JPH0651558B2 - Manipulator system for live work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a manipulator system for hot-line work,
In particular, the present invention relates to a hot wire work manipulator system that enables safe work using this system even if the operator is unfamiliar with the operation or is not familiar with the work content.

(Prior Art) Generally, maintenance work of overhead power distribution lines, such as insulator replacement, disconnection and connection of edging lines, and replacement of high-voltage switches, is performed on a live line in order to provide uninterrupted service to customers. It is often seen.

Working in a live state is dangerous. In order to avoid this danger, the hot stick method of working with an electric insulating rod is often adopted. However, since maintenance work on overhead power distribution lines is performed at high places, the hot stick method is easily affected by wind and rain, and since many tools are used, the labor of the operator is great, and in addition there is a risk that work efficiency is high. There was a very low problem.

Therefore, in order to solve such a problem, it has recently been proposed to perform work by using a manipulator system of a remote control system. Various methods have been proposed for this so-called manipulator system for hot-line work, and a slave manipulator attached to the tip of an electrically insulating boom via a working base and a master provided on the ground side have been proposed. There is a system provided with a system for master-slave control while maintaining an electrically insulated state from a manipulator. In this system, the working base is equipped with a stereoscopic camera for grasping the working state, and the data is transmitted to the stereoscopic monitor installed on the ground side through the electrically insulating transmission path captured by this stereoscopic camera, which causes problems in the remote control system. This is to prevent the deterioration of operability.
With this system, the high-side elements that actually perform the work are completely electrically insulated from the ground side where the operator (operator) is located, so there is no electric shock or a fall accident of the operator. There is.

However, in this system, the slave manipulator that actually performs the work and the master manipulator that is installed on the ground side are considerably separated from each other by a considerable distance, so that the worker is familiar with the surrounding conditions and the work content and is highly skilled. There was a problem that the work could not be carried out smoothly unless it was a person.

(Problems to be Solved by the Invention) As described above, the slave manipulator attached to the side end of the boom having electric insulation via the working base and the master manipulator provided on the ground side are kept in an electrically insulated state. In the manipulator system for live-line work, which has a system for master-slave control in the closed state,
There is a problem that only highly skilled workers can smoothly perform the work.

Therefore, an object of the present invention is to provide a manipulator system for hot-line work, which enables smooth and safe execution of work even by an unskilled worker.

[Structure of the Invention] (Means for Solving the Problems) The present invention electrically connects a slave manipulator attached to the tip of an electrically insulating boom via a working base and a master manipulator provided on the ground side. It has a system for master-slave control while maintaining an insulation state, and a stereoscopic monitor installed on the ground side through an electrically insulating transmission line that captures images captured by a stereoscopic camera for grasping the working state mounted on the working base. The target is a manipulator system for live-line work, which has a system for transmitting to the. In such a system, the present invention provides a monitoring sensor attached to the working base for monitoring the distance between the working base and surrounding obstacles, and an output of the monitoring sensor via an electrically insulating transmission line. Means for transmitting to the ground side by means of a ground, and a notification system for performing a notification operation when the output of the monitoring sensor transmitted by this means is within a certain range,
It is characterized in that it is provided with a work support device provided on the ground side to instruct the work procedure and its contents.

(Operation) It is difficult for an operator who is unfamiliar with the operation to grasp various situations at the same time. In this system, in order to monitor the distance between the working base and surrounding obstacles, a monitoring sensor is attached to the working base, and the output of this monitoring sensor is transmitted to the ground side through an electrically insulating transmission line. A notification system is provided that performs a notification operation when the transmitted output of the monitoring sensor is within a certain range. Therefore, when the working base, in other words, the tip of the boom comes too close to the surrounding obstacles, the alarm system automatically operates to notify the operator. Therefore, the worker can concentrate on the operation of the manipulator and can surely execute the work. Further, since the work support device for instructing the work procedure and the contents thereof is provided, even a beginner can sufficiently perform the work.

(Example) Hereinafter, an example will be described with reference to the drawings.

FIG. 1 shows the appearance of a hot-line work manipulator system according to an embodiment of the present invention.

This system is classified in terms of appearance. A vehicle 1, a boom 2 which is mounted on the vehicle 1 so as to be freely rotatable, and which can be extended and retracted at a variable angle of elevation, and is mounted at the tip of the boom 2 to be freely rotatable. The working base 3 and the working manipulator 4 attached to the working base 3.

The boom 2 is wholly or partly formed in the axial direction with an electrically insulating material, and the tip end portion and the base end portion are electrically insulated. The extension / contraction driving force for extending / contracting the boom 2 and the driving force for rotating the working base 3 attached to the tip of the boom 2 are transmitted via a hydraulic hose (not shown) arranged in the boom 2. It is like this.

A master manipulator for controlling the work manipulator 4 is arranged in an operation room 6 provided on the vehicle 1, as indicated by 5 in FIG.

The working base 3 has a monitoring sensor 7 including an ultrasonic sensor or the like for monitoring the distance to the surrounding obstacle.
, A stereoscopic camera 8 for grasping the work situation, a control device 9 for controlling the work manipulator 4, a signal processing device 10, a hydraulic motor 11 driven by insulating oil, and a rotational drive by this motor 11. And a power generator 12 are installed. The hydraulic motor 11 is driven by the pressure of insulating oil circulated and supplied from the vehicle 1 side via a hydraulic hose 13 arranged in the boom 2. Then, the output of the generator 12 is converted into direct current, and is supplied to all devices mounted on the working base 3 as a power source.

On the other hand, the master manipulator 5 described above is provided in the operation room 6.
In addition to the above, a control device 14 mainly composed of a computer that performs all calculations necessary for control, a work support device 15, a stereoscopic monitor 16, a monitoring device 17, a boom 2 and a working base 3 are controlled. A control lever (not shown) is provided. In addition, a hydraulic system (not shown) for driving the hydraulic motor 11 and the hydraulic motor 19 provided on the vehicle 1 in the vehicle 1 by using the insulating oil in the oil storage tank 18,
A generator 20 driven by a hydraulic motor 19 is mounted. The generator 20 is used as a power source on the vehicle side. Then, the transmission and reception of signals between the device mounted on the working base 3 and the device on the vehicle 1 side are performed through the optical fiber cable group 21 arranged in the boom 2.

FIG. 2 shows a control system for performing master-slave control by the work manipulator 4 and the master manipulator 5, and a transmission system for transmitting the output of the monitoring sensor 7 and the output of the stereoscopic camera 8 to the vehicle side. Has been done. In this figure, the range indicated by A shows the parts mounted on the working base 3 and the working manipulator 4,
The range shown by B shows the part located in the boom 2,
The range indicated by C indicates the portion located in the operation room 6.

The positions of the joints and axes of the master manipulator 5 and the output of the force sensor 22 are converted into digital signals by the A / D converter 23 and then converted into optical signals by the electro-optical converter 24. Then, this optical signal is converted into an electric signal by the optical / electrical converter 26 via the optical fiber cable 25, and then is taken into the computer 27 in the control device 14.
On the other hand, the position of each joint and axis of the work manipulator 4 and the output of the force sensor 28 are converted into digital signals by an A / D converter 29 and then introduced into a two-input multiplexer 30. This multiplexer 30 has A /
The output signal of the monitoring sensor 7 passing through the D converter 31 is introduced. The multiplexer 30 outputs both signals in a time division manner. This time division signal is sent to the vehicle side through the electro-optical converter 32 and the optical fiber cable 33. And
The sent signal is converted into an electric signal by an optical / electrical converter 34, and then separated by a demultiplexer 35 into a position / force signal and a monitor signal. The separated position and force signals are taken into the computer 27.

The computer 27 performs a position servo calculation, a force serve calculation, and a weight compensation calculation to generate a control signal to each manipulator. The generated control signal to the working manipulator 4 is sent to the working base 3 side via the electro-optical converter 36 and the optical fiber cable 37. The sent signal is converted into an electric signal by the optical / electrical converter 38, and then given to the servo driver 40 via the D / A converter 39. Then, the motor 41 for driving each axis of the work manipulator 4 is controlled by the output of the servo driver 40. On the other hand, the generated master manipulator 5
The control signal to the optical / electrical converter 42 is sent to the optical / electrical converter 44 via the electric / optical converter 42 and the optical fiber cable 43. The signal converted into an electric signal by the optical / electrical converter 44 is
It is given to the servo driver 46 via the D / A converter 45. Then, the motor 47 for driving each axis of the master manipulator 5 is controlled by the output of the servo driver 46. Therefore, force feedback master-slave control is performed by the control system described above.

The monitoring signal separated by the demultiplexer 35 is introduced into the monitoring device 17 via the D / A conversion 48. The monitoring device 17 is configured to perform an acoustic notification operation when the monitoring signal is in a certain range, that is, when the working base 3 approaches the surrounding obstacle within a certain distance.

On the other hand, the video signals of the stereoscopic camera 8 are converted into digital signals by the A / D converters 49 and 50, respectively, and then converted into electric signals.
Optical converters 51 and 52 and optical fiber cables 53 and 5
4 is transmitted to the ground side. And the light on the ground side
After being converted into an electric signal by the electric converters 55 and 56, D /
It is input to the monitor televisions 59 and 60 that constitute the stereoscopic monitor 16 via the A converters 57 and 58. Therefore, the worker 61 can monitor the monitor television 5 through the glasses with shutters.
By observing 9,60, the working situation can be observed three-dimensionally.

Further, the work support device 15 described above is configured to display a series of work contents for each work type in work step units. Then, when the worker 61 operates the button at the time when one work is completed, the contents of work to be performed next are displayed.

With such a configuration, by operating the master manipulator 5 while observing the stereoscopic monitor 16, the work manipulator 4 can be made to perform a necessary work. In this case, the work manipulator 4 that actually performs the work and the side on which the worker 61 is located are completely electrically insulated, so that the work can be performed safely. Further, it is difficult for an operator unfamiliar with the operation to grasp various situations at the same time, but in this system, the monitoring sensor 7 for monitoring the distance between the working base 3 and the surrounding obstacle is provided. Since the output of the monitoring sensor 7 is transmitted to the ground side through the electrically insulating transmission path, and the monitoring device 17 is provided for performing a notification operation when the transmitted output of the monitoring sensor 7 is within a certain range, When the base 3 gets too close to the surrounding obstacles and is dangerous, the monitoring device 17 automatically operates to notify the worker 61. Therefore, the worker 6
1 can concentrate on the operation of the manipulator and can surely execute the work. Further, since the work support device 15 for instructing the work procedure and its contents is provided, even a beginner can sufficiently perform the work.

The present invention is not limited to the above embodiment. That is, in the above-described embodiment, only the stereoscopic television is provided on the working base side, but a television camera for projecting the whole may be mounted.

[Effects of the Invention] As described above, according to the present invention, it is possible to contribute to the safe execution of work even when the worker is unfamiliar with the operation or is not familiar with the work content.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an external view of a hot-line work manipulator system according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a control system and a signal transmission system in the system. 1 ... Vehicle, 2 ... Boom, 3 ... Working base,
4 ... Work manipulator (slave manipulator), 5 ... Master manipulator, 7 ... Monitoring sensor, 8 ... Stereo camera, 13 ... Hydraulic hose, 14 ...
Control device, 15 ... Work support device, 16 ... Stereoscopic monitor, 17 ... Monitoring device, 21 ... Optical fiber cable group, 27 ... Computer.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H02G 1/02 N 7250-5G

Claims (1)

[Claims] 1. A system for performing master-slave control of a slave manipulator attached to the tip of an electrically insulating boom via a working base and a master manipulator provided on the ground side while maintaining an electrically isolated state. At the same time, a live-line manipulator system equipped with a system for transmitting an image captured by a stereoscopic camera for grasping a working state mounted on the working base to a stereoscopic monitor provided on the ground side through an electrically insulating transmission path. In order to monitor the distance between the working base and surrounding obstacles, a monitoring sensor mounted on the working base, and means for transmitting the output of the monitoring sensor to the ground side through an electrically insulating transmission path. And a notification system that performs a notification operation when the output of the monitoring sensor transmitted by this means is within a certain range, and Live-line working manipulator system characterized by comprising; and a work support device for instructing provided in working order and its contents.