JPH0447412A - Work robot supporting device - Google Patents

Abstract

PURPOSE:To safely and smoothly execute the work by providing a supporting device having abnormality diagnostic, work state instruction and self-diagnostic functions on a work robot. CONSTITUTION:When abnormality is detected from inputted state information, an abnormality diagnostic part executes a display of a state of abnormality, an instruction of a check matter, etc., diagnoses the cause of generation of abnormality and displays it. A work state display part displays the contents of the work which is being executed at present, the progress of the work, and the contents of the work to be executed in the next time from the inputted state information. A self-diagnostic part diagnoses an internal state of a work robot by information for showing a state of the work robot which is inputted, at the time of starting the work first, and displays its result. Also, even when the work is being executed, soundness of the work robot is disdiagnosed from input information. In such a way, the work can be executed safely and efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention (Industrial Application Field) The present invention relates to a work robot support device that supports the operation of a work robot using AI technology.

(Prior art) Automatic control equipment usually monitors the operating status, detects abnormalities such as disconnections and short circuits, issues an abnormality alarm, stops operation depending on the degree of abnormality, and displays the location of the abnormality. A device is provided to do this.

(Invention or Problem Solving Section 8) However, such devices do not indicate the cause of the abnormality or the actions to be taken to normalize the abnormality. As a result, workers had to stop their work, pull out manuals, etc., and consider the cause of the abnormality and how to repair it.

Therefore, there is a growing demand for support devices that can infer not only the location of the abnormality but also the cause of the abnormality and provide instructions on how to normalize the situation. For this reason, AI (AI) is a technology that analyzes human intellectual activities and allows computers to perform those activities on behalf of humans.
ence) technology, in particular the development of support devices using expert system technology, which is an intelligent processing system that uses the knowledge of experts in a specific field to have problem-solving abilities equivalent to those of experts. It is being said.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a working robot support device capable of diagnosing abnormal operations of a remote-controlled robot, giving operational instructions, and the like.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the work robot support device of the present invention uses AI technology and supports the work of a work robot that performs work by remote control. In a work robot support device that performs work, an input unit that inputs status information of the work robot, an abnormality diagnosis unit that detects an abnormality of the work robot based on the situation information and diagnoses the cause of the abnormality, and a work robot support device that performs work based on the situation information. The robot is equipped with a work status display unit that outputs the work status including progress and next work contents, and a self-diagnosis unit that diagnoses the status of the components and functions of the working robot based on the status information. Further, it is preferable that the work robot be mounted on a moving vehicle on which the work robot is mounted. Further, it is preferable that the work status display section uses an icon when displaying the work status.

(Function) Information representing the status of the work robot, work operations, etc. is input from the input section. When the abnormality diagnosis section detects an abnormality in the state or operation of the working robot from the input situation information, it displays the abnormal situation, instructs items to be checked, etc., and diagnoses and displays the cause of the abnormality. Based on this diagnosis, the operator can take actions to eliminate the cause of the abnormality. The work status display section displays the content of the work currently being performed, 1 the progress of the work, and 9 the content of the work to be performed next based on the input status information. This allows the operator to check the content of the work, carry out the work, and then proceed to the next work. Before starting work, the self-diagnosis section first checks the internal state of the work robot, such as a drop in power supply voltage, based on the input information representing the state of the work robot, and checks whether the work robot operates appropriately. Diagnose and display the results.

Also, the health of the working robot can be diagnosed from the input information even during work. The operator performs the processing instructed based on the diagnosis results so that the work robot can always work in a healthy state.

(Example) Hereinafter, an example of the present invention will be described using FIGS. 1 to 6. The work robot supported by this example is mounted on a vehicle and is a mask slave robot that performs electrical work at high places.
It is a manipulator, and when the operator operates the mask manipulator, the slave manipulator located at a higher place performs the work in response to this operation, and the amount of force applied to the slave manipulator is returned to the mask manipulator. It performs control. FIG. 2 shows the driver's cab of a vehicle equipped with this working robot, a so-called aerial work vehicle, with FIG. 2A being a plan view and FIG.

(a) In the figure, the right side of this driver's cab is the same as the driver's cab of a normal car, and the equipment for operating the work robot is placed on the left.
Rotate once to operate the work robot. Reference numeral 1 is a driver's seat where the driver drives the car and operates the mask manipulator. 2 is a mask manipulator, and this operation causes a slave manipulator located at a high place to perform electrical work. Reference numeral 3 denotes an operating device that moves the slave manipulator by enlarging or reducing the operation of the mask manipulator 2, and also feeds back the amount of force from the slave manipulator to the mask manipulator 2 to convey the feeling of the operation to the operator. . Reference numeral 4 denotes a CRT for monitoring the operation of the slave manipulator, and the operator performs the operation while looking at the screen of this CRT. Reference numeral 10 denotes the work support device of this embodiment, and the surface facing the operator is a display section 11.

FIG. 1 shows the screen layout of the display unit 11 of the work support device 10. At the bottom of the screen there is a function selection unit 12 for selecting the function to be performed by the work support device 10, and on the right side there is a screen display. There is a display switching section 13 that scrolls or reverses the contents. Further, no matter what content is displayed on the screen, there is an abnormality occurrence display section 14 at the upper right of the screen that displays an alarm if an abnormal state occurs in the working robot.

Next, the operation of this apparatus will be explained based on the operation flow diagram shown in FIG. The operation of this device can be broadly divided into two parts: work support and abnormality diagnosis. Abnormality diagnosis is performed on a priority basis when an abnormality occurs in a work robot. When performing work support, in step 31, the home menu shown in FIG. 1 is displayed, and in step 32, either work support or self-diagnosis is selected.

When work support is selected, a work procedure support menu is developed in step 33. FIG. 4 shows the data structure of the support menu necessary for developing the support menu for work procedures. In FIG. 4, the support menu 40 is expanded into m work types 41 indicating the classification of work, and each work type 4
1 is developed into n work steps 42 showing detailed work procedures. The work step 42 includes incidental information 43 indicating precautions and required equipment information for the work step 42.
accompanies.

FIG. 5 shows the screen of the display unit 11 when one of the work types shown in FIG. 4 is being performed.

The work type 41 is "installation of a construction switch", and a part of the work step 42 belonging to this work type 41 is displayed. An upward chevron mark indicates that there is a step to be performed before the displayed step, and a downward chevron mark indicates that there is another step after the displayed step. The horizontal chevron mark on the right represents the work content currently being performed by the work robot. If an abnormality occurs while performing the work in work step 42, a warning is displayed on the abnormality occurrence display section 14 at the upper right of the screen.

Note that the work step 42 is selectively updated by the display switching section 13. When self-diagnosis is selected in step 32 in FIG. 3, the internal state of the working robot device (for example, fuse blowout, power supply voltage drop, etc.) is checked. When a blown fuse or the like is detected, a retrospective inference is made as to the cause of such a result, and the inference result and the corrective action the operator should take are displayed on the screen. This self-diagnosis must be performed before the work robot starts working.
After confirming the health of the work robot, the main work will begin. It is also good to do this during work as needed.

FIG. 6 is a screen that displays the abnormality occurrence display in step 35 and the operator's countermeasure support instruction in step 36 shown in FIG. 3. When the abnormality diagnosis section detects an abnormality, an alarm 14 appears on the abnormality occurrence display section 14 at the upper right of the screen. Therefore, when a function is selected in the function selection section 12, a screen shown in FIG. 6 appears, and the contents of the abnormality can be known. In this case, it indicates that the first joint of the slave arm has stopped operating. The abnormality diagnosis section instructs the operator to check whether other joints move in order to infer the cause, and based on the results and the fact that the servo driver is not heating up and the power supply voltage is not fluctuating, the expert system An abnormality diagnosis is performed using the following, and the diagnosis and countermeasures for a possible disconnection of the first motor are shown. In this case, by touching F3 on the function selection section 12, countermeasures will be displayed on the screen. FIG. 7 is an explanatory diagram in which the cause event that caused the result event is retrospectively inferred from the actually occurring result event. As described above, according to this embodiment, the work content, work progress, next work step, etc. of the work robot are displayed, and the health of the work robot's components and functions can be checked, and the cause of abnormality can be checked. Since you are given instructions on how to deal with the problem, you can work safely and efficiently.

[Effects of the Invention] As is clear from the above description, according to the present invention, work can be performed safely and smoothly by providing a work robot with an assist device having abnormality diagnosis, work status instruction, and self-diagnosis functions. .

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the configuration of the display screen of this embodiment, FIG. 2 is a diagram showing the arrangement of the working robot operating section and this embodiment, FIG. 3 is a flow diagram showing the operation of this embodiment, and FIG. The figure shows the configuration of the work procedure support menu, Figure 5 shows an example of the screen display during work support, Figure 6 shows an example of the screen display when responding to an error, and Figure 7 shows the error content analysis. FIG. 10... Work support device, 11... Display unit 12...
Function selection section, 13... Display switching section, 14... Abnormality occurrence display section. 8 Applicant's agent Patent attorney Takehiko Suzue

Claims (1)

[Claims] A work robot support device that supports the work of a work robot that performs work by remote control includes an input unit for inputting status information of the work robot, and based on this situation information, detects an abnormality in the work robot and diagnoses the cause of the abnormality. a work status display unit that outputs work status including work progress and next work content based on the situation information; and a work status display unit that diagnoses the status of components and functions of the work robot based on the situation information. A work robot support device comprising a self-diagnosis section.