Remote-control manipulator system and method of operating the same

Patent metadata

Field	Value
Publication number	US-10959795-B2
Application number	US-201615755112-A
Country	US
Kind code	B2
Filing date	May 27, 2016
Priority date	Aug 25, 2015
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

A remote-control manipulator system which includes a manipulator, a slave arm installed in a workspace and configured to perform a series of works comprised of a plurality of processes, a situation information acquisition device configured to acquire situation information indicating a situation of the slave arm, an environment reproducing device configured to reproduce, in a space where the manipulator is installed, environment information relating to an environment in the workspace, and a control device. The control device is configured to cause the environment reproducing device to reproduce the environment information corresponding to the situation information outputted from the situation information acquisition device.

First claim

The invention claimed is:

1. A remote-control manipulator system comprising:
a manipulator configured to receive a manipulating instruction from an operator;
a slave arm installed in a workspace, the slave arm being configured to perform a series of operations including a plurality of processes;
a situation information acquisition device configured to acquire situation information indicating a situation of the slave arm in the workspace;
an environment reproducing device configured to reproduce, in a space where the manipulator is installed, environment information relating to an environment in the workspace;
a control device configured to cause the environment reproducing device to reproduce the environment information corresponding to the situation information outputted from the situation information acquisition device; and
a storage device storing work information relating to each process of the plurality of processes performed by the slave arm,
wherein the control device is configured to (i) identify a first process of the plurality of processes currently executed by the slave arm based on the situation information and (ii) cause the environment reproducing device to reproduce, as the environment information, the work information relating to a second process subsequent to the identified first process, in the space where the manipulator is installed,
wherein the situation information is at least one of a group comprised of (i) image information in the workspace, (ii) information on sound generated in the workspace, (iii) information on smell generated in the workspace, (iv) information on light generated in the workspace, (v) information on a temperature in the workspace, and (vi) information on vibration generated in the workspace,
wherein the work information is at least one of a group comprised of (i) image information in the workspace, (ii) information on sound generated in the workspace, (iii) information on smell generated in the workspace, (iv) illumination information, (v) information on a temperature in the workspace, (vi) information on vibration generated in the workspace, and (vii) information on an operator's posture, and
wherein the control device is configured to cause the environment reproducing device to reproduce, as the environment information, information different from the situation information in the space where the manipulator is installed.

2. The remote-control manipulator system of claim 1 , further comprising a plurality of slave arms including the slave arm,
wherein the control device is configured to cause the situation information acquisition device to acquire the situation information when the operation of the slave arm is switched by the manipulator.

3. The remote-control manipulator system of claim 1 , further comprising an instruction acquisition device configured to receive an acquiring instruction for the situation information from the operator and output the acquiring instruction to the control device,
wherein the control device is configured to cause the situation information acquisition device to acquire the situation information when the acquiring instruction is inputted from the instruction acquisition device.

4. The remote-control manipulator system of claim 1 , wherein the control device is configured to cause the situation information acquisition device to acquire the situation information when at least one process of the plurality of processes is to be started or once at least one process is ended.

5. A method of operating a remote-control manipulator system including a manipulator configured to receive a manipulating instruction from an operator, and a slave arm installed in a workspace and configured to perform a series of operations including a plurality of processes, the method comprising:
(A) acquiring situation information indicating a situation of the slave arm in the workspace;
(B) causing an environment reproducing device to reproduce environment information corresponding to the situation information acquired in the acquiring (A), in a space where the manipulator is installed; and
(A1) identifying a first process currently executed by the slave arm,
wherein the causing (B) includes causing the environment reproducing device to reproduce, as the environment information, work information relating to a second process subsequent to the first process identified in the identifying (A1),
wherein the situation information is at least one of a group comprised of (i) image information in the workspace, (ii) information on sound generated in the workspace, (iii) information on smell generated in the workspace, (iv) information on light generated in the workspace, (v) information on a temperature in the workspace, and (vi) information on vibration generated in the workspace,
wherein the work information is at least one of a group comprised of (i) image information in the workspace, (ii) information on sound generated in the workspace, (iii) information on smell generated in the workspace, (iv) illumination information, (v) information on a temperature in the workspace, (vi) information on vibration generated in the workspace, and (vii) information on an operator's posture, and
wherein the causing (B) includes causing the environment reproducing device to reproduce, as the environment information, information different from the situation information.

6. The method of operating the remote-control manipulator system of any claim 5 , wherein:
the remote-control manipulator system further includes a plurality of slave arms including the slave arm, and
the acquiring (A) is executed when the operation of the slave arm of the plurality of slave arms is switched by the manipulator.

7. The method of operating the remote-control manipulator system of claim 5 , wherein:
the remote-control manipulator system further includes an instruction acquisition device configured to (i) receive an acquiring instruction for the situation information from the operator and (ii) output the acquiring instruction, and
the acquiring (A) is executed when the acquiring instruction is outputted from the instruction acquisition device.

8. The method of operating the remote-control manipulator system of claim 5 , wherein the acquiring (A) is executed when at least one process of the plurality of processes is to be started or once at least one process is ended.

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