Remote control robot system

Patent metadata

Field	Value
Publication number	US-10905508-B2
Application number	US-201615755201-A
Country	US
Kind code	B2
Filing date	May 27, 2016
Priority date	Aug 25, 2015
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A remote control robot system is provided, which includes robotic arm configured to perform a given work, remote control device for an operator to remotely manipulate operation of robotic arm, plurality of cameras configured to image the work of robotic arm, monitor configured to display a captured image that is sent, camera selecting device configured to generate, in response to receiving an operator's selection of one camera from the plurality of cameras, camera selection information for switching captured image displayed on monitor to captured image from selected camera, storage device configured to store information where operational information related to operation of robotic arm in work is associated with camera selection information, as automatic switching information, and an image processor configured to send to monitor the captured image from camera selected from plurality of cameras based on automatic switching information stored in storage device.

First claim

What is claimed is:

1. A remote control robot system, comprising:
a robotic arm configured to perform a given work, the robotic arm having an end effector at a tip-end part of the robotic arm;
a remote control device for an operator to remotely manipulate operation of the robotic arm;
a plurality of cameras configured to image the work of the robotic arm;
a monitor configured to display a captured image that is sent from at least one of the plurality of cameras;
a camera selecting device configured to generate, in response to receiving an operator's selection of one camera from the plurality of cameras, camera selection information for switching the captured image displayed on the monitor, the switching being such that a captured image from a first camera among the plurality of cameras is switched to a captured image from a camera other than the first camera among the plurality of cameras;
a storage device configured to store information where operational information related to operation of the robotic arm in the work is associated with the camera selection information, as automatic switching information for automatically performing the switching of the captured image on the monitor according to the operation of the robotic arm which is represented by the operational information, the operational information being one or more of positional information on the tip-end part of the robotic arm and posture information on the robotic arm; and
an image processor configured to automatically perform the switching of the captured image displayed on the monitor by using the automatic switching information stored in the storage device, wherein the image processor is configured to send to the monitor the captured image from the camera selected from the plurality of cameras based on the automatic switching information.

2. The remote control robot system of claim 1 , further comprising a switching mode selecting part configured to receive an operator's selection of one of a camera selecting mode in which the captured image from the camera selected based on the camera selection information sent from the camera selecting device is sent to the monitor, and an automatic switching mode in which the captured image from the camera selected based on the automatic switching information stored in the storage device is sent to the monitor, as a processing mode of the image processor.

3. The remote control robot system of claim 1 , comprising a plurality of sub-monitors, different from the monitor, provided corresponding to the plurality of cameras, respectively, and configured to display the captured images from the corresponding cameras among the plurality of cameras,
wherein the camera selecting device senses an operator's line-of-sight to identify the sub-monitor among the plurality of sub-monitors, to which the operator's line-of-sight is directed for a given period of time, and accepts the camera corresponding to the identified sub-monitor as the camera selected by the operator.

4. The remote control robot system of claim 2 , comprising a plurality of sub-monitors, different from the monitor, provided corresponding to the plurality of cameras, respectively, and configured to display the captured images from the corresponding cameras among the plurality of cameras,
wherein the camera selecting device senses an operator's line-of-sight to identify the sub-monitor among the plurality of sub-monitors, to which the operator's line-of-sight is directed for a given period of time, and accepts the camera corresponding to the identified sub-monitor as the camera selected by the operator.

Assignees

• Kawasaki Heavy Ind Ltd

Inventors

• Hashimoto Yasuhiko
• Kamon Masayuki

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