JP7736097B2 - Semi-automatic remote control system and semi-automatic remote control method - Google Patents

Description

This disclosure relates to a semi-automatic remote control system and a semi-automatic remote control method.

Traditionally, maintenance work using arm robots, such as industrial robots, has been difficult because they are located at high altitudes and operators cannot approach them, making it impossible to directly teach the arm robot to operate. Furthermore, because the shape or distance of the workpiece, which is the object of the work, is not constant, re-teaching is required each time, which is inefficient. For this reason, as shown in Patent Document 1, for example, a system has been proposed that scans the workpiece with a 3D camera to recognize its shape, and generates a movement trajectory for the arm robot based on the recognized workpiece shape. Furthermore, as shown in Patent Document 2, a semi-automatic remote control device has been proposed that uses master-slave remote control to switch between a manual operation mode in which the master control device is directly operated manually to remotely control the slave arm, and an automatic operation mode in which the slave arm is automatically operated based on teaching data or operation data.

Special table 2019-513076 publication Japanese Unexamined Patent Publication No. 63-283878

However, the system in Patent Document 1 requires that the shape of the workpiece be recognized by scanning several positions with a 3D camera in different orientations. In this case, it is not possible to generate a trajectory because it is not possible to scan areas that are shaded by the 3D camera. Also, because the position of the workpiece is slightly misaligned, when working with a tool that comes into contact with the workpiece, the tool may come into too much contact with the workpiece, causing damage, or it may come too far away, making it impossible to work.

Furthermore, although the device in Patent Document 2 conceptualizes semi-automatic remote operation, it is configured to always operate the slave arm in a consistent manner based on pre-stored teaching data or operation data in automatic operation mode, making it impossible to generate a work trajectory that follows the surface shape of the workpiece.

In order to solve the above-mentioned problems, the present disclosure aims to provide a semi-automatic remote control system and semi-automatic remote control method that can accurately generate the work trajectory of a work tool during automatic operation when switching from manual operation to automatic operation.

(1) A semi-automatic remote operation system according to one embodiment of the present disclosure includes a drive unit that moves a work tool to perform a predetermined task on a workpiece, a control unit that controls the drive unit, and an operation unit that accepts input from an operator to manually remotely operate the work tool. The control unit is switchable between a manual operation mode in which the drive unit is controlled in response to the operator's manual remote operation of the work tool input to the operation unit, and an automatic operation mode in which the drive unit is controlled to move the work tool along a work trajectory. The control unit acquires contact information for the drive unit when a part of the drive unit or a part of the work tool contacts the workpiece, and generates the work trajectory based on the contact information for the drive unit.

(2) In the semi-automatic remote control system described in (1) above, the operating device may be a master having an operating unit that is linked to the operation of the drive device as a slave. In the manual operation mode, the control device may control the operating device so that the operation of the operating unit and the operation of the drive device are linked, and in the automatic operation mode, the control device may control the operating device so that the operation of the operating unit and the operation of the drive device are not linked.

(3) In the semi-automatic remote operation system described in (1) or (2) above, the workpiece may include a flat surface. When a part of the drive device or a part of the work tool comes into contact with three or more different points on the flat surface of the workpiece in the manual operation mode, the control device may detect the surface positions of each of these points as contact information for the drive device.

(4) In the semi-automatic remote operation system described in (1) or (2) above, the workpiece may include a curved surface. In the manual operation mode, the control device may detect the surface positions of two different points on the curved surface of the workpiece when a part of the drive device or a part of the work tool abuts against each of the points as abutment information for the drive device, and in the automatic operation mode, the control device may detect the surface positions of multiple points surrounding the two points on the workpiece when a part of the drive device or a part of the work tool abuts against each of the points as abutment information for the drive device.

(5) In the semi-automatic remote control system described in any one of (1) to (4) above, the control device may determine that a part of the drive device or a part of the work tool has come into contact with the surface of the workpiece based on information fed back from the drive device.

(6) In the semi-automatic remote operation system described in any one of (1) to (5) above, the control device may, in the automatic operation mode, generate the work trajectory by setting at least one of the offset amount, pitch length or retraction length of the drive device, or the tilt correction value of the work tool.

(7) In the semi-automatic remote operation system described in any one of (1) to (6) above, the control device may generate the work trajectory in the automatic operation mode so as to control the pressing force of the work tool.

(8) A semi-automatic remote operation method according to one embodiment of the present disclosure includes a manual operation step of controlling a drive device that moves a work tool that performs a predetermined task on a workpiece so that a part of the drive device or a part of the work tool abuts against the surface of the workpiece in response to manual remote operation of the work tool by an operator; a generation step of acquiring abutment information of the drive device when a part of the drive device or a part of the work tool abuts against the workpiece and generating a work trajectory of the work tool based on the abutment information of the drive device; and an automatic operation step of controlling the drive device to move the work tool along the generated work trajectory.

The semi-automatic remote control system and semi-automatic remote control method disclosed herein accurately identify the work surface and generate a work trajectory.

FIG. 1 is a diagram illustrating a configuration example of a semi-automatic remote control system according to a first embodiment of the present disclosure. 1 is a flowchart illustrating an example procedure of a semi-automatic remote control method according to the first embodiment of the present disclosure. 10 is a diagram showing the relationship between the origin of the base coordinate system of the drive device and the work plane of the workpiece. FIG. FIG. 10 is a diagram showing an example of a work trajectory generated on a virtual work plane. 10A and 10B are diagrams illustrating a method for calculating the coordinates of a contact position on a work plane. 10A and 10B are diagrams illustrating a method for calculating the coordinates of each point included in a work trajectory. FIG. 10 is a diagram illustrating a configuration example of a semi-automatic remote control system according to a second embodiment of the present disclosure. 10 is a flowchart illustrating an example procedure of a semi-automatic remote control method according to a second embodiment of the present disclosure. FIG. 10 is a diagram illustrating a method for calculating a cylindrical coordinate system of a workpiece. FIG. 9B shows a cross section of the cylinder of FIG. 9A. FIG. 10 is a perspective view illustrating a method for identifying a working surface from a cylindrical coordinate system. 10B is a cross-sectional view of FIG. 10A taken perpendicular to the central axis of the cylinder. FIG. 10B is a front view of FIG. 10A. FIG. 10 is a diagram showing an example of a work trajectory generated on a work surface. 11B is a cross-sectional view of FIG. 11A taken perpendicular to the central axis of the cylinder. FIG. 11B is a front view of FIG. 11A. 10A and 10B are diagrams showing an example of a line drawn on a work plane in a work in which a pressing force is set. 10A and 10B are diagrams illustrating an example of a line drawn on a work plane in a task in which a pressing force is not set. FIG. 10 is a diagram showing an example of a line drawn on a curved work surface in a work in which a pressing force is set. FIG. 10 is a diagram showing an example of a line drawn on a curved work surface in a work in which a pressing force is not set.

(First embodiment)
A first embodiment of the present disclosure is described below. The present disclosure enables improved work efficiency and accurate work by combining manual remote operation and automated driving to perform maintenance work in difficult-to-access areas of buildings or structures, such as high or difficult locations, or areas with high temperatures or dusty environments. In other words, in areas such as these, the shape or distance of the workpiece, the target object, is not constant, making it difficult to perform all work using automated driving. On the other hand, when performing remote work using manual driving, work can be performed according to the shape or distance of the workpiece, but camera work or communication delays make the experience different from manual work, requiring considerable skill and making detailed work difficult. Therefore, the present disclosure enables switching between manual and automated driving as needed. In this disclosure, "semi-automatic" refers to the ability to switch between manual driving (manual driving mode) and automated driving (automatic driving mode).

A semi-automatic remote control system 1 (see FIG. 1, etc.) and a semi-automatic remote control method according to a first embodiment of the present disclosure will be described below with reference to the drawings. The drawings are schematic and may differ from the actual product. Furthermore, the first embodiment below exemplifies an apparatus or method for embodying the technical concept of the present disclosure, and is not intended to limit the configuration to that described below. In other words, the technical concept of the present disclosure can be modified in various ways within the technical scope set forth in the claims.

<Configuration example of semi-automatic remote operation system 1>
As shown in FIG. 1 , a semi-automatic remote operation system 1 according to a first embodiment of the present disclosure includes an operation device 10, a drive device 20, and a control device 30. The drive device 20 is configured to be able to attach a work tool 5. The semi-automatic remote operation system 1 is configured to be able to remotely control the drive device 20 to perform a predetermined task using the work tool 5 on a workpiece 7. The workpiece 7 may be, for example, a structure serving as a work target. In the first embodiment, the workpiece 7 includes a flat portion.

In the semi-automatic remote operation system 1 according to the present disclosure, the drive unit 20 is configured as a multi-axis robot. The multi-axis robot as the drive unit 20 is configured as a master-slave system using so-called bilateral control. The multi-axis robot is configured to control the operation of the drive unit 20, which serves as a slave operation device located remotely from the operation device 10, in response to operations input to the operation device 10, which serves as a master operation device, thereby realizing remote operation of the work tool 5.

The semi-automatic remote operation system 1 may further include a remote camera or the like that allows an operator to remotely monitor the position of the drive unit 20, work tool 5, or workpiece 7.

Below, an example configuration and operation of the semi-automatic remote control system 1 is described.

The drive unit 20 includes a robot arm 22. The robot arm 22 may be at least a part of the arm of a multi-axis robot. For example, the multi-axis robot may be a vertically articulated arm robot with six axes (rotation axes) and degrees of freedom in six directions. The rotation axes may be referred to as the T-axis, B-axis, R-axis, U-axis, L-axis, and S-axis, in order from the tip of the multi-axis robot. The multi-axis robot may be configured to have degrees of freedom of movement in at least three directions. The multi-axis robot is not limited to an arm, and may be replaced with devices of various structures or shapes, as long as it is configured to be remotely controlled by the operation device 10. The multi-axis robot is not limited to a vertically articulated arm robot, and may have any structure or shape. The drive unit 20 may be mounted on a mobile platform at the tip of the boom of an aerial work platform.

The work tool 5 attached to the drive unit 20 may include, for example, a processing grinder used in high-altitude work, a paint nozzle, a paint roller, a paint brush, a cleaning nozzle, or an inspection probe. The specified work performed by the work tool 5 may include processing, painting, cleaning, or inspection. The workpiece 7 may include a steel structure such as a bridge girder structure.

The operating device 10 includes an operating unit 12. When the operating device 10 functions as a master operating device, the operating unit 12 is configured as an operating axis that can input operations along the same axis as the axis that moves the robot arm 22 of the multi-axis robot that serves as the driving device 20. The operating device 10 may, for example, be a vertically articulated arm robot similar to the driving device 20. For example, the operating axis may be the same robot arm as the robot arm 22 of the driving device 20. By making the operating axis of the operating device 10 and the robot arm 22 of the driving device 20 identical in shape, a master-slave system can be constructed relatively easily. However, the operating axis of the operating device 10 and the robot arm 22 of the driving device 20 do not necessarily have to be similar in shape or have the same degrees of freedom. The operating unit 12 is not limited to an operating axis and may be configured as a rotary controller such as a jog shuttle, or as various other types of controllers. The operating unit 12 is not limited to these examples and may be configured in various ways. The operation device 10 may be placed in an operation room of the aerial work vehicle, etc., away from the drive device 20. The operation device 10 and drive device 20 are connected by cable or wirelessly.

The control device 30 is configured to be switchable between a manual operation mode and an automatic operation mode. The manual operation mode is a mode in which the drive device 20 is operated in response to operations input to the operation unit 12 of the operation device 10. The automatic operation mode is a mode in which the operation of the drive device 20 is automatically controlled to move the work tool 5 along a predetermined trajectory, regardless of whether operations are input to the operation device 10. In other words, in the manual operation mode, the control device 30 controls the operation device 10 and the drive device 20 so that the operation of the operation unit 12 of the operation device 10 and the operation of the drive device 20 are linked. In the automatic operation mode, the control device 30 controls the operation device 10 and the drive device 20 so that the operation of the operation unit 12 of the operation device 10 and the operation of the drive device 20 are not linked. The predetermined trajectory along which the work tool 5 is moved to perform work is also referred to as a work trajectory.

In manual operation mode, the control device 30 operates the robot arm 22 of the drive device 20 in response to operation input via the operation unit 12. The control device 30 is communicatively connected to the operation device 10 and the drive device 20. The control device 30 may be communicatively connected to the operation device 10 or the drive device 20 wirelessly. The control device 30 controls the operation of the drive device 20 in response to operations input via the operation unit 12, and feeds back the reaction force received by the drive device 20 to the operation unit 12. In other words, the control device 30 controls the operation device 10, and also feeds back the position or angle of the robot arm 22 of the drive device 20 and the reaction force acting on the robot arm 22 to the operation axis of the operation device 10. Specifically, the positions of each part of the robot arm 22, the trajectory of which is calculated from the angle of the robot arm 22, and the reaction force acting on the robot arm 22 can be transmitted bidirectionally via bilateral control. If the robot arm 22 is a multi-joint robot, it may be configured so that the torque of the drive motors provided at each joint is transmitted as a reaction force to the operating shaft of the operating device 10.

The control device 30 may be configured to include at least one processor, such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), so that it can control and manage each component of the semi-automatic remote operation system 1. The control device 30 may be configured with one processor or multiple processors. The processor that makes up the control device 30 may control and manage each component of the semi-automatic remote operation system 1 by reading and executing programs stored in the storage unit, which will be described later.

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

The control device 30 may be equipped with a communication unit. The communication unit may include a communication interface for communicating with each component of the semi-automatic remote control system 1, such as the operation device 10 or drive device 20, via a wired or wireless connection. The communication interface may be configured to be able to communicate with other devices via a network. The communication unit may include an input/output port for inputting and outputting data to and from each component of the semi-automatic remote control system 1. The communication unit transmits and receives necessary data and signals to and from each component of the semi-automatic remote control system 1. The communication unit may communicate based on a wired communication standard or a wireless communication standard. For example, the wireless communication standard may include cellular phone communication standards such as 3G, 4G, or 5G. Furthermore, for example, the wireless communication standard may include IEEE 802.11, Bluetooth (registered trademark), etc. The 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 or input/output data based on various standards.

<Example of operation of semi-automatic remote control system 1>
In the semi-automatic remote operation system 1 according to the first embodiment, the control device 30 executes a semi-automatic remote operation method that switches between a manual operation mode and an automatic operation mode, thereby automatically performing a predetermined task using the work tool 5 attached to the drive device 20. The control device 30 may execute the semi-automatic remote operation method including the steps of the flowchart illustrated in FIG. 2. The semi-automatic remote operation method may be realized as a semi-automatic remote operation program executed by a processor included in the control device 30 or the like. The semi-automatic remote operation program may be stored in a non-transitory computer-readable medium.

In manual operation mode, the control device 30 controls the drive device 20 in response to manual remote control input by the operator via the operation unit 12 of the operation device 10, and moves the work tool 5 (step S1). Specifically, the operator operates the tip of the operating shaft of the operation device 10. The control device 30 moves the work tool 5 attached to the tip of the robot arm 22 of the drive device 20 in response to the movement of the tip of the operating shaft.

In response to manual remote control by the operator, the control device 30 causes a portion of the work tool 5 or a portion of the robot arm 22 of the drive device 20 to abut any position on the workpiece 7 (step S2). The control device 30 records the position at which the portion of the work tool 5 or the portion of the robot arm 22 of the drive device 20 abuts the workpiece 7 as the surface position of the workpiece 7 (step S3). The control device 30 determines whether the portion of the work tool 5 or the portion of the robot arm 22 has abutted the surface of the workpiece 7 based on the reaction force fed back from the drive device 20 to the operation device 10. For example, the control device 30 may record the position of the portion of the work tool 5 or the robot arm 22 abutting the workpiece as the surface position of the workpiece 7 when the operator, having detected the reaction force of the drive device 20 via the operation axis of the operation device 10, manually presses a switch. The control device 30 may set a threshold for the reaction force from the drive device 20, and automatically record the position of the portion of the work tool 5 or the robot arm 22 abutting the workpiece as the surface position of the workpiece 7 when the reaction force exceeds the threshold. The control device 30 may record the position when part of the work tool 5 or robot arm 22 comes into contact with the workpiece 7 as contact information. In other words, the contact information may include information about the contact position when part of the work tool 5 or robot arm 22 comes into contact with the workpiece 7.

The control device 30 determines whether the work plane of the workpiece 7 can be identified from the recorded surface position of the workpiece 7 (step S4). Specifically, the control device 30 can identify the work plane of the workpiece 7 when it records the surface position of the workpiece 7 at one or two locations and acquires information that can identify the normal direction of the surface of the workpiece 7 at that location. Information that can identify the normal direction of the surface of the workpiece 7 may include, for example, the direction of the reaction force received when the work tool 5 or the like contacts the workpiece 7. The control device 30 can identify the work plane of the workpiece 7 when it records the surface position of the workpiece 7 at three or more locations. The contact information may include information that can identify the normal direction at the surface position of the workpiece 7.

If the control device 30 cannot identify the work plane of the workpiece 7 (step S4: NO), it returns to step S1 and repeats the operation of abutting part of the work tool 5 or part of the robot arm 22 at another position on the workpiece 7 to record the surface position of the workpiece 7. In the first embodiment, as illustrated in Figure 3, the control device 30 records three positions, points A, B, and C, located on the surface of the workpiece 7 as the surface position of the workpiece 7. In Figure 3, point P is not a point on the surface of the workpiece 7, but an arbitrary point other than the surface of the workpiece 7. Point P corresponds to the position to which the work tool 5 or robot arm 22 is retracted. Point O represents the origin of the base coordinate system when the drive device 20 controls the robot arm 22.

If the control device 30 is able to identify the work plane of the workpiece 7 (step S4: YES), it identifies the work plane of the workpiece 7 and generates a work trajectory on the work plane (step S5). As illustrated in FIG. 4, the control device 30 may identify the work plane of the workpiece 7 that passes through points A, B, and C, and calculate a virtual work plane 7V that is positioned an offset amount represented by OF from the work plane of the workpiece 7. The control device 30 may generate a work trajectory 8 on the virtual work plane 7V. Specifically, the control device 30 may generate the work trajectory 8 using the following procedure.

(0) As shown in Figure 3, the control device 30 creates an arbitrary point between the origin O and point A of the base coordinate system of the drive device 20 as point P.

(1) The control device 30 calculates the work plane of the workpiece 7 based on the positions of points A, B, and C, which are the contact positions between the work tool 5 or part of the robot arm 22 and the workpiece 7.

(2) The control device 30 generates a virtual work plane 7V offset by the offset amount (OF) from the calculated work plane. The control device 30 generates points P', A', B', and C' by offsetting points P, A, B, and C by the offset amount (OF), respectively. The control device 30 sets the line connecting points A' and B' in the virtual work plane 7V as the X-axis, sets the normal to the virtual work plane 7V as the Z-axis, and sets the line perpendicular to the X-axis and Z-axis as the Y-axis.

(3) The control device 30 generates a line moving from point P' to point A' as part of the work trajectory 8.

(4) The control device 30 generates a line extending from point A' along the X axis to the X coordinate of point C' as part of the work trajectory 8.

(5) The control device 30 generates a line extending along the Z axis toward point P' by the retraction length (H) as part of the work trajectory 8. The retraction length (H) is assumed to be a pre-specified value.

(6) The control device 30 generates a line extending along the Y axis by the pitch length (L) toward point C' as part of the work trajectory 8. The pitch length (L) is assumed to be a pre-specified value.

(7) The control device 30 generates a line extending along the Z axis toward point A' by the retraction length (H) as part of the work trajectory 8.

(8) The control device 30 generates a line extending along the X axis to the X coordinate of point A' as part of the work trajectory 8.

(9) The control device 30 repeats the above-described steps (4) to (8) for generating the work trajectory 8 until the Y coordinate of the work trajectory 8 exceeds the Y coordinate of point C', thereby generating the work trajectory 8.

(10) When the work trajectory 8 reaches the Y coordinate of point C' and the X coordinate of point C', the control device 30 generates a line extending from point C' (arrival point) to point E as part of the work trajectory 8. Point E is an arbitrary safe evacuation position designated by the worker. When the work trajectory 8 ends at the Y coordinate of point C' and the X coordinate of another point such as point A' (an X coordinate different from the X coordinate of point C'), the control device 30 generates a line extending from the arrival point of the work trajectory 8 to point E as part of the work trajectory 8.

The control device 30 can generate the work trajectory 8 by executing the example procedures (0) to (10) described above.

Specifically, the control device 30 may perform the following calculations when calculating the work plane of the workpiece 7 in the above-described procedure (1). The control device 30 may calculate vectors OA→, OB→, and OC→ from the origin O of the base coordinate system of the drive device 20 to points A, B, and C, respectively. Here, the "→" added after a symbol indicates that each symbol is a vector. The control device 30 calculates AB→ based on OA→ and OB→. The control device 30 calculates AC→ based on OA→ and OC→. The control device 30 sets the X-axis along the line connecting points A and B, and calculates the unit vector e _x → indicating the X-axis direction as (AB→)/|AB→|, which is obtained by normalizing AB→. The control device 30 sets the Z-axis along a line perpendicular to both AB→ and AC→, and calculates the unit vector e _z → indicating the Z-axis direction as {(AB→)×(AC→)}/|(AB→)×(AC→)|, which is the normalized cross product of AB→ and AC→. The control device 30 sets the Y-axis along a line perpendicular to both the X-axis and Z-axis, and calculates the unit vector e _y → indicating the Y-axis direction as {( _{e x} →)×(e _z →)}/|(e _x →)×(e _z →)|, which is the normalized cross product of e x → and e _z →.

As illustrated in FIG. 5, on the work plane of the workpiece 7, the coordinates of points B and C are calculated with point A as the origin. Points A, B, and C are located on the work plane of the workpiece 7. Therefore, the Z coordinates of points A, B, and C are 0. When the angle between line AC and the X axis is represented by θ, the X coordinate Cx of point C is calculated as |AC| × cos θ. The Y coordinate Cy of point C is calculated as |AC| × sin θ. When point B is located on the X axis, the Y coordinate By of point B is 0. The X coordinate Bx of point B is calculated as |AB|. The control device 30 generates the work trajectory 8 within a rectangular range whose diagonal is between points A and C. In other words, the range in which the work trajectory 8 is generated is specified as 0≦X≦Cx and 0≦Y≦Cy.

The operations for generating the work path 8 through steps (4) to (8) above will be explained in the coordinate system viewed from point A with reference to Figure 6. The control device 30 sets point L1n, which is the starting point on the point A' side of the work path 8 generated on the virtual work plane 7V, and calculates its coordinates as (0, L x (n-1), OF). n is a natural number and is a value assigned to the combination of lines on the work path 8 that travel back and forth from point A' along the X-axis, and is set so that it increases as the combination approaches point C', starting from the combination closest to point A'. When n = 1, point L1n coincides with point A'.

The control device 30 sets point L2n, which is the end point of a line extending from point L1n along the X axis toward the X coordinate of point C', and calculates its coordinates as (Cx, L×(n-1), OF). The control device 30 sets point L3n, which is the end point of a line receding from point L2n along the Z axis, and calculates its coordinates as (Cx, L×(n-1), OF+H). The control device 30 sets point L4n, which is the end point of a line extending from point L3n along the Y axis toward the Y coordinate of point C', and calculates its coordinates as (Cx, L×n, OF+H). The control device 30 sets point L5n, which is the end point of a line extending from point L4n along the Z axis back to the virtual work plane 7V, and calculates its coordinates as (Cx, L×n, OF). The control device 30 sets point L6n as the end point of a line extending from point L5n along the X axis toward the X coordinate of point A', and calculates its coordinates as (0, L x n, OF). The control device 30 sets point L7n as the end point of a line receding from point L6n along the Z axis, and calculates its coordinates as (0, L x n, OF + H). The control device 30 sets point L8n as the end point of a line extending from point L7n along the Y axis toward the Y coordinate of point C', and calculates its coordinates as (0, L x (n + 1), OF + H).

As explained with reference to FIG. 6, the control device 30 can calculate the coordinates of points L1n to L8n included in the work trajectory 8 by setting the offset amount (OF) from the work plane of the workpiece 7 to the virtual work plane 7V, the pitch length (L), and the retraction length (H). At this time, the direction in which the point is moved by the work plane offset amount (OF) and the retraction length (H) is set to be the direction from point A to point P. Specifically, if the normal vector of the work plane is represented by N→, N→ is set to the direction from point A to point P. The values of the offset amount (OF) and the retraction length (H) are positive when the direction of movement matches the direction of N→, and negative when the direction of movement matches the opposite direction of N→.

After generating the work trajectory 8 in the coordinate system viewed from point A as described with reference to Figures 5 and 6, the control device 30 may convert the coordinates of each point included in the work trajectory 8 into a work trajectory 8 expressed in coordinates in the base coordinate system of the drive device 20.

Returning to the flowchart in Figure 2, in the manual operation mode, the control device 30 retracts the work tool 5 by manual remote operation by the operator (step S6). Specifically, the control device 30 retracts the work tool 5 or robot arm 22 to a safe position before starting automatic operation of the drive device 20.

With the work tool 5 retracted, the control device 30 switches to automatic operation mode and starts automatic operation of the drive device 20 (step S7). Specifically, the control device 30 controls the drive device 20 to move the work tool 5 along the work trajectory 8 generated in step S5. During automatic operation of the drive device 20, the control device 30 may move the work tool 5 along the work trajectory 8 while maintaining the orientation of the work tool 5 at the time of contact with point A.

The control device 30 determines whether automatic operation has ended (step S8). Specifically, the control device 30 determines that automatic operation has ended when the work tool 5 has moved to point E along the work trajectory 8. If automatic operation has not ended (step S8: NO), the control device 30 continues automatic operation. If automatic operation has ended (step S8: YES), the control device 30 switches to manual operation mode and the worker manually remotely operates the work tool 5 to retract (step S9). Specifically, after automatic operation of the drive device 20 has ended, the control device 30 retracts the work tool 5 or robot arm 22 to a safe position. After completing the procedure of step S9, the control device 30 terminates execution of the procedure in the flowchart of FIG. 2.

<Summary of First Embodiment>
As described above, the semi-automatic remote operation system 1 according to the first embodiment can detect the surface position of the workpiece 7 and create a work trajectory 8 on the surface of the workpiece 7 by manually remotely operating the drive unit 20 to bring a part of the work tool 5 or robot arm 22 into contact with the workpiece 7 when automatically operating the drive unit 20. In this way, the work plane can be accurately identified and a work trajectory can be generated. Furthermore, by monitoring the position of the workpiece 7 and the tip of the work tool 5 of the drive unit 20, which is being operated by the worker, through a remote camera when bringing a part of the work tool 5 or robot arm 22 into contact with the workpiece 7, the width direction or height direction of the work plane of the workpiece 7 can be accurately identified.

Furthermore, in the first embodiment, when a master-slave system using bilateral control is used, the operating device 10 can detect the reaction force when the tip of the work tool 5 comes into contact with the workpiece 7 during manual operation. By detecting the reaction force, it is possible to accurately determine whether the work tool 5 of the driving device 20 or part of the robot arm 22 has come into contact with the workpiece 7.

Furthermore, by performing work on the work plane of the identified workpiece 7 by automatic operation along a specified work trajectory rather than manual operation, automatic work can be performed by the work tool 5. Automatic work allows anyone to perform the work, regardless of their level of expertise in remote operation. In particular, in the first embodiment, the operation device 10 and drive device 20 are controlled so that they do not work together during automatic operation, so the operation device 10 does not move during automatic operation. Therefore, during automatic operation, the worker only needs to monitor the work being performed by the automatic operation of the drive device 20. As a result, work is performed safely.

Second Embodiment
A second embodiment of the present disclosure will be described below. As shown in FIG. 7 , a semi-automatic remote control system 51 of the second embodiment is used to perform a predetermined operation on a workpiece 57, which is a work target. Here, in the second embodiment, the workpiece 57, which is a work target, is a structure including a curved surface. That is, at least a portion of the surface of the workpiece 57 has a curved shape. In the example shown in FIG. 7 , the workpiece 57 is a cylindrical structure.

<Configuration example of semi-automatic remote control system 51>
The configuration of the semi-automatic remote control system 51 according to the second embodiment is similar to that of the semi-automatic remote control system 1 according to the first embodiment, and includes an operation device 10, a drive device 20, and a control device 30.

<Example of operation of semi-automatic remote control system 51>
A semi-automatic remote operation system 51 according to the second embodiment switches between a manual operation mode and an automatic operation mode. In the manual operation mode, the semi-automatic remote operation system 51 operates the tip of the master operation device (operation device 10) to operate the slave operation device (drive device 20) by master-slave remote operation. In the automatic operation mode, the semi-automatic remote operation system 51 automatically moves the slave operation device along the work trajectory generated in the manual operation mode.

A specific semi-automatic remote operation flow is shown in Figure 8. First, the semi-automatic remote operation system 51 moves the work tool 5 through manual remote operation by the operator (step S11). In other words, in manual operation mode, the semi-automatic remote operation system 51 remotely controls the slave operation device using the operating axis (operation unit 12) of the master operation device.

Next, the semi-automatic remote control system 51 abuts the work tool 5 at any position on the workpiece 57 (step S12). In other words, the semi-automatic remote control system 51 moves the slave control device (work tool 5) to any position and abuts the slave control device at two different points on the curved portion of the surface of the workpiece 57.

The semi-automatic remote control system 51 then records the contact position as the surface position of the workpiece 57 (step S13). That is, the semi-automatic remote control system 51 may record the position when a part of the work tool 5 or robot arm 22 contacts the workpiece 57 as contact information for the drive device 20. The contact information may include information on the contact position when a part of the work tool 5 or robot arm 22 contacts the workpiece 57. Specifically, as shown in Figures 9A and 9B, the semi-automatic remote control system 51 first records the coordinates of the contact point (point A) by contacting the tip of the slave control device (work tool 5) with an arbitrary point (point A) on the curved surface of the workpiece 57. The semi-automatic remote control system 51 then contacts the slave control device (work tool 5) with an arbitrary point at a different height from point A and records the coordinates of the contact point (point B). As described above, in the second embodiment, the semi-automatic remote operation system 51 identifies the working curved surface of the workpiece 57 from two points (point A and point B) at different heights. The semi-automatic remote operation system 51 determines whether the contact position was recorded (step S14). If the contact position was not recorded (step S14: NO), the semi-automatic remote operation system 51 returns to the procedure of step S11 and repeats the recording of the contact position.

If the semi-automatic remote control system 51 is able to record the contact position (step S14: YES), it automatically controls the slave control device to contact the specified position (step S15). Specifically, after recording the coordinates of the two points (point A and point B), the semi-automatic remote control system 51 moves the slave control device to a safe position and switches to automatic operation mode. In automatic operation mode, the semi-automatic remote control system 51 controls the slave control device to contact the specified positions (multiple points around point A and point B).

The semi-automatic remote control system 51 then records the contact point as the surface position of the workpiece 57 (step S16). Specifically, as shown in Figures 9A and 9B, the semi-automatic remote control system 51 first moves the slave control device to a position at the same height as point A and a specified horizontal distance (width) from point A, then moves the slave control device horizontally (depth) from that position to contact the workpiece surface, and records the coordinates of the contact point. The specified horizontal distance is represented by D in Figure 9B. The position that is a specified horizontal distance from point A is represented by a hollow circle in Figures 9A and 9B. The semi-automatic remote control system 51 then moves the slave control device to a position at the same height as point A and a specified horizontal distance (width) from the previous contact point, then moves the slave control device horizontally (depth) from that position to contact the workpiece surface, and records the coordinates of the contact point. Positions further away from point A by a specified horizontal distance are represented by open circles. The semi-automatic remote control system 51 performs this operation in both the positive and negative directions from point A, and records the coordinates of a total of four points represented by open circles.

The semi-automatic remote control system 51 also performs the above-mentioned operation for point B, and records the coordinate system of the workpiece surface at four additional points represented by open circles at the same height as point B.

In other words, the semi-automatic remote control system 51 detects the surface positions of two different points on the curved portion of the surface of the workpiece 57 when the drive unit 20 comes into contact with each other as contact information for the drive unit 20, and may also detect the surface positions of multiple points (four points in the second embodiment) around each of the two different points on the curved portion of the surface of the workpiece 57 when a part of the drive unit 20 or a part of the work tool 5 comes into contact with each other in the automatic operation mode as contact information for the drive unit 20.

After recording the coordinate system of a total of 10 points, including points A and B, the semi-automatic remote control system 51 determines whether the work surface can be identified (step S17). If the work surface cannot be identified (step S17: NO), the semi-automatic remote control system 51 returns to the procedure in step S15 and repeats the recording of the contact position.

If the semi-automatic remote control system 51 can identify the work surface (step S17: YES), it generates a work trajectory on the work surface (step S18). Specifically, the semi-automatic remote control system 51 generates a work trajectory for the slave operating device from the 10 points, including points A and B, recorded in steps S15 and S16. The method for generating the work trajectory will be described later.

In manual operation mode, the semi-automatic remote operation system 51 retracts the work tool 5 through manual remote operation by the operator (step S19). Specifically, the semi-automatic remote operation system 51 retracts the work tool 5 to a safe position before starting automatic operation of the drive unit 20.

With the work tool 5 retracted, the semi-automatic remote operation system 51 switches to automatic operation mode and starts automatic operation of the drive unit 20 (step S20).

The semi-automatic remote operation system 51 then automatically moves the work tool 5 along the work trajectory, performs the specified work on the workpiece 57, and determines whether the automatic operation has ended (step S21). The semi-automatic remote operation system 51 determines that the automatic operation has ended when the specified work on the workpiece 57 has been completed. The semi-automatic remote operation system 51 determines that the automatic operation has not ended when the specified work on the workpiece 57 has not been completed.

If automatic driving has not ended (step S21: NO), the semi-automatic remote control system 51 continues automatic driving.

When the semi-automatic remote operation system 51 has ended automatic operation (step S21: YES), the worker manually remotely retracts the work tool 5 (step S22). Specifically, after the specified work is completed (after movement along the work trajectory is completed), the semi-automatic remote operation system 51 switches to manual operation mode, and the worker manually remotely controls the slave operation device (work tool 5) using the master operation device, thereby retracting the slave operation device (work tool 5) to a safe position. After executing the procedure in step S22, the semi-automatic remote operation system 51 terminates execution of the procedure in FIG. 8.

<Example of how to generate a work trajectory>
A method for calculating a cylindrical coordinate system from recorded coordinates will be described in detail below with reference to Figures 9A and 9B. To generate a work trajectory for performing a predetermined task (e.g., scraping) on a cylindrical structure, two pieces of information are required: the axis and outer diameter of the cylinder, which are cylindrical coordinate systems. The work trajectory can be calculated using the following method, taking into account the characteristic that the cross section perpendicular to the ground of a cylindrical structure that extends diagonally is an ellipse.

(1): Obtain the coordinates of five points at the same height and specified distance from the ground. The five points include point A, which is represented by a solid circle, and four points, which are represented by hollow circles. The height of the five points is the same as that of point A.
(2): Using the five points calculated in (1) above, calculate the equation of the ellipse EL1 of the cross section of the cylinder being worked on. The center of the ellipse EL1 is located on the central axis CA of the cylinder. The major axis LA1 of the ellipse EL1 is a line segment with both ends on the cylindrical surface.
(3): Again, obtain the coordinates of five arbitrary points at the same height from the ground. The five points include point B, which is represented by a solid circle, and four points, which are represented by hollow circles. The height of the five points is the same as that of point B.
(4): Using the five points calculated in (3) above, calculate the equation of the ellipse EL2 of the cross section of the cylinder being worked on. The center of the ellipse EL2 is located on the central axis CA of the cylinder. The major axis LA2 of the ellipse EL2 is a line segment with both ends on the cylindrical surface.
(5): Calculate the equation for the central axis CA of the cylinder from the centers of the ellipses EL1 and EL2, and calculate the equation for the generating line BL of the cylinder from the ends of the ellipses EL1 and EL2.
(6): Calculate the radius R of the cylinder from the distance between the central axis of the cylinder and the generating line of the cylinder.

By performing steps (1) to (6) above, the cylindrical coordinate system of the workpiece 57 can be calculated.

10A, 10B, and 10C, a method for identifying the work surface (radial, circumferential, and height directions) from the calculated cylindrical coordinate system will be described. As shown in FIG. 10A, the maximum height Z1 of the work surface in the height direction from the origin O is assumed to be the position of point A. The minimum height Z2 of the work surface from the origin O is assumed to be the position of point B. As shown in FIG. 10B, the maximum circumferential angle θ1 of the work surface is assumed to be the angle from the angle at the position of point A as the origin to the tangent point at the height of point A in the negative direction (clockwise direction) to the tangent point at the height of point A that is the farthest from point A. The minimum circumferential angle θ2 of the work surface is assumed to be the angle from the angle at the position of point A as the origin to the tangent point at the height of point A in the positive direction (counterclockwise direction). The radial distance of the work surface is the outer diameter of the workpiece 57, calculated as the cylindrical radius R as described above, plus the specified offset amount shown as the work surface offset amount in Figures 10A, 10B, and 10C. A curved surface that is the specified offset amount away from the outer surface of the workpiece 57 may be calculated as a virtual work surface 57V. The work surface may be set on top of the virtual work surface 57V. As described above, the work surface can be defined from the cylindrical coordinate system of the workpiece 57.

Finally, with reference to Figures 11A, 11B and 11C, a method for generating a work trajectory 58 on the work surface from the work surface and a method for operating the arm along the trajectory 58 will be described.
(1) Create a point P at an arbitrary position away from the workpiece 57. For example, if the origin O is set, create a point P between the origin O and the workpiece 57.
(2) The slave operating device is moved from point P to the starting position (the position at the maximum height and maximum angle in the circumferential direction on the working curved surface).
(3) The slave operating device is moved in a straight line from the start position parallel to the central axis CA of the cylinder to the one-pass end position (the position at the minimum height and maximum angle in the circumferential direction on the working curved surface).
(4) The slave operating device is moved parallel to the radial direction by the specified retraction length.
(5) The slave operating device is moved in the circumferential direction by the pitch length toward the end position (the position at the maximum or minimum height on the curved working surface and the minimum angle in the circumferential direction).
(6) The slave operating device is moved toward the start position in a direction parallel to the radial direction by the retraction length.
(7) The slave operating device is moved in a straight line parallel to the central axis CA of the cylinder to the height of the starting position.
(8) Repeat the movement of the slave operating device until the total pitch length exceeds the angle of the end position.
(9) After moving the slave operating device to the end position (the position at the maximum or minimum height on the working surface and at the minimum angle in the circumferential direction), the slave operating device is moved to point E. Point E is assumed to be an arbitrary safe evacuation position designated by the operator.

<Summary of the Second Embodiment>
The semi-automatic remote operation system 51 according to the second embodiment described above, in manual operation mode, monitors the position of the tip of the work tool 5 of the slave operation device, which is actually operated by the worker, via a remote camera, and the workpiece 57, and therefore can accurately specify the work curved surface (radial, circumferential, and vertical directions). Furthermore, by utilizing a master-slave system with bilateral control, the semi-automatic remote operation system 51 can feel the reaction force or electrical signal when the tip of the work tool 5 comes into contact during remote operation, and can accurately specify the work curved surface (radial direction).

Furthermore, by using the created work surface, the semi-automatic remote operation system 51 can operate automatically along a specified work trajectory in automatic operation mode, rather than remotely operating in manual operation mode. This allows work to be performed automatically using the work tool 5, and anyone can do the work without having to be trained in remote operation. During automatic operation of the semi-automatic remote operation system 51, the positional relationship between the master operation device and the slave operation device remains consistent. Therefore, the master operation device does not move, and the operator's only task is to monitor the work being performed by the slave arm, allowing for safe work.

(Other embodiments)
Other embodiments are described below.

In the first or second embodiment described above, the semi-automatic remote operation system 1, 51 is configured as a master-slave system in which the driving device 20, acting as a slave, is controlled by the operating device 10, acting as a master. However, the control method for the driving device 20 is not limited to the master-slave method. For example, the driving device 20 may be configured to be remotely controlled by inputting the operation of the driving device 20 into a personal computer (PC) that functions as the operating device 10. In this case, the operating unit 12 of the operating device 10 does not have to be an operating axis. The operating unit 12 may also include a cursor or joystick that accepts input of the movement direction of the work tool 5.

Furthermore, if the reaction force received by the driving device 20 is not fed back to the operating device 10, the worker will not be able to detect the reaction force using the operating device 10. Instead of feeding back the reaction force to the operating device 10, the semi-automatic remote operation system 1, 51 may install a force sensor or contact sensor in the driving device 20 and output the sensor's detection results as an electrical signal to the operating device 10. The worker may recognize the reaction force based on the detection results obtained by the operating device 10 and determine whether a part of the work tool 5 or robot arm 22 has come into contact with the workpiece 7, 57.

In the first embodiment described above, the control device 30 detects the surface position of the workpiece 7 by contacting a portion of the work tool 5 or robot arm 22 of the drive device 20 with three different locations on the surface of the workpiece 7. The control device 30 may contact a portion of the work tool 5 or robot arm 22 with only one location, and calculate or estimate the work plane of the workpiece 7 from the coordinates of the contact location and the angle of the portion of the work tool 5 or robot arm 22 when it contacts that location. The control device 30 may also contact a portion of the work tool 5 or robot arm 22 with four or more locations. The more points recorded as contact locations, the higher the accuracy of detecting the surface position of the workpiece 7. The control device 30 may also reduce the number of parameters that the worker must set when generating the work trajectory 8.

Furthermore, when generating the work trajectory 8, the control device 30 may have the worker set parameters such as the offset amount (OF) from the work plane of the workpiece 7, the pitch length (L), the retraction length (H) from the work plane, or a tilt correction value for the work tool, and generate the work trajectory 8 taking these parameters into consideration. The tilt correction value for the work tool is a correction value used when performing a correction to arbitrarily rotate the work tool 5 around the X-axis, Y-axis, or Z-axis relative to the X-axis, Y-axis, or Z-axis of the work plane of the workpiece 7.

Furthermore, when generating the work trajectory 8, the control device 30 may set the pressing force of the work tool 5 against the workpiece 7 as a parameter. The control device 30 can control the pressing force of the work tool 5 by changing the torque of the robot arm 22 without changing the contact position when the work tool 5 or part of the robot arm 22 comes into contact with the workpiece 7. Therefore, the control device 30 may generate, as information about the work trajectory 8, control information such as the torque of the robot arm 22 when the work tool 5 or part of the robot arm 22 comes into contact with the workpiece 7, in addition to the coordinates of a part of the drive device 20, such as the tip of the work tool 5.

By generating the work trajectory 8 taking into account various parameters, the drive unit 20 is controlled so that the work is performed appropriately even if the work tool 5 is replaced with a different tool.

(Example)
As an example of the semi-automatic remote operation system 1 according to the first embodiment, a work was carried out in which a line was drawn on a polycarbonate plate as the workpiece 7 by controlling the drive unit 20 equipped with a pen as the work tool 5. When the control device 30 generated a work trajectory by setting the pressing force of the work tool 5 as a parameter and controlled the drive unit 20, a line 81 along the work trajectory could be drawn on the workpiece 7 without fading, as shown in Fig. 12A. On the other hand, when the control device 30 generated a work trajectory without setting the pressing force of the work tool 5 as a parameter and controlled the drive unit 20, the line drawn by the work tool 5 along the work trajectory included a line 81 drawn without fading and a line 82 drawn with fading, as shown in Fig. 12B.

As an example of the semi-automatic remote control system 51 according to the second embodiment, a driving device 20 equipped with a pen as the work tool 5 was controlled to draw a line on a cylindrical polycarbonate plate as the workpiece 57. When the control device 30 generated a work trajectory by setting the pressing force of the work tool 5 as a parameter and controlled the driving device 20, a line 81 along the work trajectory could be drawn on the workpiece 57 without smearing, as shown in FIG. 13A. On the other hand, when the control device 30 generated a work trajectory without setting the pressing force of the work tool 5 as a parameter and controlled the driving device 20, the line drawn by the work tool 5 along the work trajectory included a line 81 drawn without smearing and a line 82 drawn with smearing, as shown in FIG. 13B.

According to the above embodiment, when performing work by pressing the work tool 5, setting the pressing force as a parameter is effective in improving the accuracy of the work.

Although embodiments of the present disclosure have been described based on various drawings and examples, it should be noted that those skilled in the art would be able to make various modifications or alterations based on this disclosure. Therefore, it should be noted that these modifications and alterations are included within the scope of the present disclosure. For example, the functions included in each component or step may be rearranged so as not to cause logical inconsistencies, and multiple components or steps may be combined into one or divided. Embodiments of the present disclosure may also be realized as a program executed by a processor provided in an apparatus, or as a storage medium on which a program is recorded. It should be understood that these are also included within the scope of the present disclosure.

1 Semi-automatic remote operation system 5 Work tool 7 Workpiece 7V Virtual work plane 8 Work trajectory 10 Operation device (12: operation unit)
20 Drive unit (22: Robot arm)
30 Control device 51 Semi-automatic remote operation system 57 Work 57V Virtual work surface 58 Work trajectory 81, 82 Line

Claims (8)

a drive device that drives a work tool that performs a predetermined operation on a workpiece;
a control device that controls the drive device;
an operation device that accepts an input from an operator to manually remotely operate the work tool,
the operating device is a master having an operating unit that operates in conjunction with the operation of the drive device as a slave,
The control device
a manual operation mode in which the drive device is controlled in response to manual remote operation of the work tool by the worker input to the operation device, and an automatic operation mode in which the drive device is controlled to move the work tool along a predetermined trajectory,
In the manual operation mode, the operation device is controlled so that the operation of the operation unit and the operation of the drive device are linked together;
determining, based on a reaction force fed back from the driving device, that a part of the driving device or a part of the work tool has come into contact with the surface of the workpiece;
Acquire contact information of the drive device when a part of the drive device or a part of the work tool contacts the workpiece;
generating a work trajectory, which is the predetermined trajectory along which the work tool is moved to perform work, based on the contact information of the drive device;
Semi-automatic remote control system. The control device controls the operation device in the automatic driving mode so that the operation of the operation unit and the operation of the drive device are not linked.
The semi-automatic remote control system according to claim 1 . the workpiece includes a flat surface,
3. The semi-automatic remote operation system according to claim 1, wherein the control device detects, as contact information for the drive device, the surface positions of each of the points when a part of the drive device or a part of the work tool contacts three or more different points on the flat portion of the surface of the workpiece in the manual operation mode. the workpiece includes a cylindrical curved surface portion,
3. The semi-automatic remote operation system according to claim 1 or 2, wherein the control device detects, as the contact information of the drive device, the surface positions of two different points on the curved portion of the surface of the workpiece when a part of the drive device or a part of the work tool contacts each of the two different points in the manual operation mode, and detects, as the contact information of the drive device, the surface positions of two different points on the curved portion of the surface of the workpiece when a part of the drive device or a part of the work tool contacts multiple points around the two points in the automatic operation mode. a drive device that drives a work tool that performs a predetermined operation on a workpiece that includes a cylindrical curved surface ;
a control device that controls the drive device;
an operation device that accepts an input from an operator to manually remotely operate the work tool,
The control device
a manual operation mode in which the drive device is controlled in response to manual remote operation of the work tool by the worker input to the operation device, and an automatic operation mode in which the drive device is controlled to move the work tool along a predetermined trajectory,
In the manual operation mode, when a part of the drive device or a part of the work tool abuts against two different points on the curved portion of the surface of the workpiece , the surface positions of each of the points are detected as abutment information of the drive device, and in the automatic operation mode, when a part of the drive device or a part of the work tool abuts against a plurality of points around the two points on the surface of the workpiece, the surface positions of each of the points are detected as abutment information of the drive device ,
generating a work trajectory, which is the predetermined trajectory along which the work tool is moved to perform work, based on the contact information of the drive device;
Semi-automatic remote control system. 6. The semi-automatic remote operation system according to claim 1, wherein, in the automatic operation mode, the control device sets at least one of an offset amount of the drive device, a pitch length or a retraction length, or an inclination correction value of the work tool to generate the work trajectory. The semi-automatic remote operation system according to claim 1 , wherein the control device generates the work trajectory so as to control a pressing force of the work tool in the automatic operation mode. a manual operation process in which a master operating device having an operation unit that links with the operation of a drive device that moves a work tool to perform a predetermined task on a workpiece is controlled so that the operation of the operation unit links with the operation of the drive device, thereby controlling the operation device so that a part of the drive device or a part of the work tool abuts against the surface of the workpiece in accordance with manual remote operation of the work tool by an operator input into the operating device;
a generation process of determining that a part of the drive device or a part of the work tool has come into contact with the surface of the workpiece based on a reaction force fed back from the drive device, acquiring contact information of the drive device when a part of the drive device or a part of the work tool has come into contact with the workpiece, and generating a work trajectory , which is a predetermined trajectory along which the work tool will move to perform work, based on the contact information of the drive device;
an automatic operation step of controlling the drive device to move the work tool along the generated work trajectory.