JPS6341718B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a manipulator for causing an effector (fingertip of the manipulator) of the manipulator to reach a visually perceived target point.

Conventionally, for example, in a manual manipulator for a nuclear reactor, in order to detect radioactivity, temperature, vibration, etc. at a desired location of a nuclear reactor, an effector supporting a sensor is brought to the desired location. When the effector of a manual manipulator reaches a certain target point, the operator captures an image of the target point and the effector with a television camera attached to the manipulator, and uses the image projected on the display device to guide the operator from start to finish. Operate the manipulator while checking the positional relationship between the two,
The effect device was reaching its target point.

However, such work is not easy, and the operator has to perform the work with great care, resulting in poor work efficiency.

In addition, if an attempt is made to automate all the work by having the machine perform the above-mentioned work that was conventionally performed by an operator, extremely complicated control will be required.

Furthermore, JP-A-54-42801 proposes a device that allows a mechanical device to reach a target point by detecting the distance to the target point by triangulation using two television cameras. There is. however,
With this device, (a) The distance calculated by triangulation is calculated using the length of one side of the triangle (in this case, the distance between the two television cameras) and the two corners on both sides of the triangle. Due to the principle of the method, it involves a fairly large error, so after approaching the target point, it is necessary to redetect the distance to the target point using a different type of distance measuring device such as an ultrasonic distance measuring device. It gets complicated.

(b) Furthermore, ultrasonic distance measuring devices have a very large error when the distance is less than 30 cm, so when it is required to reach a target point with a mechanical device with high precision, I can't get a completely satisfactory result.

(c) Two television cameras are required, which increases the cost and size of the device.

There were other problems.

The present invention has been made in view of the above-mentioned circumstances, and allows the effector to reach the target point with high precision using a very simplified procedure, and when applied to a manual manipulator. A manipulator control method that greatly facilitates the operator's work, simplifies control when applied to an auto-manipulator, and allows for miniaturization and cost reduction of the equipment used. The purpose is to provide

A manipulator control method according to the present invention that achieves such an object captures an image of a target point to be reached by the effector of the manipulator using an imaging means;
Next, based on the position and angle of the imaging means with respect to the manipulator in this state, find a straight path connecting the imaging means and the target point,
Thereafter, the effector is moved along the straight line path to cause the effector to reach the target point.

Hereinafter, the present invention will be explained in more detail based on embodiments shown in the drawings.

FIG. 1 shows an embodiment in which the present invention is applied to control of a manual manipulator. 1 is a manipulator, 2 is an arm of the manipulator 1, and 3 is an arm 2
4 is a television camera attached to the manipulator 1 (this television camera constitutes the imaging means in this embodiment); 5 is a remote computer provided on the manipulator 1 side; 6 is a local computer provided on the operator's side, 7 is an operation panel, and 8 is a display device.

The local computer 6 is adapted to accept operations on the operation panel 7 by the operator and transmit them to the manipulator 1 via the remote computer 5. Further, the remote computer 5 is adapted to rapidly input the positions and angles of the television camera 4, the main body of the manipulator 1, each joint of the arm 2, and the effector 3 as data. Furthermore, the image of the subject captured by the television camera 4 is displayed on the screen 8a of the display device 8 via the remote computer 5 and local computer 6.

Now, in FIG. 1, if the operator wants to make the effector 3 reach the target point O, the operator first moves the television camera 4 through the operation panel 7, and
captures an image of the target point O, and as shown in FIG.
so that it is located in the center of Then, the position and angle of the TV camera 4 at this time are controlled by the remote controller.
Since the distance between the television camera 4 and the target point O is known by the computer 5, the straight path A connecting the television camera 4 and the target point O can be calculated even if the distance between the television camera 4 and the target point O is not known.

Therefore, when the operator has completed the task of positioning the image of the target point O at the center of the screen 8a as described above, the operator sends a message to that effect via the operation panel 7.
Inform computer 6. Then, the local computer 6 calculates the linear path A, and performs conventionally known CP control (Continuous Control) via the remote computer 5 and manipulator 1.
Path Control) moves the effector 3 along the path A in a direction approaching the target point O.

As a result, the effector 3 will reach the target point O sooner or later (the time point at which the effector 3 reaches the target point O can be detected by, for example, providing a sensor in the effector 3). . Therefore,
Since the operator's main task is to position the image of the target point O at the center of the screen 8a of the display device 8, the burden on the operator is greatly reduced.

In addition, since the calculation of the straight path A does not involve calculation of distance, the error can be sufficiently reduced, so that the effector can reach the target point with high precision.

Further, since only one television camera is required, the cost of the device can be reduced and the device can be made smaller.

In the above embodiment, when calculating the straight path A, the image of the target point O is positioned at the center of the screen 8a of the display device 8, but it is not necessary to do so. For example, the image of the target point O When an image of is captured at an arbitrary position on the screen 8a,
The computer 6 may calculate the straight path A by pointing the image of the target point O with a light pen and inputting the position of the image on the screen 8a to the local computer 6.

Further, in the above embodiment, a television camera is used as the imaging means, but in the present invention,
Other types of imaging means may also be used.

Further, the image of the target point captured by the imaging means does not necessarily have to be an image based on visible light coming from the target point, but may be a temperature distribution image based on infrared rays coming from the target point, for example.

Further, in the embodiment described above, the television camera 4 is attached to the manipulator 1, but in the present invention, as long as the positional relationship between the manipulator and the imaging means is known, the imaging means can be installed separately from the manipulator. You may.

Further, the work performed by the operator in the above embodiment, or work equivalent thereto, can be easily automated (for example, the work of capturing an image of a target point with an imaging means can be stored in advance in a storage device). By comparing the image of the target point placed with the image captured by the imaging means, by illuminating the target point, and when the imaging means captures a subject that shines with a certain amount of light or more, the target point is considered to have been captured. , which can be easily automated). The invention can therefore also be applied to automanipulators, and in that case the control of the device can be simplified.

As described above, the manipulator control method according to the present invention (i) allows the effector to reach the target point by a very simplified procedure, and when applied to a manual manipulator, it is easy for the operator to This greatly facilitates the work and, when applied to an automanipulator, simplifies its control.

(ii) Since the calculation of the straight path A does not involve calculating the distance, the error can be made sufficiently small, so that the effector can reach the target point with high precision.

(iii) Since only one imaging means such as a television camera is required, the cost of the device used can be reduced and the size of the device used can be reduced.

It is possible to obtain excellent effects such as.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing a manipulator and its control system in an embodiment of the manipulator control method according to the present invention, and Fig. 2 shows a state in which the image of the target point is positioned at the center of the screen of the display device in the embodiment. FIG. 1...manipulator, 3...effect device, 4...
TV camera, 5...remote computer,
6...Local computer, 7...Operation panel,
8...Display device.

Claims (1)

[Claims] 1. An image of the target point to be reached by the effector of the manipulator is captured by the imaging means, and then, based on the position and angle of the imaging means with respect to the manipulator in this state, a straight line is drawn connecting the imaging means and the target point. A method for controlling a manipulator, comprising determining a path, and then moving the effector along the straight path to cause the effector to reach the target point.