different from the first embodiment. That is, the damper 6 is set to a position where the polishing member 4 is driven by at least two axes of the T-axis and the B-axis (two-axis is installed so that it can be moved by

In the second embodiment, the operator fixes the contact 5 in contact with the steel plate, which is the work object 7, and moves the polishing member 4, which is the work object 7, with the second B-axis from the tip side of the manipulator 22. Make contact with the surface of the steel plate. The operator can freely change the orientation of only the polishing member 4 in a direction parallel to the surface of the steel plate, which is the work object 7, by using the first T-axis from the tip side of the manipulator 22. FIG. Therefore, the operator can finely adjust how the polishing member 4 contacts the work object 7 without moving the contact tool 5 after contact with the contact tool 5, and can freely move the position of the polishing member 4. can. In FIG. 3, the support 5 is attached to the base side of the B axis, but the support 5 is attached to the base side of the R axis. , the polishing member 4 may be attached to a position driven by three or more axes.

In addition, in the second embodiment, the reaction force that the damper 6 or the support 5 receives from the steel plate, which is the work object 7, is detected by an axis (R-axis, U-axis, or the like) positioned closer to the base than the damper 6. . Further, the reaction force that the polishing member 4 receives from the steel plate, which is the workpiece 7 , is detected by the T-axis or the B-axis located on the tip side of the damper 6 . That is, the reaction force received by the polishing member 4 and the reaction force received by the damper 6 or the contact 5 can be detected separately. Since the reaction force is detected separately, the operator can finely adjust the degree of contact of the polishing member 4 with the steel plate, which is the object to be worked 7, based on the reaction force. inspection) can be performed.

(polishing method)
The polishing method is described below. It is assumed that a steel plate, which is the work object 7, is placed in an inspection room. It is assumed that a steel plate, which is the work object 7, is suspended in the air while being tensioned in the rolling direction. The steel plate, which is the work object 7, may be placed in contact with the floor without tension. An operator operates the manipulator 22 from an operation room away from the examination room.

The operator first operates the operation unit 12 of the master operation device 10 in the operation room to bring the patch 5 attached to the manipulator 22 through the damper 6 into contact with the surface of the steel plate, which is the work object 7 . At this time, the reaction force (the reaction force of the manipulator 22) due to the contact of the contact tool 5 with the steel plate, which is the work object 7, is fed back to the master operating device 10 by bilateral control. The operator can sense the reaction force fed back as the reaction force when moving the operation unit 12 . The operator keeps the distance between the manipulator 22 and the steel plate, which is the work object 7, constant by bringing the contact tool 5 into contact with the steel plate, which is the work object 7, while feeling the feedback reaction force. Then, while the manipulator 22 is supported by the damper 6 (the contact tool 5) with respect to the steel plate, which is the work object 7, the operator moves the T-axis or the B-axis on the tip side from the point where the contact tool 5 is attached. , the polishing member 4 is moved along the surface of the steel plate, which is the work object 7, to perform polishing (grinding).

The operator can observe the images even from the operation room by displaying the images of the positions of the manipulator 22 and the polishing member 4 in the inspection room taken by a camera or the like on the display in the operation room. The examination room may be configured to be visible through a window from the operating room. The examination room and operation room may not be separated. In this case, the master operating device 10 and the slave operating device 20 may be arranged separately in the same room.

According to the polishing method described above, the operator can feel the reaction force from a remote location without contacting the steel plate, which is the work object 7, and can check the degree of contact of the polishing member 4 with the steel plate, which is the work object 7. It can be adjusted and operated. As a result, the operator can perform the polishing work (grinding test) as if directly applying a grindstone to the steel plate, which is the work object 7 . As a result, it is possible to reproduce delicate force adjustment according to the waviness of the work object 7 (steel plate), which is performed by a skilled inspector.

<Third Embodiment>
As shown in FIG. 4, the remote control system 1 according to the third embodiment is configured such that the steel plate, which is the work object 7, is wound into a roll (coiled). 2 embodiment.

The contact tool 5 has a curved contact surface matching the surface shape of the rolled steel plate. By doing so, the contact tool 5 can easily move along the cylindrical surface of the steel plate while being in contact with the surface of the steel plate, which is the work object 7 . The contact tool 5 is attached via a damper 6 to the root side of the manipulator 22 with respect to the first T-axis on the distal end side (that is, between the T-axis and the B-axis). A constant distance is maintained between the manipulator 22 and the steel plate by the contact tool 5 coming into contact with the rolled steel plate, which is the work object 7 . The position of the pressing tool 5 is such that when it contacts the surface of the rolled steel plate, which is the work object 7, the polishing surface of the polishing member 4 (the whetstone surface of the grindstone) is the surface of the rolled steel plate, which is the work object 7. The polishing member 4 is adjusted so as to be in contact with the steel plate, which is the work object 7, in a state of being parallel to the tangent line and being pressed with an appropriate force.

While maintaining a constant distance between the manipulator 22 and the surface of the rolled steel plate, which is the work object 7, the operator moves the polishing member 4 so as to slide against the surface of the steel plate to carry out the polishing work (grinding). inspection) can be performed. When the object to be polished (applied with a whetstone) is a curved surface, if the degree of freedom of operation for moving the polishing member 4 is too high, the operator needs to be skilled in stabilizing the contact of the polishing member 4 with respect to the steel plate. There is a need. Therefore, by attaching the abutment 5 between the first T-axis and the second B-axis on the tip side of the manipulator 22 and setting the degree of freedom of the polishing member 4 only to the T-axis, even non-experts can use it. can be easily polished (applied with a whetstone). For this reason, it is possible to reproduce the delicate force adjustment according to the waviness of the work object 7 (rolled steel plate), which is performed by a skilled inspector.

Although three embodiments according to the present disclosure have been described above, the configuration is not limited to the configurations of the embodiments described above, and various other embodiments may be included. For example, the work object 7 is not limited to a steel plate, and a material such as a steel pipe may be polished. The polishing member 4 is not limited to a whetstone, and abrasive coated paper or the like may be used. The polishing work is not limited to the grinding inspection using a grindstone, and polishing for removing defects may be performed.

Also, the manipulator 22 does not necessarily have to include the contact member, that is, the damper 6 or the pad 5 . If the manipulator 22 does not have the damper 6 or the abutment 5, the operator brings the polishing member 4 into direct contact with the surface of the steel plate, which is the work object 7, and moves the master operating device based on the reaction force received by the polishing member 4. By operating the operation portion 12 of 10, it is possible to adjust how the polishing member 4 hits the steel plate, which is the object 7 to be worked.

<Example>
An embodiment of remote control of polishing work by the remote control system 1 shown in FIG. 3 will be described. In this example, the surface of the steel plate, which is the work object 7, was polished (grinded). It is assumed that the steel plate, which is the work object 7, is a part of the steel plate in the middle of a continuous line with a length of several thousand meters. It is assumed that a steel plate, which is the work object 7, is suspended in the air while being tensioned in the rolling direction.

The operator operated the operation unit 12 of the master operation device 10 in the operation room to bring the patch 5 attached to the manipulator 22 through the damper 6 into contact with the surface of the steel plate, which is the work object 7 . At this time, reaction force due to contact of the manipulator 22 (application tool 5) with the steel plate, which is the work object 7, is fed back to the master operating device 10 by bilateral control. The operator could feel the reaction force fed back as a reaction force when moving the operation unit 12 . The operator can keep the distance from the manipulator 22 to the steel plate, which is the work object 7, constant by moving the operation part 12 while feeling the resistance to bring the contact tool 5 into contact with the steel plate, which is the work object 7. was made. In addition, while the manipulator 22 is supported by the damper 6 (the contact tool 5) with respect to the steel plate, which is the work object 7, the operator moves the T-axis or Using the B axis, the polishing member 4 was moved with respect to the surface of the steel plate, which was the work object 7, and polishing (grinding) could be performed. By doing so, the operator can operate the contact state of the polishing member 4 (grindstone) while feeling the reaction force even from a remote location without contacting the steel plate which is the work object 7 . As a result, the worker was able to perform the polishing work (grinding test) as if directly applying a grindstone to the steel plate, which is the work object 7 .

<Flowchart>
The remote control system 1 may execute a remote control method including the procedures of the flowchart illustrated in FIG. 5 . The remote control method may be implemented as a remote control program executed by a processor that configures the remote control system 1 . The remote control program may be stored in a non-transitory computer-readable medium.

The control device 30 brings the manipulator 22 closer to the work object 7 (step S1). Specifically, the control device 30 acquires the operation content input to the operation unit 12 of the master operation device 10 and moves the manipulator 22 according to the movement of the operation unit 12 .

The control device 30 brings the polishing member 4 attached to the manipulator 22 into contact with the work object 7 (step S2). The control device 30 controls the contact pressure of the polishing member 4 (step S3). Specifically, the operator senses the reaction force fed back to the operation unit 12 and operates the operation unit 12 . The control device 30 controls the contact pressure of the polishing member 4 according to the movement of the operating portion 12 by the operator.

The control device 30 drives the polishing member 4 (step S4). Specifically, the control device 30 drives the portion to which the polishing member 4 is attached according to the movement of the operating portion 12 by the operator. The control device 30 may rotate the T-axis to rotate the polishing member 4 when the operator inputs an instruction to rotate the T-axis.

The control device 30 determines whether polishing has been completed (step S5). Specifically, the control device 30 may determine whether polishing is completed based on an input from the operator. If the polishing is not completed (step S5: NO), the controller 30 returns to the contact pressure control procedure in step S3 to continue the polishing work. When the polishing is completed (step S5: YES), the control device 30 separates the polishing member 4 from the work object 7 (step S6). After executing the procedure of step S6, the control device 30 ends the execution of the procedure of the flowchart of FIG.

As described above, according to the remote control system 1 and the remote control method according to the present disclosure, the steel plate as the work object 7 is controlled by the master control device 10 using the polishing member 4 attached to the tip of the manipulator 22 . is polished. During polishing, the reaction force received by the polishing member 4 is fed back to the master manipulating device 10 . By doing so, the operator can adjust the degree of contact of the polishing member 4 with the steel plate, which is the work object 7, even from a remote location without approaching the work object 7, feeling the reaction force. Abrasive operations can be carried out so as to Further, by attaching the damper 6 or the contact tool 5 to the manipulator 22, it becomes easier for the operator to stably apply the polishing member 4 to the surface of the work object 7 in parallel. As a result, the efficiency and stability of the polishing operation are improved.

Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that a person skilled in the art can make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these variations or modifications are included within the scope of this disclosure. For example, functions included in each component or each step can be rearranged so as not to be logically inconsistent, and multiple components or steps can be combined into one or divided. is. Embodiments according to the present disclosure can also be implemented as a program executed by a processor provided in a device or as a storage medium recording the program. It should be understood that these are also included within the scope of the present disclosure.

1 remote control system 4 polishing member 5 contact tool (an example of a contact member)
6 damper (an example of a contact member)
7 work object 10 master operation device (12: operation unit)
20 slave operating device (22: manipulator)
30 control device

Claims

an operation unit that receives an operation by a worker;
a manipulator equipped with a polishing member for polishing an object to be worked;
and a control device that moves the manipulator according to the movement input by the operator to the operation unit and feeds back a reaction force received by the manipulator to the operation unit.
The remote control system according to claim 1, wherein the manipulator further comprises a contact member configured to come into contact with the work object prior to or together with the polishing member.
3. The remote control system according to claim 2, wherein the contact member has a contact member having a shape following the surface shape of the work object at a portion that contacts the work object.
4. The contact tool is configured such that the polishing surface of the polishing member is parallel to the surface of the work object or a tangential line to the surface when the contact tool is brought into contact with the work object surface. The remote control system described in .
The remote control system according to any one of claims 2 to 4, wherein the contact member includes a damper having a cushioning function.
the manipulator comprises at least two axes;
6. The remote control according to any one of claims 2 to 5, wherein the contact member is attached at a position where the polishing member is driven on at least two axes while in contact with the work object. system.
A remote control method for a polishing member for polishing a work object, comprising:
a step of approaching the work object with a manipulator on which the polishing member is mounted;
a step of remotely operating the manipulator by operating an operating unit of a master operating device to bring the polishing member into contact with the work object;
and a step of remotely controlling the polishing member by operating the operation unit based on the reaction force received by the polishing member, and polishing the work object with the polishing member.