JP3536089B2 - Remote control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device which enables an operator to operate an operating member such as a manipulator by an operating member provided at a remote place, and more particularly, the operator can operate the operating section. The present invention relates to a remote control device capable of commanding a target position and speed of an operating member by detecting an applied external force, and controlling the rigidity of the operating part by the way of gripping the operating part and the gripping force at that time.

[0002]

2. Description of the Related Art For example, work involving handling dangerous substances such as radioactive materials that humans are not recommended to approach, work inside a nuclear power plant, work in places where volcanic activity is active, work in water, work in space. In places where it is difficult for humans to work directly, such as using a robot manipulator,
While observing the movement of the manipulator on the video camera image, the person performing the operation confirms whether the work is being performed as intended, and performs remote operation by performing corrective action in an unexpected situation. I have something to do. At this time, this manipulator may be a manipulator whose base is fixed and does not move, or a manipulator mounted on a moving device, which further includes a means for gripping an object by an actuating portion located at the tip thereof, or There are various modes such as those in which a specific operating member such as a welding device, a machining device, and an inspection device is simply fixed and operated depending on the application.

The technique for remotely controlling such actuating members is usually performed by a wired line or a wireless line as a dedicated line, but in recent years, due to the explosive spread of the Internet, a manipulator through an information network, Alternatively, research is being conducted on the practical application of a remote control system that provides various services by remotely controlling the entire robot including the moving mechanism.

As such a system, for example, for a patient sitting in a fundus examination machine at a medical institution, a specialist in this field at a remote place sends an operation signal to the fundus examination machine using the information network of the Internet. It is about to be put into practical use to perform an operation of illuminating an arbitrary position of the fundus to obtain a video signal and displaying the video signal on a monitor of a specialist through the same Internet to perform an accurate examination. In addition, by placing only a robot in an unmanned office and operating it from a personal computer at home, or by a person in another country from his or her personal computer via the Internet information network, It is also considered to perform operations or operate various office equipment. It is expected that the remote control of the robot arm or the like via the information network such as the Internet will be widely used in the field of machining in the future.

[0005]

In particular, in a remote control system having an information network as described above, a certain communication time delay is unavoidable, so that the operating portion of a manipulator or the like in a remote place should have independence. Compliance control is adopted to absorb the impact when it comes into contact with surrounding objects. However, it is necessary to adjust the rigidity of the compliance control according to the work content, which is a difficult work.

In order to solve such a problem, for example, a master / slave type operating device may be used. That is, in a remote-controlled manipulator or the like, which was carried out through glass to handle dangerous substances such as radioactive substances, a large master arm was prepared at the operator's hand, and the position and posture of the master arm and slave arm were paired. There is a system constructed so that the operator can intuitively operate the control so as to correspond to one. In such an operating device that simultaneously responds to the position and external force of the master and slave, the operator himself adjusts the compliance and operates softly to generate a motion that complies with the constraints of the working environment, or to operate hard to work. It is possible to add power to the environment.

Generally, in order to command a movement in a three-dimensional space, a device having 6 degrees of freedom including at least 3 degrees of freedom of position and 3 degrees of freedom of posture is required, so that the apparatus is complicated and expensive. Becomes In addition, a bilateral device that feeds back sensor information that detects the load that acts on the operating part of the robot arm may be used, but this system is extremely dangerous when an unexpected failure occurs, and it is used for special purposes. Is suitable, but has the drawback of not being general-purpose.

As another means, there is a means for changing the rigidity setting parameter by a switch or the like. That is, in the compliance control type remote operation device, the rigidity parameter is set in advance according to the work, and the control for transmitting the command of the position or speed of the manipulator is performed. Further, when switching the stiffness parameter, some predetermined parameters prepared in advance are selected by using a switch, or the control computer is operated to change the parameter. In these methods, it is necessary to consciously stop a series of operations and switch the parameters, which is not necessarily a system with high operability.

Therefore, according to the present invention, when the operating member is remotely operated, the operator can detect the external force applied to the operating member by a simple device to adjust the position of the operating portion such as the manipulator and the operator can operate the operating member. An object of the present invention is to provide a remote control device capable of imparting arbitrary rigidity to an operating member by detecting a state of operating the member and a gripping force to detect information regarding the rigidity of the operation.

In order to solve the above-mentioned problems, a remote control device according to the present invention is a remote control device comprising an operating member for outputting at least an operating signal for operating a position of an operating member with respect to an operating member at a remote place. In the remote control device provided with a sensor for detecting the state of the operator's grip on the operation part of the operator's grip of the operating member, and a means for adjusting the control rigidity of the operating member by the sensor ,
The sensor that detects the state changes depending on the state of the grip
A contact area between the operator's hand and the operating section and a sensor for detecting pressure.
It is obtained by a capacitor.

[0011]

Another remote control device according to the present invention is
At least the position of the actuating member relative to the
Remote operation with an operation member that outputs an operation signal to operate
In the device, in the operation part that the operator of the operation member grips,
A sensor for detecting the grip state of the operator is provided to
With a means for adjusting the control stiffness of the actuating member
In the remote control device, the sensor that detects the state of grip of the operator is the operator's hand that changes depending on the state of grip.
Operation that changes according to the contact area and contact pressure between the operating parts
This is a sensor for detecting a resistance value between a person's hand and a grip member .

[0013]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an operation member 1 as a remote operation device according to the present invention and a mode in which the operation member 1 is connected to a monitor 2 for use. The operating member 1 is formed in a joystick shape, and has an operating portion 3 at the upper end that is operated by the operator with his / her fingertip or by gripping the operating portion 3, and is composed of an intermediate lever 4 and a supporting portion 5 at the lower end. The support portion 5 is provided with a 6-axis force / torque sensor 6 for detecting an external force applied by the operator,
The operator can detect the operation state of the operation section. A joystick may be used in place of the 6-axis force / torque sensor 6 for adjusting the position.

A sheet-shaped pressure sensor 7 is appropriately divided and attached to the surface of the operation portion 3 formed in a spherical shape in the figure, and the gripping force applied to this sensor is detected. Thereby, it is detected whether the operator is operating the operation unit 3 with the fingertips or is gripping almost the entire body, and the pressure applied to the operation unit by the operator is detected by each pressure sensor. There is. The operating portion may be formed in any shape other than the spherical shape shown in the drawing, and the pressure sensor 7 similar to the above is attached to the surface thereof.

An operation signal from the force / torque sensor 6 of the 6-axis is transmitted to an operating member such as a manipulator performing various works, and an operating portion as an effector at the tip of the operating member is operated by the operator. You can move and work accordingly. Further, the signal from the pressure sensor 7 controls the rigidity when the operating member performs various operations such as the control rigidity of the arm of the manipulator and the control rigidity when gripping an object with the grip portion.

The illustrated embodiment shows a state in which the gripping portion 9 of the manipulator 8 displayed on the monitor 2 carries out the operation of gripping the article 10, and the operator can display this by observing the monitor screen. The manipulator 8 is operated to move the arm 10 closer to the article 10 while adjusting the position and posture of the gripping portion 9, and the gripping portion 9 grips the article 10 to carry it.

At this time, for example, when the arm of the manipulator 8 is moved from a position distant from the article 10 to the vicinity of the article 10, the operator operates the operating section 3 in a large and strong direction, and, for example, as shown in FIG. 2 (b)
As shown in (1), the operator almost intuitively unconsciously or consciously grips the operation portion 3 with the palm 11 and performs the operation. The movement direction and its external force in this operation are detected by the 6-axis force / torque sensor 6, and the operation unit 3
In the gripping state, the contact area and the total pressure at that time are detected by the pressure sensor 7 attached to the surface of the operation unit 3 as shown in FIG. The contact area can be determined by the number of palms contacting a plurality of pressure sensors attached to the operation unit 3, and the overall pressure at that time can be calculated by integrating the pressures of the contacted pressure sensors. is there.

[0018] Such an operator unconsciously or consciously operates the operation portion 3 and the overall gripping force at that time is detected, and the compliance adjusting portion of the manipulator is adjusted to adjust the operation. Adjust the rigidity. As a result, when the manipulator is largely moved as described above, the moving speed becomes high and the rigidity at the time of moving becomes high, so that the manipulator can move to a predetermined position at high speed.

Next, when the gripping portion 9 of the manipulator 8 grips the article 10, particularly when the article 10 is a fragile article, the operator carefully brings the gripping portion 9 of the manipulator 8 close to the article 10 and The grip 10 is carefully opened and closed to perform the grip operation, and when the grip is grasped, the grip is gradually lifted, and when it is considered that the grip is securely held, the moving speed of the arm of the manipulator 8 is increased to carry the article 10. It will be.

When the manipulator 8 is in a state of gripping and carrying a fragile article as described above, the operator thinks that the manipulator 8 must carefully perform the operation. Therefore, as described above, the arm of the manipulator 8 is operated. Unlike when moving at a high speed, the hand that operates the operation unit 3 is to operate with a fingertip as in the case of performing a normal detailed work, for example, as shown in FIG. The force to grip the operating part is small. The pressure sensor 7 attached to the operation unit 3 has a reduced contact area with the operation unit 3 and also has a reduced overall pressure. As a result, the compliance adjustment part of the manipulator is adjusted, and the manipulator moves relatively softly, and the delicate movement of the gripping part with respect to the article, the gripping operation, the lifting operation of the article, etc. are performed, and the position of the manipulator can be automatically adjusted. Becomes

Various things can be used as the pressure sensor 7 provided in the operation portion 3. For example, a plurality of pressure sensors 7 are provided as in the above-described embodiment, and one pressure sensor has a plurality of pressure detecting elements. It is also possible to use a distributed arrangement of the manipulators.Also, almost all of the operating part is used as one pressure sensor, and the contact area of the palm is not detected. Adjustments can also be made. Further, in the case where a plurality of pressure sensors 7 are attached as described above, by accumulating each pressure sensor for each operation direction, the direction in which the operator tries to operate the lever and the external force can be detected. ,
This signal also has a secondary effect such that the manipulator arm can be operated.

Since the rigidity can be adjusted by a simple means by using the above remote control device, various operations can be performed using the Internet network 15 as shown in FIG. 3, for example. The work shown in FIG. 1 can also be performed. That is, in the example of FIG. 3, the remote control device 15 according to the present invention as described above is installed at the point A, and the personal computer 16 connected to the Internet network 15 is installed, and the point B is connected to the manipulator 8 by wire or Personal computer 17 that can communicate wirelessly
Communication means such as is installed.

By using such a system,
Originally, the operation may be performed by the personal computer 17 at the point B, but even if it is not possible to operate it because there is no suitable person who can handle this manipulator at that point, for example, this operation is highly skilled. Did A
A person at the point can operate this using the remote control device 1.

At this time, due to the delay in signal transmission of the communication system, it is impossible to perform the maneuver as intended by the operator, unlike the manipulator at the point B. Therefore, when performing remote control via such a communication system, it is necessary to reduce the rigidity of the manipulator particularly in order to perform a reliable control. However, when it is desirable to increase the rigidity obviously, such as when moving the entire arm of a heavy manipulator at high speed, and when processing an article with a strong force, the rigidity must be increased naturally.

In remote control using the above-mentioned communication system in which rigidity adjustment is particularly required, it is extremely effective to use the adjusting means capable of arbitrarily adjusting rigidity as in the present invention. In particular, since the rigidity adjusting means of the present invention detects the force of gripping the operating member for steering,
It is possible to detect a sense of rigidity of an operation portion that is almost unconsciously performed by the user, and it is possible to provide a remote operation device that is easy to operate.

The present invention can be applied to various operations such as various operations, inspection apparatus operations, and office equipment operations, in addition to the manipulator operations described above. Further, the present invention can be applied not only to remote operation using the Internet network but also to remote operation by various wired or wireless. It should be noted that the "remote control device" in the present invention does not simply mean the operation member itself, but is used in the sense that it also includes a portion for forming a rigidity adjustment signal from the signal of the pressure sensor. As the operating member, various members such as a joystick widely used conventionally can be used.

[0027]

Since the present invention is configured as described above, when operating an operating member such as a manipulator remotely, a simple device detects the external force applied to the operating member by the operator to operate the operating portion of the manipulator or the like. The position of the operator is adjusted, and when the operator operates the operation member with the same feeling as when a general worker performs the operation by hand, the change in the gripping force applied to the operation unit and the operation method of the operation member are detected. Any rigidity can be given to the operating member. Therefore, the rigidity with respect to an appropriate operation member can be automatically controlled by the natural action of the operator. Further, with the above-mentioned configuration, since the driving part such as the deformed part is eliminated, the device can be a safe operating device and can be integrally incorporated into an operating member for performing ordinary remote control, so that one operation can be performed. Various members can output various control signals, and the remote operation device can be operated easily and has a simple structure.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of a remote control device according to the present invention,
FIG. 2 is a system schematic diagram showing an outline of a system to which this remote control device is applied.

2A and 2B are perspective views showing a state in which a remote control device according to the present invention is being operated, wherein FIG. 2A shows a state in which a fingertip is operating, and FIG. .

FIG. 3 is a system schematic diagram showing an outline when a remote control device according to the present invention is operated using a communication system using the Internet.

[Explanation of symbols]

1 Operation member 2 monitors 3 operation part 4 levers 5 Support 6 6-axis force / torque sensor 7 Pressure sensor 8 manipulator 9 grip 10 parts

Claims (2)

(57) [Claims] 1. A remote control device comprising an operation member for outputting an operation signal for operating at least a position of an operation member with respect to an operation member at a remote place, wherein an operator grips the operation member with an operation unit. In a remote control device provided with a sensor that detects the gripping state of the operator , and a means for adjusting the control rigidity of the operating member by the sensor, the sensor that detects the gripping state of the operator is the gripping state.
Contact area between the operator's hand and the operating part
A remote control device, which is a sensor for detecting pressure . 2. At least an actuator for a remote actuating member.
The operation member that outputs the operation signal to operate the position of the moving member
In the remote control device provided with , the operator's grip of the operation member is attached to the operation section held by the operator.
A sensor for detecting the state is provided, and means for adjusting the control rigidity of the operating member by the sensor is provided.
In a remote control device provided with the sensor, the sensor for detecting the gripping state of the operator is a contact area between the operator's hand and the operating portion, which changes depending on the gripping state.
Between the operator's hand and the gripping member, which changes depending on the contact pressure
A remote control device, which is a sensor for detecting the resistance value of the.