Remote control robot system and method of operating the same

Patent metadata

Field	Value
Publication number	US-10792114-B2
Application number	US-201615755105-A
Country	US
Kind code	B2
Filing date	May 27, 2016
Priority date	Aug 25, 2015
Publication date	Oct 6, 2020
Grant date	Oct 6, 2020

Abstract

In a remote control robot system including a plurality of slave arms, slave arm has a plurality of control modes of an automatic mode in which slave arm is operated based on a task program, a manual mode in which slave arm is operated based on an operator's operation received by a master device, and correctable automatic mode in which slave arm is operated based on task program while operation is sequentially corrected by the operator's operation received by master device. Operation sequence information includes an automatic part in which slave arm performs a work in the automatic mode, and a selected part in which slave arm performs a work in one selected from plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.

First claim

What is claimed is:

1. A method of operating a remote control robot system provided with a master device and a plurality of slave arms, each of the plurality of slave arms having a plurality of control modes, the plurality of control modes including
an automatic mode in which the slave arm is operated based on a prestored task program,
a manual mode in which the slave arm is operated based on an operator's operation received by the master device, and
a correctable automatic mode in which the slave arm is operated based on the task program while the operation of the slave arm based on the task program is continuously corrected by an operator's operation received by the master device,
the method comprising:
a step of creating operation sequence information for each of the plurality of slave arms, each of the operation sequence information including
an automatic part in which the slave arm performs a work in the automatic mode, and
a selected part in which the slave arm performs a work in a selected one of the plurality of control modes,
with the proviso that the selected part in each of the operation sequence information for the plurality of slave arms does not overlap with each other in time; and

a step of the plurality of slave arms performing the work based on their respective operation sequence information.

2. The method of claim 1 , wherein,
the master device is a master arm having the same number of joints as a first slave arm that is included in the plurality slave arms, and
a step for the first slave arm performing the work includes:
when the first slave arm is starting the selected part in its operation sequence information, receiving a selection selecting one of the plurality of control modes; and
when the selected control mode in the received selection is the manual mode or the correctable automatic mode, operating the master arm so that rotational positions of joints of the first slave arm and rotational positions of corresponding joints of the master arm become equal.

3. A remote control robot system, comprising:
a master device configured to receive an operator's operation;
a plurality of slave arms having a plurality of control modes, the plurality of control modes including
an automatic mode in which the slave arm is operated based on a prestored task program,
a manual mode in which the slave arm is operated based on the operator's operation received by the master device, and
a correctable automatic mode in which the slave arm is operated based on the task program while the operation of the slave arm based on the task program is continuously corrected by the operator's operation received by the master device;

a storage device configured to store operation sequence information for each of the plurality of slave arms, each of the operation sequence information including
an automatic part in which the slave arm performs a work in the automatic mode, and
a selected part in which the slave arm performs a work in a selected one of the plurality of control modes,
with the proviso that the selected part in each of the operation sequence information for the plurality of slave arms does not overlap with each other in time; and

a slave control device configured to cause the plurality of slave arms to operate based on their respective operation sequence information.

4. The remote control robot system of claim 3 , wherein,
the master device is a master arm having the same number of joints as a first slave arm that is included in the plurality of slave arms, and
a link length ratio of an arm part of the master arm is equal to a link length ratio of the first slave arm.

5. The remote control robot system of claim 3 , wherein,
the master device is a master arm having the same number of joints as a second slave arm that is included in the plurality of slave arms, and
a link length ratio of an arm part of the master arm differs from a link length ratio of the second slave arm.

6. The remote control robot system of claim 4 , comprising a master control device configured to:
when the first slave arm is starting the selected part in its operation sequence information in the manual mode or in the correctable automatic mode,
acquire rotational positions of joints of the first slave arm, and
operate the master arm such that the acquired rotational positions of the joints of the first slave arm and rotational positions of corresponding joints of the master arm become equal.

7. The remote control robot system of claim 3 , further comprising:
a status acquiring device configured to acquire status information of the plurality of slave arms; and
an output device configured to output, when one of the plurality of slave arms is starting the selected part in its operation sequence information in the manual mode or in the correctable automatic mode, the status information of an operating slave arm among the plurality of slave arms on which the operation received by the master device is reflected.

8. The remote control robot system of claim 5 , comprising a master control device configured to:
when the second slave arm is starting the selected part in its operation sequence information in the manual mode or in the correctable automatic mode,
acquire rotational positions of joints of the second slave arm, and
operate the master arm such that the acquired rotational positions of the joints of the second slave arm and rotational positions of corresponding joints of the master arm become equal.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Shimomura Nobuyasu
• Kamon Masayuki
• Kurosawa Yasushi
• Tanaka Shigetsugu

Classifications

• H04N23/611

  where the recognised objects include parts of the human body · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• A61B34/35

  for telesurgery · CPC title

• B25J9/1689

  Teleoperation · CPC title