JPH04246706A - Presence reproducing system and working system - Google Patents

Abstract

PURPOSE:To constitute the system so that a phenomenon under a different environment of the minute world, etc., which cannot be perceived directly by sense organs provided on a human being can be perceived by the five senses, and also, a regular operation and working can be applied to an object under those ultraenvironments. CONSTITUTION:An operator M in an operation room 1 executes an input operation to a tool C and a work W in a minute working device vessel 2 by an input device 11. An information display device 12 displays an answer signal sent from the minute working device vessel 2, and working state information of the work W, etc., Sound information reproducing devices 14a, 14b generate stereophonically a sound corresponding to magnitude of working reaction force generated by a relative motion of the tool C and the work W. Vision information reproducing devices 15a, 15b display an image obtained by enlarging and photographing the work W being in a working state and the tool C from the respective angles on a monitor screen, and informs stereoscopically the working state to the operator M. A heat information device 16 is heated in accordance with a heating value of the work W, and radiates heat by means of radiation or convection.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention enables the use of the five senses to perceive phenomena in different environments (hereinafter referred to as remote locations) such as remote locations, microscopic worlds, and vacuums that cannot be directly perceived by human sense organs. -Relates to a realism reproduction system and a processing system that can recognize and operate operating devices, processing systems, etc. in a super environment with a normal sense.

0002

BACKGROUND OF THE INVENTION In recent years, advances in sensing technology and processing technology have made it possible to observe and perform processing on areas called super-environments, which were previously impossible. For example, in the microscopic world, electron microscopes and S
With the development of TM (scanning tunneling microscope), micromachines, nanorobots, etc., and advances in processing technology,
Processing targets have expanded to micro-orders.

[0003] Also, with the development of computer communication, C
SCW (computer supported co.
operative work) technology has been developed. This CSCW technology is also called groupware technology, and by utilizing recent media such as computer networks and image communications, it is possible to organically connect geographically dispersed factories and facilities to facilitate collaborative work. can. As an extension of this system, applicants have attempted to operate machining center machine tools from the other side of the world via communication lines.

0004

[Problems to be Solved by the Invention] Objects in the above-mentioned hyperenvironment cannot be directly perceived with the sense organs of humans, and it is necessary to mediate some kind of media between the objects and humans. For example, in the microscopic world, it becomes possible to perceive things with the naked eye for the first time by using an electron microscope or an STM (scanning tunneling microscope). Once it became possible to perceive the microscopic world in this way, techniques for processing, moving, and other operations on these objects of perception were developed. By the way, the governing physical laws in these microscopic worlds are different from those in the world where humans exist. In other words, as the scale becomes smaller, the effects of friction, viscous force, and electrostatic force become larger than inertial force, and it becomes difficult to freely manipulate objects in these microscopic worlds using the sense of the life-sized world in which humans exist. In some cases, it may not be possible to process the material.

[0005] In general, when an object is manipulated using information, a non-negligible delay time occurs in the operation. Similarly, when trying to operate a processing machine installed in a remote location via a global communication line, even if the communication for machine operation is at the speed of light, information is lost between the operator and the processing machine. There is a problem that a non-negligible delay time occurs before the information is transmitted, making it impossible to operate the machine in real time. As another environment, even when processing a workpiece in a vacuum, no processing sound is transmitted from the target workpiece. Therefore, there is a problem in that it is not possible to proceed with the processing while checking the processing sound by hearing.

The present invention was made in order to solve the problems that occur in the above-mentioned super environment, and its purpose is to solve the problems that occur in the super environment as described above. We are developing a realistic sensation reproduction system and a processing system that makes it possible to perceive phenomena in different environments such as the microscopic world and vacuum using the five senses, as well as to manipulate and process objects in these ultra-environments with normal senses. It is about providing.

[0007]

[Means for Solving the Problems] In order to achieve the above object, the first invention provides a means for inputting a detection signal of a sensor installed on an object that cannot be directly perceived by the five senses, and a means for inputting a detection signal of a sensor installed on an object that cannot be directly perceived by the five senses. A means for converting into a level and outputting it to the notification means, and an operation signal input from the operation means,
The present invention is characterized by comprising means for converting the operation amount level for the target and outputting it to the operator.

The second invention provides means for inputting a detection signal from a sensor installed on an object that cannot be directly perceived by the five senses, a means for converting the detection signal to a level perceivable by the five senses and outputting it to the notification means, and an operation method. Based on a means for converting the operation signal input from the means into an operation amount level on the object and outputting it to the operator, and a physical model governing the object,
The present invention is characterized by comprising means for predicting the state of the object after a certain period of time based on a detection signal input from the object and/or an operation signal output to the object, and outputting the predicted state to the notification means.

[0009] A third invention is based on the second invention, comprising means for accumulating changes over time in the detection signal input from the object and the operation signal output to the object, and constructing a physical model of the object by learning. It is characterized by:

[0010] In a fourth invention, in the second invention or the third invention, the object, the sensor, the operator, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the sensor A means is provided for predicting and correcting a change in the state of the object by a change prediction means for a transmission delay time that occurs while a detection signal is transmitted over a communication line, and outputting the result to a notification means disposed on the operation means side. It is characterized by

[0011] In a fifth invention, in the first invention, second invention, third invention, or fourth invention, only the necessary type and amount of information are extracted from the detection signal of the sensor, and the perceptual information is extracted. The present invention is characterized in that when converting to a possible level, the transmitted information is combined with separately prepared information, and the synthesized information is reproduced and output to the notification means.

[0012] In the sixth invention, in the first invention, second invention, third invention, or fourth invention, only the type and amount of information necessary are extracted from the operation signal, and the operation on the target is performed. When converting to a quantity level, the transmitted information is combined with separately prepared information, and the synthesized information is reproduced and output to the operator.

[0013] The seventh invention includes means for inputting a detection signal of a sensor installed on a workpiece that cannot be directly perceived by the five senses, and converting the detection signal to a level perceivable by the five senses and outputting it to the notification means. The present invention is characterized by comprising a means for converting an operation signal inputted from the operation means into a processing amount level of a workpiece and outputting the same to the processing tool.

[0014] The eighth invention includes means for inputting a detection signal of a sensor installed on a workpiece that cannot be directly perceived by the five senses, and converting the detection signal to a level perceivable by the five senses and outputting it to the notification means. a means for converting the operation signal input from the operation means into a machining amount level of the workpiece and outputting it to the processing tool; The present invention is characterized by comprising a means for predicting the machining state after a certain period of time based on a detection signal inputted from the machine and/or an operation signal outputted to the workpiece side, and outputting the predicted machining state to the notification means.

[0015] A ninth invention is a means for building a machining model by learning based on the eighth invention, by accumulating temporal changes in the detection signal input from the workpiece and the operation signal output to the workpiece. It is characterized by having the following.

[0016] A tenth invention is based on the eighth invention or the ninth invention, wherein the workpiece, the sensor, the processing tool, the notification means, and the operation means are disposed at remote locations from each other via a communication line, A means is provided for predicting and correcting changes in the machining state by a change prediction means for a transmission delay time that occurs while the sensor detection signal is transmitted over a communication line, and outputting the result to a notification means disposed on the operation means side. It is characterized by:

[0017] In the eleventh invention, in the seventh invention, the eighth invention, the ninth invention, or the tenth invention, when an overload is applied to the workpiece and/or the processing tool, the workpiece and/or a fail-safe mechanism for retracting the processing tool to a safe side.

[0018] The twelfth invention is the seventh invention, the eighth invention, the ninth invention, the tenth invention, or the eleventh invention.
In the invention, the sensor is a force sensor that detects processing reaction force, processing heat, processing sound, and processing state generated in the workpiece and/or processing tool, and/or a thermal sensor, and/or an auditory sensor, or/ It is preferable to install a visual sensor. In addition, if a force sensor, a thermal sensor, an auditory sensor, or a visual sensor is installed, the notification means may include a joystick, an image display device, a speaker, or a heater. and a cooler, the machining reaction force signal detected by the force sensor, or/and the machining heat signal detected by the thermal sensor, or/and the machining sound signal detected by the auditory sensor, or/and the machining state detected by the visual sensor. It is desirable to convert the signal into haptic information, visual information, auditory information, and/or thermal information and output the signal.

[0019] The thirteenth invention is the seventh invention, the eighth invention, the ninth invention, the tenth invention, or the eleventh invention.
In the invention or the twelfth invention, when extracting only the type and amount of necessary information from the sensor detection signal and converting it to a perceptible level, the transmitted information and separately prepared information are combined. It is characterized in that the combined information is reproduced and output to the notification means.

[0020] The fourteenth invention is the seventh invention, the eighth invention, the ninth invention, the tenth invention, or the eleventh invention.
In the invention or the twelfth invention, when extracting only the type and amount of necessary information from the operation signal and converting it to the processing amount level of the workpiece, the transmitted information and separately prepared information are combined. It is characterized by reproducing the combined information and outputting it to the processing tool.

[0021]

[Operation] In the first invention, a sensor installed on an object that cannot be directly perceived by the five senses detects the state of the object. The obtained detection signal is inputted, converted to a level that can be perceived by the five senses, and then outputted from the notification means. Further, based on the output information from the notification means, the operation signal inputted from the operation means is converted into an operation amount level for the target and output to the operator.

In the second invention, the state of the object after a certain period of time is further predicted and notified based on the physical model governing the object, based on the detection signal input from the object and the operation signal output to the object. output from the means.

In the third invention, a physical model of the object is constructed by learning by accumulating changes over time in the detection signal input from the object and the operation signal output to the object.

[0024] In the fourth invention, the object, the sensor, the operator, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the detection signal of the sensor is transmitted over the communication line. The change in the state of the object is predicted and corrected by the change prediction means for the transmission delay time that occurs in between, and is output from the notification means disposed on the operation means side.

[0025] In the fifth invention or the thirteenth invention, since only the necessary type and amount of information are extracted from the detection signal of the sensor, the amount of information to be transmitted is reduced.

[0026] In the sixth invention or the fourteenth invention, only the type and amount of necessary information are extracted from the operation signal, so the amount of information to be transmitted is reduced.

[0027] In the seventh invention, the sensor is installed on the workpiece, which cannot be directly perceived by the five senses, and detects the state of the workpiece. After the obtained detection signal is input, it is converted to a level that can be perceived by the five senses and output from the notification means. Further, based on the output information from the notification means, the operation signal input from the operation means is converted into a processing amount level on the workpiece and output to the processing tool.

In the eighth invention, furthermore, based on the machining model that governs the workpiece and the processing tool, the detection signal inputted from the workpiece side and the operation signal outputted to the workpiece side Changes in the machining state after a certain period of time are predicted and output from the notification means.

In the ninth aspect of the invention, the processing model is constructed by learning by accumulating changes over time in the detection signal input from the workpiece and the operation signal output to the workpiece.

[0030] In the tenth invention, the workpiece, the sensor, the processing tool, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the detection signal of the sensor is transmitted over the communication line. Changes in the machining state of the workpiece are predicted and corrected by the change prediction means for the transmission delay time that occurs during the transmission, and are output from the notification means disposed on the operation means side.

In the eleventh invention, when an overload is applied to the workpiece or processing tool, the fail-safe mechanism is activated and the workpiece or processing tool is evacuated to the safe side.

[0032] In the seventh to eleventh inventions, the sensor is a force sensor and/or a thermal sensor that detects processing reaction force, processing heat, processing sound, and processing state generated on the workpiece or processing tool, or/ In addition to installing an auditory sensor and/or a visual sensor, a joystick, or/and an image display device, or/and a speaker, or/and a heater and a cooler are used as notification means, and the processing reaction force signal detected by the force sensor is used. , or/and a processing heat signal detected by a thermal sensor, or/and a processing sound signal detected by an auditory sensor, or/and a processing state signal detected by a visual sensor, into haptic information, or/and visual information, or/ and can be converted into auditory information and/or thermal information and output.

[0033]

Embodiments Hereinafter, embodiments of the present invention will be explained with reference to the drawings. FIG. 1 is a configuration diagram of an embodiment in which the seventh to eleventh inventions are applied to a nano robot capable of microfabrication. As shown in the figure, this system is composed of an operation room 1, a microfabrication device container 2, and information transmission systems 4 and 5 that connect the two.

In the operation room 1, an operator M performs input operations on the tool C and workpiece W in the microfabrication device container 2. The input device 11 converts an input operation from the operator M into an operation signal, and sends it to the information transmission terminal 42 via the information transmission path 41. A response to the transmitted operation signal is sent from the information transmission terminal 42 to the information display device 12 and the prediction device 13 via the information transmission path 41.

The information display device 12 is connected to the microfabrication device container 2.
The contents of the response signal sent from the machine, machining status information including the machining abnormality signal of the workpiece W, and other control information are displayed. A response signal, a machining abnormality signal for the work W and/or the tool C, and other control information are input to the prediction device 13 from the information transmission path 41, and sound information and visual information about the work W are input from the information transmission path 54. , thermal information is input.

[0036] The prediction device 13 monitors these input signals at the time of initial processing, thereby controlling the information transmission systems 4 and 5.
Calculate the signal transmission delay time T at . If the operation room 1 and the microfabrication equipment container 2 are far apart, and a communication satellite or a long-distance transmission system is used for the information transmission systems 4 and 5, the obtained delay time T becomes a value that cannot be ignored, and the delay time T is a value that cannot be ignored. Based on the machining model for the workpiece W and tool C, the machining state of the workpiece W and tool C after time T is predicted based on the input sound information and visual information, and based on the prediction, the sound information, visual information, and thermal Information is generated and sent to the sound information reproducing devices 14a, 14b, the visual information reproducing devices 15a, 15b, and the thermal information reproducing device 16.

[0037] Note that if the machining model regarding the workpiece W is not input to the prediction device 13, or if the parameters of the machining model change depending on the material or scale of the workpiece W, the output operation signal and the input various information By accumulating information, new machining models can be constructed and parameters can be modified.

The sound information reproducing device 14a and the sound information reproducing device 14b generate sounds corresponding to the magnitude of the machining reaction force generated by the relative movement of the tool C and the workpiece W. At this time, the location where the machining reaction force is generated is known by the force sensor 36 that detects the machining reaction force, and three-dimensional sound is produced based on this information. The visual information reproducing devices 15a and 15b display enlarged images of the workpiece W and the tool C in the machining state from respective angles on the monitor screen, and notify the operator M of the machining status in three dimensions. The thermal information reproducing device 16 generates heat according to the amount of heat generated by the workpiece W, and radiates the heat by radiation or convection.

Next, the microfabrication device container 2 will be explained. A fine workpiece W is installed in the fine processing device container 2, and is processed according to the operation instructions of the operator M. When an operation signal is sent from the information transmission terminal 43 via the information transmission path 44, the real-time control device 21 in the microfabrication device container 2 controls the signal transmission delay time T that occurs in the information transmission system 4 as necessary. by correcting the drive devices 22, 23,
Send to 31 and 32. In addition, the real-time control device 21 receives processing reaction force detection signals inputted from the distortion amplifiers 29 and 30.
The signal is sent to the force information/sound information converter 49. Similarly, the operation signals of the fail-safe mechanisms 26 and 35 inputted from the interface circuits 46 and 47 are processed to produce processing status information and sent to the information transmission terminal 43 via the information transmission line 44. Furthermore, the heat signal input from the interface circuit 48 is processed and sent to the information transmission terminal 52 via the information transmission line 51.

The drive devices 22 and 23 convert the input operation signals into actual drive signals, and drive the coarse movement mechanisms 24 and 23, respectively.
It is sent to the fine movement mechanism 25. A tool C is attached to the end of the fine movement mechanism 25 via a failsafe mechanism 26 and a force sensor 27, and when the coarse movement mechanism 24 and fine movement mechanism 25 are driven, the tool C moves.

Similarly, the drive devices 31 and 32 convert input operation signals into actual drive signals and send them to the coarse movement mechanism 33 and fine movement mechanism 34, respectively. A fail-safe mechanism 35, a force sensor 36, and a heat sensor 37 are installed on the top of the fine movement mechanism 34.
The workpiece W is attached through the coarse movement mechanism 33,
When the fine movement mechanism 34 is driven, the workpiece W moves. The workpiece W and the tool C move relative to each other to perform a predetermined machining operation. These drive mechanisms constitute a nanorobot. Note that in the figure, both the tool C and the workpiece W are controlled by one axis for the purpose of explanation, but in reality they are configured to have multiple axes.

This nano robot has a fail-safe mechanism 26 when an excessive load is applied to the tool C or the workpiece W.
, 35 is activated to evacuate the tool C or workpiece W to the safe side, and the failsafe mechanism 26,
35 is sent to interface circuits 46 and 47. Similarly, force sensors 27 and 36 formed of strain gauges detect machining reaction forces generated in the tool C and workpiece W during machining, respectively, and send them to strain amplifiers 29 and 30. Thermal sensor 37
detects heat generation (heat flux) of the workpiece W and sends it to the interface circuit 48 as a thermal signal.

[0043] The state in which the tool C is machining the workpiece W is as follows.
The image is enlarged by a magnifying device 45 capable of stereoscopic viewing, captured by TV cameras 38 and 39, and sent to an information transmission terminal 52. The interface circuits 46 to 48 send input signals to the real-time control device 21, respectively. The distortion amplifiers 29 and 30 amplify the processing reaction force detection signal and then send it to the real-time control device 21.

Real-time control device 2 to which these signals are input
1 sends the operation signals from the fail-safe mechanisms 26 and 35 to the information transmission terminal 43 via the information transmission line 44, and similarly sends the detection signals from the force sensors 27 and 36 to the force information/sound information conversion device 49. Further, the temperature signal from the thermal sensor 37 is sent to the information transmission terminal 52 via the information transmission line 51.
send to

Further, the real-time control device 21 is connected to the information transmission path 4.
4, movement/position information of the drive mechanisms 24, 25, 33, 34, etc., and response signals to the operation signals sent from the operation room 1 side are also sent. Furthermore, when an operation signal is input from the operation room 1 side, the real-time control device 21 outputs an operation signal to each drive unit as it is if there is a delay time T in reaching the information transmission system 4. caused a discrepancy,
Desired processing will not be performed. Therefore, a machining model related to the machining of the workpiece W is provided in the real-time control device 21, and the discrepancy between the operation signal in the time system of the operation room 1 side and the progress of machining in the time system of the microfabrication device container 2 is adjusted. The actual drive signal is output after the operation amount is corrected in consideration of machining phenomena peculiar to the microscopic world, which is different from the normal world.

Note that if the machining model for the workpiece W is not input into the real-time control device 21, or if the parameters of the machining model change depending on the material or scale of the workpiece W, the operations given for machining and By detecting machining conditions and recording and accumulating data, new machining models can be constructed and parameters can be modified.

The force information/sound information conversion device 49 converts the processing reaction force values detected by the force sensors 27 and 36 into volume, frequency, tone, etc., and transmits the audio signal via the information transmission path 51. It is sent to the information transmission terminal 52.

In the embodiment, with this configuration, the operator M in the operation room 1 can process and operate the workpiece W while checking the state of the workpiece W using the information display device 12 and various playback devices 14 to 16. can be added. At this time, without being bothered by the distance from the workpiece W, the difference in size, the unusual machining phenomenon, etc., the target workpiece W is perceived as life-sized by visual, auditory, and thermal sensations. Due to its size, you can process and manipulate it with a sense of realism, as if it were right in front of you.

[0049] In this embodiment, since machining is assumed to be performed in a vacuum state, machining sounds are not collected. moreover,
Although both the prediction device 13 in the operation room 1 and the real-time control device 21 in the microfabrication device container 2 are equipped with a machining model for the workpiece W, it is also possible to have a configuration in which only one of them is equipped with a model. It is.

FIG. 2 is a block diagram of an embodiment in which the seventh to eleventh inventions are applied to a machining center. As shown in the figure, this system is comprised of an operation room 1, a processing equipment container 6, and information transmission systems 4 and 5 that connect the two.

In the operation room 1, an operator M performs an input operation for machining a workpiece W set in a machining center 7 in a processing device container 6. Control room 1
The internal configuration is almost the same as the operation room 1 shown in FIG.
b and sound information reproducing devices 18a and 18b were added. The visual information reproducing device 17a reproduces the display device 67 of the NC controller 62 installed in the machining center 7, and the visual information reproducing device 17b reproduces the display device 93 of the robot controller 91.
Reproduce. Further, the sound information reproducing devices 18a and 18b reproduce processed sounds three-dimensionally. The operator M can operate the machining center 7 while looking at the reproduced display device 67, and can also operate the robot 9 while looking at the reproduced display device 93. A machining model for the machining center 7 is input to the prediction device 13 in advance, or is constructed through learning. Since the other configurations of the operation room 1 are the same as those in FIG. 1, the same numbers are assigned to the common parts and the description thereof will be omitted.

Next, the processing equipment container 6 will be explained. A machining center 7 is installed in the processing device container 6, and a workpiece W is processed according to the operation instructions of an operator M. A real-time control device 61 in the processing equipment container 6 receives machining information from an information transmission terminal 43 via an information transmission path 44.
When operation signals for the center 7 and the robot 9 are sent, the signal transmission delay time T occurring in the information transmission system 4 is corrected as necessary, and the signals are sent to the NC controller 62 and the robot controller 91, respectively. Further, the real-time control device 61 calculates the relative positional deviation between the workpiece W and the tool C from the signals detected by sensors installed in various parts of the machining center 7, and sends the correction signal to the drive device. Send to 63. Further, the real-time control device 61 sends processing reaction force detection signals inputted from the distortion amplifiers 81 and 84 to the force information/sound information conversion device 86. Similarly, the interface circuit 80,
The operating signals of the fail-safe mechanisms 72 and 76 inputted from 83 are processed to become processing status information, and sent to the information transmission terminal 43 via the information transmission path 44. Furthermore, the thermal signals input from the interface circuits 82 and 85 are processed and output. After the two heat signals are combined, they are sent to the information transmission terminal 52 via the information transmission path 51.

[0053] The NC controller 62 creates machining data consisting of numerical values based on the applied operation signal and sends it to the drive devices 64-66. The drive devices 63 to 66 operate the active structure 68, the moving mechanism 70, the rotating mechanism 71, and the moving mechanism 75, respectively, based on the applied signals or processing data. Structure 69 to which active structure 68 is attached
Deformation occurs, albeit slightly, due to distortion caused by bending moment due to processing reaction force and thermal expansion due to heat transfer from the processing section and drive section, which are heat generating sections. Therefore, by operating the active structure 68 consisting of a thermal actuator or the like to correct the generated deformation, the relative positional deviation between the workpiece W and the tool C is eliminated, and machining accuracy is maintained. The moving mechanism 70 is located at the upper end of the structure 69 and moves the tool C in multiple axes, including vertical and horizontal directions.

The rotation mechanism 71 is supported under the moving mechanism 70 and rotates the tool C at a specified rotation speed. The fail-safe mechanism 72 is supported by the lower part of the rotating mechanism 71, and when an excessive load is applied to the tool C, the fail-safe mechanism 72 evacuates the tool C to a safe side and transmits the operation signal to the real-time control device via the interface circuit 80. Send to 61. Force sensor 7
Reference numeral 3 denotes an axial force sensor using a strain gauge as a detection element, which detects the machining reaction force generated in the tool C as a strain amount and sends it to the strain amplifier 81. The distortion amplifier 81 amplifies the detected distortion amount and then sends it to the real-time control device 61.

Thermal sensor 74 detects the heat flux and temperature rise due to heat generated by tool C, and sends the thermal signal to real-time control device 61 via interface circuit 82 . The tool C is located below the thermal sensor 74 and is driven by the rotation mechanism 71 to process the workpiece W. The moving mechanism 75 is the structure 6
9, and moves the workpiece W vertically and horizontally. The failsafe mechanism 76 is supported by the upper part of the moving mechanism 75 and when an excessive load is applied to the workpiece W, the failsafe mechanism 76 evacuates the workpiece W to a safe side and transmits the operation signal to the real-time control device via the interface circuit 83. Send to 61.

The force sensor 77 is a six-component force table using a strain gauge as a detection element, and detects the processing reaction force generated on the workpiece W as a strain amount, and sends it to the strain amplifier 84. The distortion amplifier 84 amplifies the detected distortion amount and sends it to the real-time control device 61. The thermal sensor 78 detects a temperature rise due to heat generation of the workpiece W, and sends the temperature signal to the interface circuit 8.
5 to the real-time control device 61.

Although not shown, an elevating mechanism is provided for moving up and down the supporting portions of both the tool C and the workpiece W or only the tool C.

Since the machining center 7 is configured in this way, it is controlled by the real-time controller 61 and the NC controller 62, and the relative positions of the tool C and the workpiece W are determined, and at the same time, the tool C is moved to a predetermined position. The specified machining is performed by rotating at a rotation speed of . Note that it is also possible to attach a probe for shape measurement to the machining center 7 instead of the tool C, measure the shape of the target workpiece W, and send the obtained shape data to the operation room 1 side.

The robot 9 monitors the processing status of the machining center 7 using TV cameras 95a and 9 as three-dimensional visual information.
5b, and similarly three-dimensional sound information is collected by microphones 96a and 96b and sent to the information transmission terminal 52 via the information transmission path 51. In this robot 9, a drive device 92 is operated based on a control command from a robot control device 91, and each drive element of the robot 9 is driven, and the positions of TV cameras 95a, 95b and microphones 96a, 96b are moved.

Since the position and posture of the robot 9 are controlled by the operator M in the operation room 1, the display device 93 of the robot control device 91, which displays position and posture control information, is
The V camera 94 takes a picture and sends it to the information transmission terminal 52 via the information transmission path 51.

Similarly, the operation of the machining center 7 is
As instructed by the operator M in the operation room 1, the TV camera 87 photographs the display device 67 of the NC controller 62 on which control information is displayed and sends it to the information transmission terminal 52 via the information transmission path 51. FIG. 3 shows an example of an image displayed on the display device 67. In the figure, the current position for each axis,
The rotational status of the spindle, etc. is displayed both numerically and graphically.

The force information/sound information conversion device 86 synthesizes the signals representing the machining reaction force values generated on the tool C and the workpiece W sent from the real-time control device 61, converts them into sound information, and then transmits the information. The information is sent to the information transmission terminal 52 via the path 51. Note that the processing reaction force itself can also be reproduced as tactile vibration of an operating member such as a joystick, or as a thermal sensation with a variable heating position. Furthermore, in a case where one hand of the operator M is always occupied and the operability deteriorates, it is also possible to convert it into sound information and perceive it audibly as in this embodiment.

The heat flux and temperature of the tool C and the work W detected by the heat sensor 74 and the heat sensor 78 are as follows.
After being output from the real-time control device 61, both pieces of information are combined and sent to the information transmission terminal 5 via the information transmission path 51.
Sent to 2.

[0064] In the embodiment, the information transmission system 5 includes:
Images from four cameras are sent as image information, increasing communication costs. Therefore, the TV cameras 95a, 95
Regarding b, the image information is transmitted as is, but the image data regarding the display devices 67 and 93 is the display data output from the NC controller 62 and the robot control device 91.
It is also possible to directly send the information to the operation room 1 via the information transmission system 4 without using the V-cameras 87 and 94. In this case, the amount of data is significantly compressed and communication costs can be reduced.

In the embodiment, with this configuration, the operator M can perform processing in the operation room 1 through the information display device 12 and various playback devices 14 to 18 using visual, auditory, thermal sense, etc. The situation can be viewed without being bothered by distance,
You can add processing operations with a sense of realism as if it were right in front of you. Furthermore, even if the installation location of the machining center 7 is dangerous, noisy, or unsanitary, the operator M will not be exposed to a poor environment and will be able to maintain a comfortable and safe environment. The machining center 7 can be operated from the base.

Particularly, in this embodiment, the generation of processing reaction force and its magnitude can be perceived auditorily as sound information, and the heat generated during processing can be reproduced as a thermal sensation. This makes it possible to recognize machining phenomena using more multiple sensory information than the conventional perceptual range, and even if an abnormality occurs in machining, it can be discovered at an early stage. In addition, operators can quickly become familiar with processing techniques and acquire sensory abilities comparable to those of conventional "cans," which have been developed along with mastery of the work, in a short period of time. Note that it is also possible to install machine tools other than the machining center 7 in the processing equipment container 6.

FIG. 4 is a block diagram of an embodiment in which the seventh to eleventh inventions are applied to a processing machine whose position is controlled by a robot. As shown in the figure, this system is comprised of an operation room 1, a processing equipment container 100, and information transmission systems 4 and 5 that connect the two.

In the operation room 1, an operator M performs an input operation for processing a workpiece W set in the processing apparatus container 100. The configuration inside the operation room 1 is almost the same as the operation room 1 shown in FIG. Visual information reproducing device 1
7c is a robot control device 1 that controls the robot 120;
21 display device 122 is reproduced. Operator M operates the robot 120 while looking at the reproduced display device 122 to move the grinding machine 124 to a desired position, and at the same time operates the workpiece moving mechanism 114 while looking at the reproduced display device 112 to move the workpiece. W can be ground.

A grinding model consisting of the mutual movements of the robot 120, the grinding machine 124, and the workpiece moving mechanism 114 is input to the prediction device 13 in advance, or is constructed by learning. Since the other components of the operation room 1 are the same as those in FIG. 2, the same numbers are given to the common parts and the description thereof will be omitted.

Next, the processing equipment container 100 will be explained. The processing equipment container 100 includes a robot 120 and a grinding machine 12.
4. A workpiece moving mechanism 114 is installed, and the workpiece W is processed by operating these in accordance with the operation instructions of the operator M.

Real-time control device 1 in processing equipment container 100
01, when operation signals for the moving mechanism 114 and robots 120, 130 are sent from the information transmission terminal 43 via the information transmission path 44, the information transmission system 4 processes the signal transmission according to the built-in processing model as necessary. The delay time T is corrected and sent to each of the control devices 111, 121, and 131. Further, the real-time control device 101 includes a distortion amplifier 105
, 106 is sent to the force information/sound information converter 107. Similarly, the heat signal input from the interface circuit 103 is processed and sent to the information transmission terminal 52 via the information transmission path 51. Similarly,
The operation signals of the fail-safe mechanisms 115 and 127 inputted from the interface circuits 102 and 104 are processed into processing status information and sent to the information transmission terminal 43 via the information transmission path 44. Furthermore, the interface circuit 103
The input heat signal is processed and sent to the information transmission terminal 52 via the information transmission path 51.

The moving mechanism control device 111 creates actual drive data based on the applied operation signal and sends it to the drive device 113. Similarly, robot control devices 121, 13
1 creates actual drive data based on the applied operation signal and sends it to the drive devices 123 and 133, respectively. The drive devices 113, 123, and 133 move the moving mechanism 114 and the robot 1, respectively, based on the given drive data.
20,130 is activated. The moving mechanism 114 is movable in the XY directions, and includes a failsafe mechanism 115, a force sensor 116, and a heat sensor 117 installed on the top surface.
The workpiece W is supported through.

[0073] The failsafe mechanism 115
When an excessive load is applied to the workpiece W supported on the upper part of the workpiece 14, the workpiece W is evacuated to the safe side and its operation signal is sent to the real-time control device 101 via the interface circuit 102. The force sensor 116 is a six-component force table using a strain gauge as a detection element, and detects the processing reaction force generated on the workpiece W as a strain amount, and sends it to the strain amplifier 105. The distortion amplifier 105 amplifies the detected distortion amount and then sends it to the real-time control device 101.

The thermal sensor 117 detects a temperature rise due to heat generation of the workpiece W, and sends the thermal signal to the interface circuit 1.
03 to the real-time control device 101. The robot 120 can grind the work W while moving the grinding machine 124 attached to the tip to an arbitrary position and tilting the grinding wheel G at the tip at an arbitrary angle. Grinding machine 124
A drive device 125 for driving the grinding wheel G and a force sensor 12 are provided.
6. The failsafe mechanism 127 and the compliance mechanism 128 are mechanically attached in series.

The force sensor 126 is an axial force sensor using a strain gauge as a detection element, and detects the processing reaction force generated in the grinding wheel G as a strain amount, and sends it to the strain amplifier 106. The distortion amplifier 106 amplifies the detected distortion amount and then sends it to the real-time control device 101. The fail-safe mechanism 127 installed via the compliance mechanism 128 is connected to the grinding wheel G.
When an excessive load is applied to
4 to the real-time control device 101.

The robot 130 monitors the grinding status of the grinder 124 using TV cameras 134 and 13 as three-dimensional visual information.
5 and microphone 1 as three-dimensional sound information.
36, 137 and sends it to the information transmission terminal 52 via the information transmission path 51. Since the positions and postures of the moving mechanism 114 and the robots 120 and 130 are controlled by the operator M in the operation room 1, the moving mechanism control device 111 and the robot control devices 121 and 131, respectively, display control information on the positions and postures. display device 112,1
22, 132 are photographed by TV cameras 119, 129, 139 and sent to information transmission terminal 52 via information transmission path 51.

Since the system for processing the workpiece W using the grinding machine 124 is configured in this way, the operation room 1
Based on the operation signal from the operator M, the real-time control device 1
Grinding is performed by controlling the position and angle of the grinding wheel G, the position of the workpiece W, and the relative movement speed between the two. Further, similar to the embodiment shown in FIG. 2, these processing conditions are sent to the operation room 1 and reproduced using various sensors and a TV camera. Operator M monitors the reproduced situation while
Subsequently, the moving mechanism 114 and the robots 120, 130
You can proceed with the grinding process by operating.

In this embodiment, by providing a robot 120 for processing and a robot 130 for monitoring the processing, it is possible to perform various processing on the workpiece W. In particular, if the tip of the robot 120 is structured so that a processing machine can be attached and detached so that the processing machine can be replaced after each processing step, a series of processing operations on the workpiece W can be performed continuously by simply receiving instructions from the operation room 1. This can be done by In addition to these robots, if a robot for attaching and detaching the work W to the moving mechanism 114 is added, all processes including not only machining but also the processes before and after the machining can be carried out in the operation room 1.
This makes it possible to create a processing system that is more user-friendly.

FIG. 5 is an explanatory diagram of another embodiment of the system according to the seventh to eleventh inventions. In this embodiment, the operator M in the operation room 140 operates the processing machine 1 in the processing equipment room 160.
61, if you do not know or are unfamiliar with the operation method, a teacher T is kept on standby in the processing equipment room 160,
It is designed to provide operator M with explanations of operating methods and advice on machining.

As shown in the figure, this system is composed of an operation room 140, a processing equipment room 160, and information transmission systems 180 and 190 that connect the two. Control room 140
Input devices and various playback devices 141 and processing equipment room 160
The processing machine 161 inside is connected in the same way as in the embodiment shown in FIGS. 1 and 2, and processing operations are performed.

[0081] Robot 15 installed in operation room 140
0 is driven and controlled by a robot control device 151 and a drive device 152, and has TV cameras 153, 154 and a microphone 1.
55, 156 to any position and orientation. TV
The cameras 153 and 154 take three-dimensional images of the operator M and the device 141, and send the images to the processing equipment room 160 via the information transmission system 180. Similarly, the microphones 155 and 156 three-dimensionally collect the speaking voice of the operator M and the sounds inside the operation room 140, and transmit them to the processing equipment room 140 via the information transmission system 180.
Send to 0. A visual information reproducing device 1 is installed in the processing equipment room 160.
63, 164 and sound information reproducing devices 165, 166 are installed to reproduce the sent visual information and sound information three-dimensionally.

Similarly, a robot 170 is installed in the processing equipment room 160, and the movements and speaking voice of the teacher T are three-dimensionally captured by TV cameras 173, 174 and microphones 175, 176. The collected visual information and sound information are sent to the operation room 140 via the information transmission system 190, and are sent to the operation room 140, where the visual information playback devices 143 and 144 and the sound information playback device 145
, 146 for three-dimensional reproduction. In this way,
The operator M in the operation room 140 and the teacher T in the processing equipment room 160 can check each other's situation through video and audio. The directions of the TV camera and microphone can be adjusted to optimal positions and orientations by operating the robot control devices 151 and 171 individually, mutually, or by the intelligence of the robot control devices. the result,
Operator M uses the reproducing device 141 to check the operating status of the processing machine 161.
This allows for three-dimensional confirmation, and allows the user to proceed with the operation while asking the instructor T about any unclear or questionable points regarding the operation. Furthermore, in response to the operator M's inquiry, the instructor T can explain in words and specifically point out each part of the processing machine 161. Moreover, since the instructor T is on standby near the processing machine 161, he can perform setup before starting processing, supply and remove workpieces, and can also respond to recovery in the event of an abnormality. In particular, in this embodiment, the operator M
Even if you are an amateur in the field of machining, you can achieve satisfactory machining on your own without actually going to a factory. Therefore, when conducting prototypes for research and development, developers can prototype parts that require advanced processing from the comfort of their own rooms, and as a result, the period of experimentation and development can be significantly shortened. can.

FIG. 6 is a block diagram showing the arrangement of the operation chamber and processing equipment container shown in the embodiments of FIGS. 2 and 4. In the figure, for one operation room 200, processing equipment container 300
, 310, and 320 are connected via an information transmission system 400. This is used when operating processing devices in a plurality of processing device containers from one operation room. In other words, even if there are multiple processing devices to operate,
One control room 2 without having to set up a control room for each target
00 can be shared and multiple processing devices can be operated while switching or at the same time.

FIG. 7 is also a block diagram showing the arrangement of the operation chamber and the processing equipment container shown in the embodiments of FIGS. 2 and 4. In the figure, one
Two processing equipment containers 330 are connected via an information transmission system 400. This is used when operating processing equipment in one shared processing equipment container from a plurality of operation rooms. In other words, it is suitable for cases where expensive processing equipment with a small number of installed units is used jointly from a plurality of remote locations. Although not shown, multiple operation rooms and multiple processing equipment containers are connected by a common information transmission system.
They can also be used interchangeably.

Each of the embodiments explained with reference to FIGS. 1 to 7 is an embodiment of the seventh to eleventh inventions, respectively.
This system is mainly aimed at processing machines. Similarly, the objects to be operated in these embodiments are not only processing machines, but also manipulators installed on artificial satellites and other outer space and operated from the ground, operating mechanisms of measuring instruments that measure the physical quantities of objects in the microscopic world, It can also be applied to other devices that operate while recognizing objects and environments that cannot be directly perceived by the human five senses because they are located in remote locations or in different environments. The first to sixth inventions include systems targeted for these.

[0086]

[Effect of the invention] As described above, according to the first invention,
The state of the object is detected by a sensor installed on the object that cannot be directly perceived by the five senses. The obtained detection signal is inputted, converted to a level that can be perceived by the five senses, and then outputted from the notification means. Further, based on the output information from the notification means, the operation signal inputted from the operation means is converted into an operation amount level for the target and output to the operator. As a result, even objects that cannot be directly perceived by the five senses can be sensed as they would be in the world where normal humans exist.
It is possible to perceive and recognize the state as well as manipulate it.

According to the second invention, based on the physical model governing the object, the state of the object after a certain period of time is predicted based on the state detection signal input from the object and the operation signal output to the object, and the notification means is output from. As a result, even if the object is governed by physical laws different from those in the normal world in which humans exist, the state of the object can be predicted and manipulated in advance, increasing usability and safety.

According to the third invention, a physical model of the object is constructed by learning by accumulating changes over time in the detection signal input from the object and the operation signal output to the object. This makes it possible to apply it even to objects for which the laws of physics are unknown, and even if a physical model is known, it is possible to proceed with learning and build a more accurate model. Also,
Even if the parameters in the target system change, it can be corrected and followed.

According to the fourth invention, the object, the sensor, the operator, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the state detection signal detected by the sensor is transmitted through the communication line. Changes in the state of the object are predicted and corrected by the change predicting means for the transmission delay time that occurs during transmission on the line, and are output from the notification means disposed on the operating means side. As a result, even when using communication lines on a global scale or larger, it is possible to perceive and recognize objects in real time without being aware of time delays in the target system, and even to perform operations on them. .

According to the fifth invention, in the first to fourth inventions, the type of necessary information,
Since only the amount of information is extracted, the amount of information to be transmitted can be reduced.

According to the sixth invention, in the first to fourth inventions, only the type and amount of information required are extracted from the operation signal, so the amount of information to be transmitted can be reduced.

According to the seventh invention, the state of the workpiece is detected by a sensor installed on the workpiece, which cannot be directly perceived by the five senses. The obtained detection signal is inputted, converted to a level that can be perceived by the five senses, and then outputted from the notification means. Further, based on the output information from the notification means, the operation signal input from the operation means is converted into a machining amount level on the workpiece and output to the processing tool. As a result, even processing that cannot be directly perceived by the five senses,
It is possible to perceive and recognize the processing situation and perform processing operations as if in the world where normal humans exist.

According to the eighth invention, based on the machining model that governs the workpiece and the processing tool, the detection signal input from the workpiece side and the operation signal output to the workpiece side are used to determine the timing after a certain period of time. A change in the machining state is predicted and output from the notification means. As a result, even when processing is governed by physical laws different from those in the normal world in which humans exist, it is possible to predict changes in the processing state in advance and perform processing operations, increasing usability and safety.

According to the ninth invention, the processing model is constructed by learning by accumulating changes over time in the detection signal input from the workpiece and the operation signal output to the workpiece. This makes it possible to machine even workpieces whose physical laws and processing mechanisms are unknown, and even when a machining model is known, it is possible to proceed with learning and build a more accurate model. Furthermore, even if the parameters in the system to be machined change, they can be corrected and followed.

According to the tenth invention, the workpiece, the sensor, the processing tool, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the detection signal of the sensor is transmitted over the communication line. is transmitted. Changes in the machining state of the workpiece are predicted and corrected by the change predicting means for the transmission delay time that occurs during that time, and are output from the notification means disposed on the operating means side. As a result, even when processing is performed between remote locations using communication lines on a global scale or larger, there is no need to be aware of time delays in the system on the workpiece side.
You can perform machining operations while perceiving and recognizing the progress of machining in real time.

According to the eleventh invention, when an overload is applied to the workpiece or processing tool, the fail-safe mechanism is activated and the workpiece or processing tool is evacuated to the safe side. As a result, during machining in an environment different from that of the operator,
Even if an unexpected and unexpected phenomenon occurs, damage to the workpiece or processing tool can be prevented.

[0097] In the seventh to eleventh inventions of processing systems,
As a sensor, a force sensor that detects processing reaction force generated on the workpiece or processing tool, and/or a thermal sensor that detects processing heat, and/or an auditory sensor that detects processing sound, and/or that detects processing status. In addition to installing a visual sensor, a joystick, or/and an image display device, or/and a speaker, or/and a heater and a cooler are used as the notification means, and the machining reaction force signal detected by the force sensor or/and the thermal sensor is The detected processing heat signal, or/and the processing sound signal detected by the auditory sensor, or/and the processing state signal detected by the visual sensor, is converted into haptic information, or/and visual information, or/and auditory information, or/and By converting and outputting thermal information, the machining state can be grasped haptically, visually, audibly, and/or thermally, and the sense of realism in machining increases.

According to the thirteenth invention, in the seventh to eleventh inventions, only the type and amount of information required are extracted from the detection signal of the sensor, so that the amount of information to be transmitted can be reduced. can.

According to the fourteenth invention, in the seventh to eleventh inventions, only the type and amount of information required are extracted from the operation signal, so the amount of information to be transmitted can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an embodiment in which the seventh to eleventh inventions are applied to a nano robot capable of microfabrication.

FIG. 2 is a configuration diagram of an embodiment in which the seventh to eleventh inventions are applied to a machining center.

FIG. 3 is a screen displayed on the display device in FIG. 2;

FIG. 4 is a configuration diagram of an embodiment in which the seventh to eleventh inventions are applied to a processing machine whose position is controlled by a robot.

FIG. 5 is an explanatory diagram of an embodiment in which the seventh to eleventh inventions are applied to a teaching system or a collaborative work system in a processing system.

FIG. 6 is a block diagram showing an example of the arrangement of an operation room and a processing device container.

FIG. 7 is a block diagram showing another example of the arrangement of the operation chamber and the processing device container.

[Explanation of symbols]

1 Operation room 2 Microfabrication equipment container 4 Information transmission system 5 Information transmission system 6 Processing equipment container 7 Machining center 9 Robot 11 Input device 12 Information display device 13 Prediction device 14a Sound information reproducing device 14b Sound information reproducing device 15a Visual information reproducing device 15b Visual information reproducing device 16 Thermal information reproducing device 17a Visual information reproducing device 17b Visual information reproducing device 17c Visual information reproducing device 18a Sound information reproducing device 18b Sound information reproducing device 21 Real-time control device 22 Drive device 23 Drive device 24 Coarse movement mechanism 25 Fine movement mechanism 26 Failsafe mechanism 27 Force sensor 29 Distortion amplifier 30 Distortion amplifier 31 Drive device 32 Drive device 33 Coarse movement mechanism 34 Fine movement mechanism 35 Failsafe mechanism 36 Force sensor 37 Thermal sensor 38 TV camera 39 TV camera 41 Information transmission path 42 Information transmission terminal 43 Information transmission terminal 44 Information transmission path 45 Magnifying vision device 46 Interface circuit 47 Interface circuit 48 Interface circuit 49 Force information/sound information conversion device 51 Information transmission path 52 Information transmission terminal 61 Real-time control device 62 NC controller 63 Drive device 64 Drive device 65 Drive device 66 Drive device 67 Display device 68 Active structure 69 Structure 70 Moving mechanism 71 Rotation mechanism 72 Failsafe mechanism 73 Force sensor

Claims (14)

[Claims] Claim 1: A means for inputting a detection signal from a sensor installed on an object that cannot be directly perceived by the five senses, a means for converting the detection signal to a level perceivable by the five senses and outputting it to the notification means, and a means for inputting the detection signal from the operating means. What is claimed is: 1. A sense of reality reproduction system, comprising: means for converting a manipulated signal into a manipulated level level for a target and outputting the same to a controller. 2. Means for inputting a detection signal from a sensor installed on an object that cannot be directly perceived by the five senses, means for converting the detection signal to a level that can be perceived by the five senses and outputting it to the notification means, A means for converting the manipulated signal into a manipulated level in the target and outputting it to the controller, and a means for converting the manipulated signal to a manipulated level in the target and outputting it to the controller, and a means for converting the manipulated signal to a manipulated level at the target, and a means for converting the manipulated signal to a manipulated level at the target, and a means for converting the manipulated signal to a constant level by the detection signal input from the target and/or the manipulated signal output to the target based on the physical model governing the target. A sense of reality reproduction system comprising means for predicting the state of an object after a certain period of time and outputting the predicted state to a notification means. 3. The reality reproduction system according to claim 2, further comprising means for accumulating changes over time in detection signals input from the object and operation signals output to the object, and constructing a physical model of the object by learning. An immersive reproduction system that is characterized by 4. In the realistic sensation reproduction system according to claim 2 or 3, the object, the sensor, the operator, the notification means, and the operation means are disposed at remote locations from each other via a communication line, and the sensor detects the The apparatus is equipped with means for predicting and correcting a change in the state of the object by a change prediction means for a transmission delay time that occurs while a signal is transmitted over a communication line, and outputting the result to a notification means disposed on the operation means side. Features a realistic sensation reproduction system. 5. In the reality reproduction system according to claim 1, claim 2, claim 3, or claim 4, only the necessary type and amount of information are extracted from the detection signal of the sensor, and the information is reduced to a perceptible level. A immersion reproduction system characterized in that, during conversion, the transmitted information is combined with separately prepared information, and the synthesized information is reproduced and output to a notification means. 6. In the realistic sensation reproduction system according to claim 1, claim 2, claim 3, or claim 4, only the type and amount of information necessary are extracted from the operation signal, and the level of the amount of operation in the target is adjusted. A realistic feeling reproduction system characterized in that, during conversion, the transmitted information is combined with separately prepared information, and the synthesized information is reproduced and output to the controller. 7. Means for inputting a detection signal of a sensor installed on a workpiece that cannot be directly perceived by the five senses, means for converting the detection signal to a level perceivable by the five senses and outputting it to the notification means, and an operation. A processing system comprising: means for converting an operation signal input from the means into a processing amount level of a workpiece and outputting the same to a processing tool. 8. Means for inputting a detection signal of a sensor installed on a workpiece that cannot be directly perceived by the five senses, means for converting the detection signal to a level perceivable by the five senses and outputting it to the notification means, and an operation. A means for converting the operation signal inputted from the means into the processing amount level of the workpiece and outputting it to the processing tool, and a means for converting the operation signal input from the means to the processing amount level of the workpiece and outputting it to the processing tool, and the input from the workpiece side based on the processing model that governs the workpiece and processing tool. A processing system comprising means for predicting a processing state after a certain period of time based on a detection signal and/or an operation signal output to a workpiece and outputting the prediction to a notification means. 9. The machining system according to claim 8, further comprising means for accumulating changes over time in detection signals input from the workpiece and operation signals output to the workpiece, and constructing a machining model by learning. A processing system characterized by: 10. The processing system according to claim 8 or 9, wherein the workpiece, the sensor, the processing tool, the notification means, and the operation means are located remotely from each other via a communication line, and the sensor detects the The apparatus is equipped with a means for predicting and correcting a change in the machining state by a change prediction means for a transmission delay time that occurs while a signal is transmitted over a communication line, and outputting the result to a notification means disposed on the operation means side. Characteristic processing system. 11. In the processing system according to claim 7 or 8 or 9 or 10, when an overload is applied to the workpiece and/or the processing tool,
A processing system characterized by being equipped with a fail-safe mechanism for retracting a workpiece and/or a processing tool to a safe side. 12. The sensor includes a force sensor and/or a thermal sensor and/or an auditory sensor and/or a visual sensor that detects processing reaction force, processing heat, processing sound, and processing state generated on the workpiece and/or processing tool. In addition to installing a sensor, a joystick is used as a notification means to convert it into haptic information, or/and an image display device is used to convert it into visual information, or/and a speaker is used to convert it into auditory information, or/ Claim 7 or Claim 8 or Claim 9 or Claim 10 or Claim 1 wherein the information is transmitted by converting it into thermal information using a heater and a cooler and outputting it as a quantity that can be perceived by human's five senses.
1 processing system. 13. Claim 7 or 8 or 9 or 10 or 11 or 1
In the second processing system, only the type and amount of information required is extracted from the sensor detection signal, and when converting it to a perceivable level, the transmitted information is combined with separately prepared information and synthesized. A processing system characterized by reproducing the generated information and outputting it to a notification means. 14. Claim 7 or 8 or 9 or 10 or 11 or 1
In the second processing system, only the type and amount of information required are extracted from the operation signal, and when converting to the processing amount level of the workpiece, the transmitted information is combined with separately prepared information. A machining system characterized by reproducing information synthesized by a computer and outputting it to a machining tool.