JP7808982B2 - Remote control system and remote control method - Google Patents

Description

This disclosure relates to a remote control system and a remote control method.

Conventionally, manipulators (robot arms) such as industrial robots are generally mounted on a fixed surface or stable base, and the position of the arm tip is controlled to follow the spatial coordinates of a trajectory that has been taught in advance. In this case, it is assumed that the object that the robot arm is working on will remain in the same position as when it was taught, making it difficult to apply conventional technology when the object's position changes or when the work is non-routine. For non-routine or irregular work that cannot be automated, there are cases where so-called master-slave remote control is used, in which a master operating device is directly operated manually and a slave manipulator is remotely controlled.

For example, in Patent Document 1, when an end effector at the tip of a slave manipulator comes into contact with a rigid object, if the absolute value of a preset master reaction force exceeds an upper limit, the upper limit is fed back to the input grip (master operating device) to prevent a large slave reaction force from being generated in the input grip. Therefore, the document states that an excessive master reaction force is not fed back to the input grip, and the operator can sense rigid body contact of the end effector when operating a slave manipulator that involves rigid body contact, and can perform stable contact operations without unintentional movement of the input grip.

Patent Document 2 also describes a remotely operated manipulator that uses feedback control to apply a reaction force to a master manipulator mounted on the vehicle, which receives an external force acting on a slave manipulator mounted on the top end of a boom extending from a vehicle such as an aerial work platform. It describes how, when an obstacle is detected on the path to the work point and the slave manipulator passes a predetermined position near the avoidance point, the reaction force gradually increases, restraining the master manipulator and preventing it from coming into contact with the avoidance point. It also describes how, when the slave comes into contact with an obstacle and stops, the operator can sense an increase in external force, i.e., an increase in the reaction force on the master operating device. Therefore, when performing maintenance work using such robotic construction methods, the operator can confirm that the slave has come into contact with an obstacle during work.

Furthermore, Patent Documents 3 and 4 disclose technology in which a manipulator is equipped with a shape measurement device or a laser irradiation device, and scraping work and the like is performed by operating the manipulator while maintaining a constant distance from the work surface based on the shape of the workpiece (work object) measured by the shape measurement device or the laser irradiation device.

Japanese Patent Application Publication No. 08-229858 Japanese Patent Application Publication No. 08-300277 Japanese Patent Application Laid-Open No. 2021-53679 Japanese Patent Application Laid-Open No. 2021-58912

Patent Document 1 detects the reaction force transmitted to the slave arm, but this reaction force occurs after contact with an object, and it is thought that it cannot respond to sudden reaction forces. Sudden reaction forces are generated not only when the target object is contacted, but also when an unexpected obstacle is contacted. Furthermore, by setting an upper limit on the reaction force transmitted to the master operating device, movement above the upper limit cannot be detected.

Patent Document 2 discloses a system in which the distance to an obstacle on the route to the work point is determined using a visual device, and when a set distance is exceeded, a function generator generates a restraining force for the master according to the distance to the obstacle, and the system is equipped with a reaction force generating means that superimposes this restraining force on a reaction force and feeds it back to the master. In the above case, since the distance to the obstacle must be determined using a visual device, there is a possibility that the distance may be misjudged depending on the viewing angle.

In Patent Documents 3 and 4, a manipulator is automatically controlled while maintaining a constant distance from the workpiece surface based on the shape of the workpiece (work object) measured by a shape measurement device or laser irradiation device. However, with master-slave control, an operator manually operates a master operating device to remotely move the manipulator, so the distance between the manipulator and the work object cannot be automatically controlled. In particular, when the work object has a complex shape, it is difficult to operate the manipulator while maintaining a predetermined distance between the work tool and the work object.

The present disclosure therefore aims to provide a remote control system and remote control method that facilitates remote control when performing injection operations.

A remote operation system according to one embodiment of the present disclosure includes an operation unit that accepts operation input from an operator, a manipulator equipped with an injection tool for use on a work object, and a control device that moves the manipulator in accordance with the movement input by the operator to the operation unit and feeds back to the operation unit the reaction force received by the manipulator. The manipulator is further equipped with a contact member that comes into contact with the work object so that the distance between the injection tool and the work object falls within the working distance.

A remote control method according to one embodiment of the present disclosure is a method for remotely controlling an injection tool relative to a workpiece, and includes the steps of: bringing a manipulator equipped with the injection tool close to the workpiece; remotely controlling the manipulator by operating an operation unit of a master operation device and bringing a contact member extending from the manipulator into contact with the workpiece, thereby ensuring a working distance between the injection tool and the workpiece; and performing an injection operation on the workpiece while ensuring the working distance between the injection tool and the workpiece.

The remote control system and remote control method disclosed herein allow for easy remote control when performing injection operations.

1 is a diagram illustrating a configuration example of a remote control system according to the present disclosure. FIG. 2 is a view taken along an arrow A in FIG. 1 . FIG. 10 is a diagram showing a configuration example in which the manipulator is provided with a cover. 1 is a flowchart illustrating an example of a procedure for a remote control method according to the present disclosure.

This disclosure relates to a remote control system for remotely controlling a manipulator equipped with an injection tool that performs injection work on a workpiece, and a method for remotely controlling a manipulator.

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

Embodiments of a remote control system and remote control method according to the present disclosure are described below with reference to the drawings. The drawings are schematic and may differ from the actual product. Furthermore, the following embodiments exemplify devices or methods that embody the technical concepts of the present disclosure, and are not intended to limit the configuration to those described below. In other words, the technical concepts of the present disclosure may be modified in various ways within the technical scope set forth in the claims.

First Embodiment
(Overall system configuration)
1, remote operation system 1 includes a master operation device 10, a slave operation device 20, and a control device 30. Master operation device 10 includes an operation unit 12. Slave operation device 20 includes a manipulator 22, an injection tool 24 attached to the tip of manipulator 22, and a contact member 26. Manipulator 22 is configured as a slave arm.

The control device 30 includes a cable 32 that connects the master control device 10 and the slave control device 20. The control device 30 is communicatively connected to the manipulator 22 via the cable 32. The manipulator 22 and the control device 30 may also be communicatively connected wirelessly. The control device 30 controls the operation of the manipulator 22 in response to operations input to the operation unit 12, and provides feedback to the operation unit 12 of the reaction force received by the manipulator 22.

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 as to control and manage each component of the remote control 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 remote control system 1 by reading and executing a program stored in a 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 include a communication unit. The communication unit may include a communication interface for communicating with each component of the remote control system 1, such as the master control device 10 or the slave control device 20, via a wired or wireless connection. The communication interface may be configured 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 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 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), and the like. 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 and input/output data based on various standards.

The remote control system 1 is mounted on an aerial work platform 100 and is used when performing work in which a projectile is fired by a firing tool 24 at a work target 44 located at an elevated location. The aerial work platform 100 comprises a boom 110, a mobile platform 120, and a cab 130. The mobile platform 120 is mounted on the tip of the boom 110 and is configured to be movable by rotating or extending/contracting the boom 110. The slave operation device 20 is mounted on the mobile platform 120. The master operation device 10 is mounted on the cab 130. The cab 130 is equipped with a device for operating the boom 110.

As an example, the manipulator 22 of the slave operating device 20 is a vertically articulated arm robot with six degrees of freedom in each axis. The manipulator 22 is not limited to an arm, and may be configured as a device with a variety of structures or shapes, as long as it is configured to be remotely controlled by the master operating device 10.

As an example, the operation unit 12 of the master operation device 10 is a vertically articulated arm robot, the same 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 a remote operation system can be easily controlled. The master operation device 10 and the slave operation device 20 do not necessarily have to be configured in similar shapes or with the same degrees of freedom. The operation unit 12 may be configured as an operation axis, or 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 ways.

The control device 30 controls the master control device 10 and provides feedback to the master control device 10 of the position (angle) of each part of the manipulator 22 and the reaction forces acting on each part of the manipulator 22. Specifically, the control device 30 is configured to be able to transmit, in both directions using bilateral control, the position and orientation of the tip of the manipulator 22, the trajectory of which is calculated from the angle of the arm of the manipulator 22, and the reaction forces acting on each part of the manipulator 22. If 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 motors provided at each joint of the manipulator 22 to the master control device 10 as a reaction force.

As described above, an injection tool 24 for performing an injection operation on the workpiece 44 is attached to the tip of the manipulator 22. The injection tool 24 may include devices for injecting various projectiles, such as a laser irradiation device that emits a laser, a gas cutting device that injects gas, a painting device that injects paint, or a device that sprays abrasive material such as sand for scraping work. The injection tool 24 may be configured to inject substances such as solids, liquids, or gases. The injection tool 24 may be configured to inject electromagnetic waves such as light, or electromagnetic energy such as an electric field generated by applying a voltage to an electrode or a magnetic field generated from a magnetic pole. The injection tool 24 may be configured to inject sound waves such as ultrasound, or mechanical energy such as shock waves.

The injection operation may be included in various operations such as scraping, inspection, cleaning, painting, cutting, or welding. The work object 44 may include, for example, a steel structure such as a bridge girder structure.

The injection tool 24 is controlled by an injection control device 40 that is communicatively connected via a cable 42. The injection tool 24 and the injection control device 40 may also be communicatively connected wirelessly. The injection control device 40 may be configured identically or similarly to the control device 30.

The master operating device 10 accepts input of an operation to cause the injection tool 24 to perform an injection operation. When an operation to cause the injection operation to be performed is input to the master operating device 10, the control device 30 outputs an instruction to the injection control device 40 to cause the injection tool 24 to perform the injection operation.

The injection tool 24 may be controlled by the control device 30. In this case, when an operation to perform an injection operation is input in the master operation device 10, the control device 30 controls the injection tool 24 to perform the injection operation.

The position of the injection tool 24 is determined by the operation of the manipulator 22, and is controlled so that the distance from the injection tool 24 to the workpiece 44 falls within an appropriate range. This distance within the appropriate range is also referred to as the working distance. The working distance is determined for each application (task) of the injection work.

To perform the injection operation, the manipulator 22 is controlled so that the distance from the injection tool 24 to the workpiece 44 is the working distance. In other words, the operator operating the operation unit 12 of the master operation device 10 must operate the operation unit 12 so that the distance from the injection tool 24 to the workpiece 44 is the working distance.

Here, a contact member 26 is attached to the tip of the manipulator 22. As shown in FIG. 2, the contact member 26 is attached so as to protrude from the tip of the manipulator 22 beyond the injection tool 24 in the direction in which the injection tool 24 injects the projectile. In this embodiment, the contact member 26 is attached near the injection tool 24 at the tip of the manipulator 22. Specifically, the contact member 26 may be arranged adjacent to and parallel to the injection tool 24.

When the injection tool 24 approaches the workpiece 44, the contact member 26 comes into contact with the workpiece 44 before the injection tool 24 does. Therefore, a distance is maintained between the injection tool 24 and the workpiece 44. The length of the contact member 26 is preset to a length that ensures an appropriate distance from the injection tool 24 to the workpiece 44, so that the distance from the injection tool 24 to the workpiece 44 is within the working distance.

The contact member 26 may be configured to include a damper with shock-absorbing properties. The contact member 26 may have any size and shape that allows it to protrude from the manipulator 22 and ensure a working distance between the injection tool 24 and the workpiece 44. The contact member 26 may be configured, for example, as a rod or probe, a curved shield-shaped cover, or a cushion-shaped block. The contact member 26 may also be configured to include an elastic member.

The contact member 26 may be equipped with a contact sensor at the tip or other portion that comes into contact with the workpiece 44, which detects when the contact member 26 comes into contact with the workpiece 44. The contact sensor outputs the detection result as a signal to the control device 30 or the injection control device 40.

The control device 30 or the injection control device 40 may control the operation of the injection tool 24 based on the detection results of the contact sensor. Specifically, when the contact sensor detects that the contact member 26 is in contact with the workpiece 44, the control device 30 or the injection control device 40 places the injection tool 24 in an available state (standby state). Once the injection tool 24 is in an available state (standby state), it can immediately execute injection in response to an injection operation input from the master operation device 10. On the other hand, when the contact sensor does not detect that the contact member 26 is in contact with the workpiece 44, the control device 30 or the injection control device 40 places the injection tool 24 in an unavailable state (OFF). In other words, the control device 30 or the injection control device 40 can prevent the injection tool 24 from executing injection when the injection tool 24 is not facing the workpiece 44 or when the distance between the injection tool 24 and the workpiece 44 is not the working distance. In this way, injection toward anything other than the workpiece 44 can be avoided. As a result, the safety of the injection process can be improved.

The portion of the contact member 26 that comes into contact with the workpiece 44, such as the tip, may become worn or dirty due to contact with the workpiece 44. Therefore, the portion of the contact member 26 that comes into contact with the workpiece 44, such as the tip, may be configured to be replaceable (disposable).

Even if the contact member 26 does not have a contact sensor, the control device 30 may determine whether the contact member 26 has come into contact with the workpiece 44 by detecting the reaction force received when the contact member 26 comes into contact with the workpiece 44. The control device 30 may determine that the contact member 26 has come into contact with the workpiece 44 when the reaction force acting on the contact member 26 is equal to or greater than a predetermined threshold, and may place the injection tool 24 in an usable state. The control device 30 may determine that the contact member 26 has not come into contact with the workpiece 44 when the reaction force acting on the contact member 26 is less than the predetermined threshold, and may place the injection tool 24 in an unusable state.

The contact member 26 may be provided with a sliding body, such as a roller, that slides along the workpiece 44 at the tip or other portion that comes into contact with the workpiece 44. In this case, a contact sensor may be attached to the sliding body.

(Remote control method)
The procedure for performing an injection operation using the remote control system 1 of this embodiment will be described.

In the first operation step, the worker raises the entire movable platform 120 using the boom 110 of the aerial work platform 100 and brings the manipulator 22 closer to the work object 44. At this time, the worker brings the manipulator 22 closer to the work object 44 with the tip of the manipulator 22 bent as much as possible (in a compact state). By doing this, when operating the manipulator 22 in the next second operation step, it becomes easier to align the position of the injection tool 24 attached to the tip of the manipulator 22 with the work object 44.

In the second operation step, the operator moves the moving stage 120 close enough to the workpiece 44 that the manipulator 22 can be extended to contact the workpiece 44. Then, the operator gradually extends the manipulator 22 by operating the operation unit 12 of the master operation device 10, bringing the contact member 26 into contact with the workpiece 44. If the injection tool 24 is, for example, a laser irradiation device, a certain distance (working distance) must be maintained between the irradiation lens of the laser irradiation device and the irradiation surface of the workpiece 44. In this embodiment, the extension length of the contact member 26 from the manipulator 22 is set to a length that ensures a certain distance. Therefore, by bringing the contact member 26 into contact with the irradiation surface of the workpiece 44, an appropriate distance (working distance) for laser irradiation is maintained. If the contact member 26 includes a damper, the damper of the contact member 26 contracts due to the force pressing it against the workpiece 44. The damper of the contact member 26 is designed so that the distance between the injection tool 24 and the workpiece 44 remains the working distance even when the damper contracts. By understanding in advance the relationship between the pressing force (reaction force) and the amount of contraction of the damper of the contact member 26, the operator can remotely operate the manipulator 22 using the master operation device 10 while pressing the contact member 26 against the workpiece 44 with a predetermined pressing force (reaction force). When moving the manipulator 22, the operator can drag the contact member 26 while it is in contact with the irradiation surface of the workpiece 44 (by sliding the sliding body if one is provided), thereby moving the injection tool 24 while maintaining the appropriate distance (working distance) for irradiation.

In the third operation step, the operator determines the position of the injection tool 24 attached to the manipulator 22 relative to the work location (irradiation surface) of the work object 44, while maintaining a fixed distance (working distance) between the injection tool 24 and the work object 44 using the contact member 26. The operator operates the master operation device 10 to cause the injection tool 24 to perform an injection operation on the work object 44.

Second Embodiment
(System configuration)
As shown in FIG. 3 , in the remote operation system 1 according to the second embodiment, the manipulator 22 may include a contact cover 28. The contact cover 28 may be attached to each joint of the manipulator 22, or may be attached to a portion other than the joint. The contact cover 28 has a shield-shaped curved contact surface. Furthermore, when the contact cover 28 is attached to a joint of the manipulator 22, the contact cover 28 is configured so that a reaction force is transmitted to the joint portion of the manipulator 22 when the contact cover 28 abuts (contacts) against the work target 44 or an object located in the vicinity thereof. A plurality of contact covers 28 may be attached to each joint. The contact cover 28 may be attached to a position that covers at least the outside of the joint of the manipulator 22. The contact cover 28 may be configured to include a damper with a cushioning function, similar to the contact member 26.

The remote control system 1 according to the second embodiment may be used in particular when the shape of the workpiece 44 or an object located in its vicinity is complex or the space for performing the injection operation is narrow. That is, as in the second embodiment, by attaching multiple contact covers 28 to the manipulator 22 and protecting the joints in particular with the contact covers 28, it is possible to prevent the manipulator 22 from colliding with an object other than the workpiece 44, thereby preventing the distance between the injection tool 24 and the workpiece 44 from changing. Furthermore, the manipulator 22 can be supported in a stable position by the contact covers 28.

<Example>
A specific example of the remote control system 1 will be described below.

The manipulator 22 is a vertically articulated arm robot with six joints, as shown in Figure 3, and is configured as a collaborative robot with a body weight of 40 kg, a maximum reach length of 1,300 mm, and a maximum payload capacity of 12 kg. The master operating device 10 is also configured as a vertically articulated arm robot with six joints. The aerial work vehicle 100 was a typical model used for maintenance, inspection, or cleaning work in steelworks, with a boom 110 having a maximum height of 50 m and a maximum load capacity of 200 kg. The injection tool 24 was configured as a laser irradiator (irradiation device) with an output of 1 kW. A laser irradiation lens of 3 kg was attached to the tip of the manipulator 22. The laser irradiator was configured based on the weight of a handheld laser irradiation gun, which is designed to allow for approximately one hour of normal manual irradiation work without any problems. Using the above configuration, a scraping operation to remove rust from the surface of a steel structure was performed using laser irradiation from the laser irradiator.

Manual work was carried out as a comparison with work using the remote control system 1. The manual work was carried out by a worker riding on the mobile platform 120 of the aerial work platform 100 and irradiating the work with a laser using a handheld laser gun. However, when the mobile platform 120 of the aerial work platform 100 was raised to a height of 40 m, it began to sway by approximately ±100 mm due to the influence of the wind. As a result, unevenness occurred in the cleaning or scraping during the manual work.

Meanwhile, during work using the remote control system 1, the mobile platform 120 carrying the manipulator 22 was raised to a height of 40 m, and the mobile platform 120 began to sway. The worker operated the manipulator 22 by operating the operation unit 12 of the master operation device 10. The worker was able to reduce the swaying of the manipulator 22 by extending the manipulator 22 while pressing the contact cover 28 attached to the joint against the steel structure. The worker moved the mobile platform 120 horizontally 1 m while keeping the height of the mobile platform 120 unchanged and leaning the manipulator 22 against the steel structure via the contact cover 28, and pressed the contact member 26 at its tip against the steel structure. The worker operated the operation unit 12 of the master operation device 10 while adjusting the force so that the length of the damper of the contact member 26, i.e., the distance between the laser irradiation lens at the tip of the manipulator 22 and the surface of the steel structure (the work target 44), was within the working distance. The worker then stopped the movement of the mobile platform 120 in the target work area and performed scraping work on a 50 cm x 50 cm area of the surface of the steel structure (work object 44) using only remote control of the manipulator 22. The worker performed the work while checking images from a camera attached to the manipulator 22 on the monitor in the driver's cab 130. The worker could barely see the steel structure (work object 44) due to the reflected light from the laser irradiator. However, by operating the operation unit 12 of the master operation device 10 in accordance with the reaction force received by the contact member 26, the worker was able to maintain a constant distance between the laser irradiation lens and the surface of the steel structure (work object 44), allowing for stable scraping work.

<Flowchart>
The remote control system 1 may execute a remote control method including the steps of the flowchart illustrated in Fig. 4. The remote control method may be realized as a remote control program executed by a processor constituting the remote control system 1. The remote control program may be stored in a non-transitory computer-readable medium.

The control device 30 moves the manipulator 22 closer to the workpiece 44 (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 in accordance with the movement of the operation unit 12.

The control device 30 brings the contact member 26 attached to the manipulator 22 into contact with the workpiece 44 (step S2). If a contact sensor is attached to the contact member 26, the control device 30 acquires the detection result of the contact sensor (step S3). The control device 30 determines whether the contact member 26 has come into contact with the workpiece 44 (step S4).

If the control device 30 determines that the contact member 26 is not in contact with the workpiece 44 (step S4: NO), it disables the injection tool 24 (step S5). After executing the procedure of step S5, the control device 30 returns to the procedure of step S2 in which the contact member 26 is brought into contact with the workpiece 44.

If the control device 30 determines that the contact member 26 has contacted the workpiece 44 (step S4: YES), it puts the injection tool 24 into an operable state (step S6). The control device 30 then executes the injection operation using the injection tool 24 (step S7). After executing the procedure in step S7, the control device 30 ends execution of the procedure in the flowchart of FIG. 4.

As described above, with the remote control system 1 and remote control method disclosed herein, the contact member 26 extending from the manipulator 22 allows the operator to operate the manipulator 22 while bringing the contact member 26 into contact with the workpiece 44. This makes it easier for the operator to ensure a working distance between the injection tool 24 and the workpiece 44 when performing an injection operation on the workpiece 44. As a result, remote control when performing an injection operation is easier.

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 Remote operation system 10 Master operation device (12: operation unit)
20 Slave operating device 22 Manipulator 24 Injection tool 26 Contact member 28 Contact cover 30 Control device (32: cable)
40 Injection control device (42: cable)
44 Work object 100 Aerial work vehicle (110: boom, 120: mobile platform, 130: cab)

Claims (5)

an operation unit that accepts operation inputs from an operator;
a manipulator equipped with an injection tool for the workpiece;
a control device that moves the manipulator in accordance with a movement input by the operator to the operation unit and feeds back a reaction force received by the manipulator to the operation unit,
the manipulator further includes a contact member that comes into contact with the workpiece ;
a length of the contact member is preset to a length that ensures a working distance between the injection tool and the workpiece when the contact member comes into contact with the workpiece . The remote control system of claim 1, wherein the manipulator is mounted on a movable platform. The remote control system described in claim 1 or 2, wherein the contact member includes a damper with a buffering function. the contact member and the injection tool are located at a tip of the manipulator;
The remote control system according to claim 1 , wherein the contact member protrudes further than the injection tool in an injection direction of the injection tool. A method for remotely operating an injection tool relative to a work object, comprising:
a step of bringing a manipulator equipped with the injection tool close to the workpiece;
a step of remotely operating the manipulator by operating an operation unit of a master operation device, and bringing a contact member provided to protrude from the manipulator into contact with the workpiece;
and performing an injection operation on the workpiece while the contact member is in contact with the workpiece ,
a length of the contact member is preset to a length that ensures a working distance between the injection tool and the workpiece when the contact member comes into contact with the workpiece .