JPH0648418B2 - Operation skill evaluation device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manual control device, and in particular, to a device (especially master / slave manipulator System), the present invention relates to an operation skill evaluation device suitable for reducing the burden on the operator and improving the work rate.

[Conventional technology]

The master / slave manipulator is configured such that an operator operates a master manipulator (hereinafter, referred to as a master), and the slave manipulator (hereinafter, referred to as a slave) operates according to the operation. In many conventional manipulator systems, the operator operates the master while watching the slave displayed on the TV monitor. Also, Proceedings of '85 International Conference on Advanced Robotics (1985), pages 329 to 336 (Proceedi
ngs of'85 International Conference on Advanced Robo
tics (1985) pp 329-336), a human command input
There are devices in which some of the computer's movements of the slave impose constraints and assist in some of the human manual operations. On the other hand, in order to compare the performances of a plurality of manipulators, there is one in which the work time of a specific work (for example, work of inserting a pin into a hole) is measured and evaluated. This is merely an evaluation of the performance of the manipulator, not an evaluation of the skill level or fatigue of the operator.

[Problems to be solved by the invention]

The above-mentioned conventional technique is accompanied by a difficulty and a troublesome operation because an operator indirectly operates a slave placed at a remote place via a master. For this reason, in the conventional manipulator system, the operator is required to have a skill, and the operator is very tired.
It is difficult to objectively judge the degree of operator's skill and the degree of fatigue. Therefore, it is necessary to properly judge the work goal and operation procedure (automatic / manual switching or operator switching). It was difficult.

The purpose of the present invention is to evaluate the skill of the operator during actual work,
An object is to provide an operation skill evaluation device for a master / slave manipulator device which can reduce operator fatigue and improve work efficiency.

[Means for solving problems]

In order to achieve the above object, the present invention is an operation skill evaluation device for a master / slave manipulator device,
In the operation skill evaluation device, an operation skill storage means for storing the skill data of the operator through training performed in advance for a plurality of evaluation parameters, and an operation for measuring the operation skill of the operator during actual work for a plurality of evaluation parameters. The operation skill evaluation means for comparing the skill data stored in the operation skill storage means with respect to a plurality of evaluation parameters and the measurement data measured by the operation skill measurement means. The change in the skill status of the operator during the actual work is evaluated based on the comparison result of the means.

[Action]

The skill data of the operator is stored by the training performed in advance for a plurality of evaluation parameters by the operation skill storage means.

The operating skill measuring means measures the operating skill of the operator during actual work for a plurality of evaluation parameters.

Then, the operation skill evaluation means compares the skill data stored in the operation skill storage means with respect to a plurality of evaluation parameters and the measurement data measured by the operation skill measurement means.

Based on the result of this comparison, it is possible to evaluate changes in the skill status of the operator during actual work, accurately judge the skill level of the operator and the fatigue status of the operator, and reduce the fatigue of the operator and improve work efficiency. -It is possible to provide an operation skill evaluation device for a slave manipulator device.

〔Example〕

First, the knowledge that is a factor of the present invention will be described. The starting point of the present invention is to apply artificial intelligence to the remote manipulation so that the computer can share a part of the work. However, it is not easy to decide what kind of work or movement should be shared between the computer and the human. A problem peculiar to humans performing remote manipulation is that it is difficult to indirectly operate a slave at a remote place while watching a TV monitor or the like. In order to perform such difficult work, it is necessary to acquire a sense of direction and a sense of habit of the mechanical system and control system. When actually carrying out the manipulation work, there is a large gap between such a skill between the beginner and the expert, and the skill that the expert can do and the beginner cannot do, or even the same operation can be performed. I knew there was a considerable difference in speed and accuracy. For example, it is necessary to fertilize fragile things with appropriate force, whether fitting work can be done, positioning, accuracy of axis alignment, time and smoothness until you move your hand to a place, etc. Is. Further, even a skilled person became tired after a lapse of 2 to 3 hours, and his skill was extremely lowered.

On the other hand, with respect to the operation performed by the computer, the positioning of the hand with coarse accuracy can be performed very quickly, but movement of the hand while avoiding obstacles and precise positioning require a lot of time. There are also operations that only humans can do.

Therefore, there are things that humans should be in charge, those that should be in charge of computers, and those that should be in charge of computers or humans depending on the degree of human skill. From such knowledge,
First, a work procedure plan consisting of computer operations, human operations, or cooperative operations of the two is created according to the purpose of work and human skill, and the parts executed by the computer are automatically executed and human operation is performed. In part, we came to think that prompting a human to operate is the most smooth and quick method for remote manipulation.

An embodiment of the present invention will be described below with reference to FIG. In this embodiment, the master 101, the interface means 103 connected to the TV monitor 102, and the plan creating means 10 are connected.
4, slave operation management means 105, slave control means 1
06, slave 107 controlled by slave control means 106, and sensing means 1 for detecting the state of the slave
08, skill evaluation means 112 of the operator 110, and 10
3, 104, 105, 106, 108, 112 storage means 109, 10 for writing and reading information
9, the operator skill data section 111, which stores data relating to the operation skill of the operator 110, the work data section 201, the environment data section 202, the device data section 203,
Plan unit 204, present state unit 205, control input 206,
It is composed of sensor information 207.

Hereinafter, each structure will be briefly described.

<Current State Unit 205> This is a part that stores data relating to the current state of the system. Command data such as a work state (TSK), a target position value (Xr), a positioning allowable value (Bo), and a trajectory following allowable value (Co) are read from the plan unit 204.

<Work Data Unit 201> Here, work targets and data regarding work targets are stored. The work target is, for example, "the valve is placed on the work table, its position is Xr, and its posture is Or."
The data relating to the work target is data relating to the shapes and weights of flanges and bolts, and the like.

<Environmental Data Unit 202> The environmental data unit stores data on the arrangement, dimensions, and shapes of other devices except the work target and the slave. Used when checking for collisions when the slave operates.

<Device Data Section 203> The following data is stored here.

(1) Dimension and shape data of slave 107 (2) Performance and function of automatic operation by computer <Sensing means 108 and sensor information section 207> The sensing means 108 is an encoder and potentiometer used when controlling the slave 107. , A tachogenerator, a force sensor, a visual sensor used for automatic operation of the computer, a TV camera for displaying a scene on the TV monitor 102, and the like, and supplies data to the sensor information unit 207.

The sensor information unit 207 stores the following information.

(1) Data of various sensing results (2) Positions and performances of various sensors, positions and characteristics of TV cameras, numbers of cameras currently showing a scene on the monitor 102, etc. <Control unit 106 and control input 206> Control unit 106 Controls position, speed, and force of each joint of the slave 107. The type of control and the target value are stored in the control input 206.

<Plan Creating Unit 104 and Plan Unit 204> The plan creating unit 104 determines what kind of operation procedure should be performed to shift from the current state to the target state, and the result (operation procedure and detailed command data) ) Is stored in the plan unit 204.

<Interface means 103> When the work mode indicated by the plan is a manual operation, the interface means prompts the operator 110 to perform an operation via the display on the monitor 102, audio output, force generated in the master 101, and the like. The interface means 103 reads the force or displacement applied to the master by the operator, and controls the control input unit 20.
At the same time as writing an appropriate value in 6, the sensor information section 207
Read the contents of the above to generate reaction force etc. to the master and convey the feedback such as force feeling to the operator. Also, the current state section
05 data are updated.

<Slave Operation Management Unit 105> If the command data indicated by the current state 205 has an incidental condition, the slave operation management unit 105 executes this. For example, when reaching the target position X ₁ with the incidental condition that the hand of the slave 107 moves linearly,
The slave 107 is controlled via the control input 206.
Also, the end of the execution is determined while checking the content of the sensor information 207, and when the execution is ended, the plan 204 is accessed to update the data of the current state portion 205.

The configuration of the operator skill evaluation means 112 will be described with reference to FIG. The operator skill evaluation means 112 includes an evaluation means 220,
It is composed of a timer 221 and the timer 221
Upon receiving the trigger ON signal of the evaluation means 220, the time (working time or positioning time) t is measured and transmitted to the evaluation means 220. The evaluation unit 220 is the plan 204, the current state 2
05, sensor information 207, operator skill data 111, data is received and the calculation result is operator skill data 111.
Return to.

The evaluation unit 220 reads the current values of the hand position X, speed, and force f from the sensor information 207. Where X,
, F are given by the following equations.

X = (X _X , X _Y , X _Z , α, β, γ) x = ( _X , _Y , _Z ,,,) (1) f = (f _X , f _Y , f _Z , T _X , T _Y , T _Z ) where x _X , x _Y , x _Z : x, y, z components of the tip position of the manipulator hand α, β, γ: direction cosines _X , _Y , _Z of the posture of the hand: Manipulator X, y, z components of tip velocity of the lator hand: re-velocity of direction cosine of hand posture f _X , f _Y , f _Z : x, y, z components of force applied to the hand T _X , T _Y , T _Z : x, y, moment evaluation means around the z-axis 220 exerted on the hand, from the plan 204, working standard execution time _{T o,} the transport distance _{a o,} standard conveyance speed _{V o,} the data of the weighting factors _{a i} of the evaluated parameters Read. Here, the working standard execution time T _o, one work (hereinafter referred to as tasks) which is the execution time of. A _o is the distance of the target value x _X of Manipi Yu regulator hand position x _o tasks immediately before the hand position of the task.

Standard conveyance speed V _o maintains a specified trajectory tolerance C _o, a standard speed of the hand for moving the hand to the target value x _r.

The evaluation means 220 changes the current state 205 to the work state TS.
K, the target value x _{r of the} position, the target value f _{r of the} force, the positioning allowable value B _o , and the trajectory following allowable value _Co are read. The work state TSK is a flag indicating the start and end of the task, and is non-zero during task execution. x _r and f _r have the same dimension (= 6) as x and f _r given by the equation (1).

x _r is the position target value of the slave 107.

_fr is also a target value of force. (For example, when a certain work target breaks when a force of 10 N or more is applied). The positioning tolerance B _o has the same dimension as x,
It means a permissible value when positioning to the target value x _r . The trajectory following tolerance value C _o represents the tolerance value of the trajectory following error when the trajectory condition of the tip of the slave 107 is designated.

The input / output relationship between the operator skill evaluation means 205 and external means is shown in FIGS. 3 and 4.

FIG. 6 is a flow chart showing the operating principle of the evaluation means. This will be described below with reference to FIG. The operator inputs his / her name from the interface means 103 using a keyboard or the like (1a).

The evaluation means 220 checks whether the name of the explorer is already registered in the skill data 111 (1b). If not registered, the following processing (1c to 1f) is executed.

Request training work from plan 204. The training work is to display an appropriate target value x _r and a permissible value B _o on the television monitor 102 via the interface means 103, and to let the operator 110 use the master manipulator 101 to operate the slave manipulator 107. Is an operation for positioning the target value x _r within a specified allowable value B _o .

The evaluation means 220 calculates the distance A _o from the start point to the target point, and after the start, the slave manipulator 1
The time t required for 07 to position within the tolerance B at the target value x _r is measured.

For A _o and B _o , several points of data are prepared in advance so as to cover the range of 3 to 4 with 1 pg ₂ | A |, log ₂ | B |, and the positioning time t for these several points of data is set. taking measurement. From these results, the degree of difficulty in positioning is set as a parameter log ₂ 2A / B where A = || A ||, B = || B || regression line t = R _a + R _p · log ₂ 2A / B, basic evaluation parameters R _a and R _p are determined (1
e). These two evaluation parameters R _a and R _p are registered in the skill data 111 together with the operator's name (1f).

Next, the evaluation means 220 determines whether or not the task of the locus level 8e has been started based on the value of the task flag TSK. That is, when TSK = 0, the task wait state is determined. When TSK = 1, the task execution state is determined. When TSK = 0, the task wait state is entered, and the wait state continues until TSK = 1. TSK = 1
When, proceed to the next step (1g).

Next, the evaluation means 220 gives a trigger ON signal to the timer 221, and commands the start of measurement of the timer (1h).

Next, the evaluation means 220 is task data.

(X _r , _fr , B _o , T _o , A _o , V _o ) to the current state 2
05, read from the plan 204 (1i).

Next, the evaluation means 220 determines the operator's skill data (N _a , R
read _{fa, R p, R f,} R R, R t, R a, the _{R H)} (1j).

Next, the evaluation means 220 reads the data x, and f from the sensor information 207 (1k).

Next, the evaluation means 220 uses the evaluation secondary parameters r _fi and r.
_Ri and r _ti are calculated according to the following equation.

r _fi = here _{|| f r -f i || / f} r r Ri = || x r -x i || r ti = || i || / V o, || x || is a vector x Represents the norm (1
1).

Next, the operating means 220 reads the time t from the timer 221 (1 m). Then the operating means 220 determines by comparing the t and _{T o} whether time out (1n).

In the case of tnT _o , it is determined that the timeout has occurred, the fatigue parameter R _fa = n is set (1o), the data of the current state 205 is read, and the processes from 1p to 1t are skipped.

The time-out state is when the operator takes more time than necessary due to fatigue, and n takes an appropriate value according to the work content. Usually, n = 2 or 3.

When t <nT _o , the evaluation means 220 reads the data of the current state 205 (1p).

Next, the evaluation means 220 determines whether or not the task has ended by TSL. When TSK = 1, it is determined that the task is continuing,
Returning to the process of (1k), when TSK = 0, it is determined that the task is completed, and the process proceeds to the next process 1r (1q).

Next, the evaluation means 220 determines the provisional value R of the evaluation parameter.
_{f'a, R 'p, R'} f, R 'R, R' is calculated on the basis of t, the R _'H in the formula (1r).

_{R f'a = (t-T o} ) / T o R p '= (t -R a) / (ln2A o / B o) R f' = r f i R R '= r r i R t' = here _{r ti R H '= a fa} R fa' + a p R 'p + a f R' p + a R R 'R + a t R' t, a fa, a p, a f, a R, a t is It is a weighting coefficient and is given from the plan 204 according to the content of the work.

These calculation formulas are summarized in FIG.

Next, the evaluation means 220 determines whether or not there is a significant difference in | R _i −R ′ _i |, and if there is a significant difference, executes the 1t process, and if there is no significant difference, skips the 1t process. Do (1
s). At this time, the significant difference is determined by the magnitude of ε _i ,
If | R _i −R ′ _i | <ε _i , no significant difference is assumed. ε _i
The value of is given to the evaluation means 220 in advance,
It is a constant value.

In the processing of 1t, the skill data with significant difference is updated,
Set the skill update flag showing the updated skill data to 1,
The other means makes the updated skill data immediately available (1t).

The skill update flag has the configuration shown in FIG.

Next, whether or not all tasks are completed is determined by the ATSK flag. When all tasks are completed (ATSK = 1), the evaluation means 220 completes all operations. When all tasks are not completed, the process returns to the process of ATSK = 0.1g.

The plan creating means 104 constantly monitors the operator skill data 111. When the skill data is updated, the plan creating means 104 switches to the automatic mode, requests the operator to change, or continues, depending on the contents of the skill data. Determine whether the same operator should work. That is, the plan creating means 104 reads data from the work data 201, the environment data 202, and the device data 203, creates a series of operation procedures that can be executed by the current skill of the operator, writes the operation procedure in the plan 204, and at the same time The operation procedure of is written in the current state 205. When this operation procedure is the automatic mode, the slave operation management means 105 intervenes and stores the control data necessary for the automatic mode in the control input buffer 208. After receiving this,
The control input 206 reads control data from the control input buffer 208 and transfers the data to the slave control means 106. The slave control means 106 is the sensing means 108.
From the slave 1 while sequentially feeding back data from
Control 07. The interface means 1 is used for instructing the operator of the state of the automatic mode, change of operator, operation procedure, and the like.
03 reads the fact from the current state 205, displays it on the TV monitor 102, and informs the operator. On the other hand, when the normal manual operation state is acceptable, the operator operates the master 101, and the target value of the slave 107 (given from the master 101) is input to the control input 206 via the interface means 103. The data input to the control input 206 is passed to the slave control means, and the slave 10
The slave is controlled while feeding back information such as position and force of 7 from the sensing means.

According to the present embodiment, since there are a plurality of skill evaluation parameters, it is possible to freely select the weighting of the evaluation parameter for the work, and there is an effect that the applicable work can be performed in a wide range.

〔The invention's effect〕

As described above in detail, according to the present invention, since the skill of the operator can be evaluated in real time, automatic / manual switching of work or replacement of the operator can be performed appropriately in accordance with the skill level and fatigue of the operator. Therefore, the operator's fatigue is reduced and the work efficiency is improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of the present invention, FIG. 2 is a detailed diagram showing the main part of the present invention, and FIGS. 3 and 4 show input and output of skill evaluation data. Figure showing, fifth
FIG. 6 is a diagram showing a basic calculation formula of an evaluation parameter, FIG. 6 is a flow chart showing an embodiment of the present invention, and FIG. 7 is a diagram showing a skill update flag. 101 ... Master Manipulator, 103 ... Interface Means, 104 ... Plan Making Means, 105 ...
Slave operation management means, 106 ... Slave control means,
107 ... Slave manipulator, 108 ... Sensing means, 112 ... Operator skill evaluation means, 111 ...
Operator skill data, 204 ... Plan, 205 ... Current state.

Front page continued (72) Inventor Hiroshi Uemura 1168 Moriyama-cho, Hitachi City, Ibaraki Prefecture Hiritsu Manufacturing Co., Ltd. Energy Research Institute (72) Inventor Fumio Tomizawa 1168 Moriyama-cho, Hitachi City, Ibaraki Hirate Works Energy Research Co., Ltd. (72) Sakae Sakayama, 1168 Moriyama-cho, Hitachi, Ibaraki Prefecture, Energy Research Laboratory, Hitachi, Ltd. (72) Akihito Sekido, 1168, Moriyama-cho, Hitachi, Ibaraki, Energy Research Laboratory, Hitachi, Ltd. (72) Invention Toshiyuki Sawa 1168 Moriyama-cho, Hitachi-shi, Ibaraki Energy Research Laboratory, Hiritsu Seisakusho Co., Ltd. (56) Reference JP-A-60-212792 (JP, A) JP-A-54-147886 (JP, A) JP-A-51 -112628 (JP, A) JP-A-56-121072 (JP, A)

Claims (3)

[Claims] 1. An operation skill evaluation device for a master-slave manipulator device, wherein the operation skill evaluation device stores operation skill data of an operator by training performed in advance for a plurality of evaluation parameters. An operation skill measuring means for measuring the operation skill of the operator during actual work for a plurality of evaluation parameters; and skill data stored in the operation skill storing means for the plurality of evaluation parameters and measured by the operation skill measuring means. Operating skill evaluation means for comparing the measured data with the measured operation data, and evaluates a change in the skill state of the operator during actual work based on the comparison result of the operating skill evaluation means. . 2. The operation skill evaluation device according to claim 1, wherein the master / slave manipulator device is provided with a planer showing a work procedure, and the operation skill storage means is a training operation issued from the planer. Based on the instructions regarding the
An operation skill evaluation device characterized in that a slave manipulator device is operated, and skill data obtained at this time is registered as an initial value of an operation skill storage means. 3. The operation skill evaluation device according to claim 1, wherein the evaluation of the skill state of the operator of the operation skill evaluation means is represented by a linear combination of a plurality of evaluation parameters. Skill evaluation device.