Remote control system and remote control method

Abstract

To provide a remote operation system and a remote operation method which enables easy remote operation when injection work is performed.SOLUTION: A remote operation system 1 includes: an operation part 12 which receives an operation input made by a worker; a manipulator 22 which is mounted with an injection tool 24 which conducts work to a work object 44; and a control device 30 which moves the manipulator 22 in response to movement input to the operation part 12 by the worker and feeds back reaction force received by the manipulator 22 to the operation part 12. The manipulator 22 is mounted with a contact member 26 which contacts with the work object 44 so that a distance between the injection tool 24 and the work object 44 falls within a work distance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a remote control system and a remote control method. [Background technology]

[0002] Conventionally, manipulators (robot arms) such as industrial robots are generally mounted on a fixed surface or a stable base, and the position of the arm tip is controlled to follow spatial coordinates of a trajectory that has been taught in advance. Since it is assumed that the object that the robot arm is working on will remain in the same position as when it was taught, it is difficult to apply conventional techniques when the position of the object changes or when the work is non-routine. For non-routine or irregular work that cannot be automated, there are cases where so-called master-slave remote control is used, in which a master operating device is directly operated manually and a slave manipulator is remotely controlled.

[0003] For example, in Patent Document 1, when an end effector at the tip of a slave manipulator comes into contact with a rigid object, if the absolute value of a preset master reaction force exceeds an upper limit, the upper limit is fed back to the input grip (master operating device) to prevent a large slave reaction force from being generated in the input grip. Therefore, it is described that an excessive master reaction force is not fed back to the input grip, and the operator can sense the rigid body contact of the end effector when operating a slave manipulator that includes rigid body contact, and can perform stable contact operation without any unintended movement of the input grip.

[0004] Furthermore, Patent Document 2 discloses a remotely operated manipulator that controls the external force acting on a slave manipulator mounted on the top end of a boom extending from a vehicle such as an aerial work platform by feeding it back as a reaction force to a master manipulator mounted on the vehicle. It describes the effect of detecting an obstacle on the path to the work point, and when the slave manipulator passes a predetermined position near an avoidance point, the reaction force gradually increases, restraining the master manipulator and preventing it from coming into contact with the avoidance point. It also describes that the operator can sense an increase in the external force, i.e., an increase in the reaction force on the master manipulator, when the slave manipulator comes into contact with an obstacle and stops. Therefore, when performing maintenance work using such a robotic construction method, the operator can confirm that the slave has come into contact with an obstacle during work.

[0005] Furthermore, Patent Documents 3 and 4 disclose a technology in which a manipulator is provided with a shape measuring device or a laser irradiation device, and scraping work and the like is performed by operating the manipulator while maintaining a constant distance from the work surface based on the shape of the work (work object) measured by the shape measuring device or the laser irradiation device. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 08-229858 [Patent Document 2] Japanese Patent Application Publication No. 08-300277 [Patent Document 3] Patent Publication No. 2021-53679 [Patent Document 4] Patent Publication No. 2021-58912 Summary of the Invention [Problem to be solved by the invention]

[0007] In Patent Document 1, the reaction force transmitted to the slave arm is detected, but this reaction force is generated after the slave arm comes into contact with an object, and it is thought that the system cannot respond to sudden reaction forces. Sudden reaction forces are generated not only when the slave arm comes into contact with the target object, but also when the slave arm comes into contact with an unexpected obstacle. In addition, by setting an upper limit on the reaction force transmitted to the master operation device, movement above the upper limit cannot be detected.

[0008] In Patent Document 2, the distance to an obstacle on the route to the work point is determined by a visual device, and when a set distance is exceeded, a function generator generates a restraining force for the master according to the distance to the obstacle, and the restraining force is superimposed on a reaction force and fed back to the master. In the above case, since the distance to the obstacle needs to be determined by a visual device, there is a possibility that the distance may be misjudged depending on the viewing angle.

[0009] In Patent Documents 3 and 4, a manipulator is automatically controlled while maintaining a constant distance from the workpiece surface based on the shape of the workpiece (work object) measured by a shape measurement device or a laser irradiation device. However, in the case of master-slave control, an operator manually operates a master operation device to remotely move the manipulator, so the distance between the manipulator and the workpiece cannot be automatically controlled. In particular, when the workpiece has a complex shape, it is difficult to operate the manipulator while maintaining a predetermined distance between the work tool and the workpiece.

[0010] Therefore, an object of the present disclosure is to provide a remote control system and a remote control method that facilitate remote control when performing an injection operation. [Means for solving the problem]

[0011] A remote operation system according to an embodiment of the present disclosure includes an operation unit that receives operation input from an operator, a manipulator equipped with an injection tool for a workpiece, and a control device that moves the manipulator in accordance with the movement input by the operator to the operation unit and feeds back to the operation unit a reaction force received by the manipulator. The manipulator is further equipped with a contact member that comes into contact with the workpiece so that the distance between the injection tool and the workpiece is within a working distance.

[0012] A remote operation method according to one embodiment of the present disclosure is a method for remotely operating an injection tool relative to a work object, and includes the steps of: bringing a manipulator equipped with the injection tool close to the work object; remotely operating the manipulator by operating an operation unit of a master operation device, and bringing a contact member provided to protrude from the manipulator into contact with the work object, thereby ensuring a working distance between the injection tool and the work object; and performing an injection operation on the work object while ensuring the working distance between the injection tool and the work object. [Effects of the Invention]

[0013] According to the remote control system and remote control method disclosed herein, remote control can be easily performed when performing an injection operation. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram illustrating a configuration example of a remote control system according to the present disclosure. [Figure 2] FIG. 2 is a view taken along the arrow A in FIG. [Figure 3] FIG. 10 is a diagram showing a configuration example in which the manipulator is provided with a cover. [Figure 4] 1 is a flowchart illustrating an example of a procedure for a remote control method according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present disclosure relates to a remote control system for remotely controlling a manipulator equipped with an injection tool that performs an injection operation on a work object, and a method for remotely controlling a manipulator.

[0016] The teleoperation system according to the present disclosure is configured as a master-slave system using so-called bilateral control. The teleoperation system realizes teleoperation by controlling the operation of a manipulator located away from the master operation device in accordance with the operation movement input to the operation unit of the master operation device. Industrial applications of the teleoperation system include various work fields, such as maintenance work performed in areas of buildings or structures that are difficult for humans to access, such as high altitudes, difficult locations, high-temperature environments, or dusty environments.

[0017] Hereinafter, embodiments of a remote control system and a remote control method according to the present disclosure will be described with reference to the drawings. The drawings are schematic and may differ from the actual product. Furthermore, the following embodiments exemplify devices or methods for embodying the technical ideas of the present disclosure, and are not intended to limit the configuration to those described below. In other words, the technical ideas of the present disclosure can be modified in various ways within the technical scope described in the claims.

[0018] First Embodiment (Overall system configuration) 1, remote operation system 1 includes a master operation device 10, a slave operation device 20, and a control device 30. Master operation device 10 includes an operation unit 12. Slave operation device 20 includes a manipulator 22, an injection tool 24 attached to the tip of manipulator 22, and a contact member 26. Manipulator 22 is configured as a slave arm.

[0019] The control device 30 includes a cable 32 that connects the master operation device 10 and the slave operation device 20. The control device 30 is communicably connected to the manipulator 22 via the cable 32. The manipulator 22 and the control device 30 may be communicably connected wirelessly. The control device 30 controls the operation of the manipulator 22 in accordance with an operation input to the operation unit 12, and also feeds back to the operation unit 12 the reaction force received by the manipulator 22.

[0020] The control device 30 may be configured to include at least one processor, such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), so as to control and manage each component of the remote operation system 1. The control device 30 may be configured with one processor or multiple processors. The processor constituting the control device 30 may control and manage each component of the remote operation system 1 by reading and executing a program stored in a storage unit, which will be described later.

[0021] The control device 30 may include a storage unit. The storage unit stores various types of information or data. The storage unit may store, for example, a program executed by the control device 30, or data used in processing executed by the control device 30, or processing results. The storage unit may also function as a work memory for the control device 30. The storage unit may be configured to include, for example, a semiconductor memory, but is not limited to this. For example, the storage unit may be configured as an internal memory of a processor used as the control device 30, or as a hard disk drive (HDD) accessible from the control device 30. The storage unit may be configured as a non-transitory readable medium. The storage unit may be configured integrally with the control device 30, or may be configured separately from the control device 30.

[0022] The control device 30 may include a communication unit. The communication unit may include a communication interface for communicating with each component of the remote control system 1, such as the master control device 10 or the slave control device 20, via a wired or wireless connection. The communication interface may be configured to be able to communicate with other devices via a network. The communication unit may include an input / output port for inputting and outputting data to and from each component of the remote control system 1. The communication unit transmits and receives necessary data and signals to and from each component of the remote control system 1. The communication unit may communicate based on a wired communication standard or a wireless communication standard. For example, the wireless communication standard may include cellular phone communication standards such as 3G, 4G, or 5G. Furthermore, for example, the wireless communication standard may include IEEE802.11, Bluetooth (registered trademark), and the like. The communication unit may support one or more of these communication standards. The communication unit is not limited to these examples and may communicate with other devices or input / output data based on various standards.

[0023] The remote operation system 1 is mounted on an aerial work vehicle 100 and is used when performing work in which a projectile is injected by an injection tool 24 into a work target 44 located at a high altitude. The aerial work vehicle 100 comprises a boom 110, a movable platform 120, and a cab 130. The movable platform 120 is mounted on the tip of the boom 110 and is configured to be movable by rotating or extending and contracting the boom 110. The slave operation device 20 is mounted on the movable platform 120. The master operation device 10 is mounted on the cab 130. The cab 130 is equipped with a device for operating the boom 110.

[0024] As an example, manipulator 22 of slave operating device 20 is a vertically articulated arm robot with degrees of freedom in six axial directions. As long as manipulator 22 is configured to be remotely controlled by master operating device 10, it is not limited to an arm and may be configured as a device having various structures or shapes.

[0025] As an example, the operation unit 12 of the master operation device 10 is a vertically articulated arm robot similar to the manipulator 22. By configuring the operation unit 12 of the master operation device 10 and the manipulator 22 of the slave operation device 20 in the same or similar manner, the master-slave control system as a remote operation system can be easily controlled. The master operation device 10 and the slave operation device 20 do not necessarily have to be configured in similar shapes or with the same degrees of freedom. The operation unit 12 may be configured as an operation axis or as a rotary controller such as a jog shuttle. The operation unit 12 is not limited to these examples and may be configured in various other ways.

[0026] The control device 30 controls the master operation device 10 and also feeds back to the master operation device 10 the position (angle) of each part of the manipulator 22 and the reaction force acting on each part of the manipulator 22. Specifically, the control device 30 is configured to be able to transmit in both directions by bilateral control the position and orientation of the tip of the manipulator 22, the trajectory of which is calculated from the angle of the arm of the manipulator 22, and the reaction force acting on each part of the manipulator 22. When the arm of the manipulator 22 is configured as an articulated robot, the control device 30 may be configured to transmit the torque of a drive motor provided in each joint of the manipulator 22 to the master operation device 10 as a reaction force.

[0027] As described above, the manipulator 22 has attached to its tip an injection tool 24 for performing an injection operation on the workpiece 44. The injection tool 24 may include a device for injecting various projectiles, such as a laser irradiation device that emits a laser, a gas cutting device that injects gas, a painting device that injects paint, or a device that sprays an abrasive material such as sand for scraping work. The injection tool 24 may be configured to inject a substance such as a solid, liquid, or gas. The injection tool 24 may be configured to inject electromagnetic energy such as light, electromagnetic waves, or electromagnetic energy such as an electric field generated by applying a voltage to an electrode or a magnetic field generated from a magnetic pole. The injection tool 24 may be configured to inject sound waves such as ultrasound, or mechanical energy such as shock waves.

[0028] The injection work may be included in various works such as scraping work, inspection, cleaning, painting, cutting, welding, etc. The work object 44 may include, for example, a steel structure such as a bridge girder structure.

[0029] The injection tool 24 is controlled by an injection control device 40 that is communicatively connected via a cable 42. The injection tool 24 and the injection control device 40 may be communicatively connected wirelessly. The injection control device 40 may be configured identically to or similar to the control device 30.

[0030] The master operating device 10 accepts input of an operation to cause the injection tool 24 to perform an injection operation. When an operation to cause the injection tool 24 to perform an injection operation is input to the master operating device 10, the control device 30 outputs an instruction to the injection control device 40 to cause the injection tool 24 to perform the injection operation.

[0031] The injection tool 24 may be controlled by the control device 30. In this case, when an operation to perform an injection operation is input in the master operation device 10, the control device 30 controls the injection tool 24 to perform the injection operation.

[0032] The position of the injection tool 24 is determined by the operation of the manipulator 22, and is controlled so that the distance from the injection tool 24 to the workpiece 44 falls within an appropriate range. The distance within the appropriate range is also called the working distance. The working distance is determined for each purpose (task) of the injection work.

[0033] To perform the injection operation, the manipulator 22 is controlled so that the distance from the injection tool 24 to the workpiece 44 is the working distance. In other words, the operator operating the operation unit 12 of the master operation device 10 needs to operate the operation unit 12 so that the distance from the injection tool 24 to the workpiece 44 is the working distance.

[0034] Here, a contact member 26 is attached to the tip of the manipulator 22. As shown in Fig. 2, the contact member 26 is attached so as to protrude from the tip of the manipulator 22 beyond the injection tool 24 in the direction in which the injection tool 24 injects the injection material. In this embodiment, the contact member 26 is attached near the injection tool 24 at the tip of the manipulator 22. Specifically, the contact member 26 may be arranged parallel to and adjacent to the injection tool 24.

[0035] When the injection tool 24 approaches the workpiece 44, the contact member 26 comes into contact with the workpiece 44 before the injection tool 24 does. Therefore, a distance is maintained between the injection tool 24 and the workpiece 44. The length of the contact member 26 is preset to a length that ensures an appropriate distance from the injection tool 24 to the workpiece 44 so that the distance from the injection tool 24 to the workpiece 44 falls within the working distance.

[0036] The contact member 26 may be configured to include a damper with shock-absorbing properties. The contact member 26 may have any size and shape as long as it can protrude from the manipulator 22 and ensure a working distance between the injection tool 24 and the workpiece 44. The contact member 26 may be configured, for example, as a rod or probe, a curved shield-shaped cover, or a cushion-like block. The contact member 26 may be configured to include an elastic member.

[0037] The contact member 26 may be provided with a contact sensor at a portion, such as the tip, that comes into contact with the workpiece 44, for detecting that the contact member 26 has come into contact with the workpiece 44. The contact sensor outputs the detection result as a signal to the control device 30 or the injection control device 40.

[0038] The control device 30 or the injection control device 40 may control the operation of the injection tool 24 based on the detection result of the contact sensor. Specifically, when the contact sensor detects that the contact member 26 is in contact with the workpiece 44, the control device 30 or the injection control device 40 places the injection tool 24 in an available state (standby state). Once the injection tool 24 is in the available state (standby state), it can immediately execute injection in response to an injection operation input from the master operation device 10. On the other hand, when the contact sensor does not detect that the contact member 26 is in contact with the workpiece 44, the control device 30 or the injection control device 40 places the injection tool 24 in an unavailable state (OFF). In other words, the control device 30 or the injection control device 40 can prevent the injection tool 24 from executing injection when the injection tool 24 is not facing the workpiece 44 or when the distance between the injection tool 24 and the workpiece 44 is not the working distance. In this way, injection toward anything other than the workpiece 44 can be avoided. As a result, the safety of the injection operation can be increased.

[0039] The portion of the contact member 26 that comes into contact with the work piece 44, such as the tip thereof, may become worn or dirty due to contact with the work piece 44. Therefore, the portion of the contact member 26 that comes into contact with the work piece 44, such as the tip thereof, may be configured to be replaceable (disposable).

[0040] Even if the contact member 26 does not have a contact sensor, the control device 30 may determine whether the contact member 26 has come into contact with the workpiece 44 by detecting the reaction force received when the contact member 26 comes into contact with the workpiece 44. The control device 30 may determine that the contact member 26 has come into contact with the workpiece 44 when the reaction force acting on the contact member 26 is equal to or greater than a predetermined threshold, and may place the injection tool 24 in an usable state. The control device 30 may determine that the contact member 26 has not come into contact with the workpiece 44 when the reaction force acting on the contact member 26 is smaller than the predetermined threshold, and may place the injection tool 24 in an unusable state.

[0041] The contact member 26 may be provided with a slider such as a roller that slides along the workpiece 44 at a portion that comes into contact with the workpiece 44, such as the tip. In this case, a contact sensor may be attached to the slider.

[0042] (Remote control method) The procedure for performing an injection operation using the remote control system 1 of this embodiment will be described.

[0043] In the first operation step, the worker raises the entire movable platform 120 using the boom 110 of the aerial work platform 100, and moves the manipulator 22 closer to the work object 44. At this time, the worker moves the manipulator 22 closer to the work object 44 with the tip of the manipulator 22 bent as much as possible (in a compact state). By doing so, when the manipulator 22 is operated in the next second operation step, the position of the injection tool 24 attached to the tip of the manipulator 22 can be more easily aligned with the work object 44.

[0044] In the second operation step, the operator moves the moving stage 120 close to the workpiece 44 to the extent that the manipulator 22 can be extended to contact the workpiece 44. Then, the operator gradually extends the manipulator 22 by operating the operation unit 12 of the master operation device 10, thereby bringing the contact member 26 into contact with the workpiece 44. If the injection tool 24 is, for example, a laser irradiation device, a certain distance (working distance) must be maintained between the irradiation lens of the laser irradiation device and the irradiation surface of the workpiece 44. In this embodiment, the overhang length of the contact member 26 from the manipulator 22 is set to a length that ensures the certain distance. Therefore, by bringing the contact member 26 into contact with the irradiation surface of the workpiece 44, an appropriate distance (working distance) for laser irradiation is maintained. If the contact member 26 includes a damper, the damper of the contact member 26 contracts due to the force pressing it against the workpiece 44. The damper of the contact member 26 is designed so that the distance between the injection tool 24 and the workpiece 44 remains the working distance even when the damper is contracted. By knowing in advance the relationship between the pressing force (reaction force) and the contraction amount of the damper of the contact member 26, the operator can remotely operate the manipulator 22 using the master operation device 10 while pressing the contact member 26 against the workpiece 44 with a predetermined pressing force (reaction force). When moving the manipulator 22, the operator drags the contact member 26 while it is in contact with the irradiation surface of the workpiece 44 (by sliding the sliding body if one is provided), thereby moving the injection tool 24 while maintaining the appropriate distance (working distance) for irradiation.

[0045] In the third operation step, the operator determines the position of the injection tool 24 attached to the manipulator 22 with respect to the work location (irradiation surface) of the work object 44, while ensuring a certain distance (working distance) between the injection tool 24 and the work object 44 by the contact member 26. The operator operates the master operation device 10 to cause the injection tool 24 to perform the injection operation on the work object 44.

[0046] Second Embodiment (System Configuration) As shown in FIG. 3 , in the remote operation system 1 according to the second embodiment, the manipulator 22 may include a contact cover 28. The contact cover 28 may be attached to each joint of the manipulator 22, or may be attached to a portion other than the joint. The contact cover 28 has a shield-shaped curved contact surface. Furthermore, when the contact cover 28 is attached to a joint of the manipulator 22, the contact cover 28 is configured so that a reaction force is transmitted to the joint of the manipulator 22 when the contact cover 28 abuts (contacts) against the work target 44 or an object located in the vicinity thereof. A plurality of contact covers 28 may be attached to each joint. The contact cover 28 may be attached at a position that covers at least the outside of the joint of the manipulator 22. The contact cover 28 may be configured to include a damper with a shock-absorbing function, similar to the contact member 26.

[0047] The remote operation system 1 according to the second embodiment may be used particularly when the shape of the workpiece 44 or an object located in the vicinity thereof is complex or the space for performing the injection operation is narrow. That is, as in the second embodiment, by attaching multiple contact covers 28 to the manipulator 22 and protecting the joints in particular with the contact covers 28, it is possible to prevent the manipulator 22 from colliding with an object other than the workpiece 44, thereby changing the distance between the injection tool 24 and the workpiece 44. In addition, the manipulator 22 can be supported in a stable posture by the contact covers 28.

[0048] <Example> A specific embodiment of the remote control system 1 will be described below.

[0049] The manipulator 22 is a vertically articulated arm robot with six joints (see Figure 3), configured as a collaborative robot with a main body weight of 40 kg, a maximum reach length of 1300 mm, and a maximum payload of 12 kg. The master operating device 10 is also configured as a vertically articulated arm robot with six joints. The aerial work platform 100 is a typical model used for maintenance, inspection, or cleaning work in steelworks, with a boom 110 having a maximum height of 50 m and a maximum load capacity of 200 kg. The injection tool 24 is configured as a laser irradiator (irradiation device) with an output of 1 kW. A laser irradiation lens of 3 kg is attached to the tip of the manipulator 22. The laser irradiator was configured based on the weight of a handheld laser irradiation gun, designed to allow for approximately one hour of normal manual irradiation work without any problems. Using the above configuration, a scraping operation to remove rust from the surface of a steel structure was performed using laser irradiation from the laser irradiator.

[0050] Manual work was carried out as a comparison with work using the remote control system 1. The manual work was carried out by a worker riding on the mobile platform 120 of the aerial work platform 100 and irradiating a laser using a handheld laser irradiation gun. However, when the mobile platform 120 of the aerial work platform 100 was raised to a height of 40 m, it began to sway by about ±100 mm due to the influence of wind. As a result, unevenness occurred in the cleaning or scraping during the manual work.

[0051] Meanwhile, during a task using the remote control system 1, a mobile platform 120 carrying a manipulator 22 was raised to a height of 40 m. The mobile platform 120 began to sway. The worker operated the manipulator 22 by operating the control unit 12 of the master control device 10. The worker extended the manipulator 22 while pressing the contact cover 28 attached to the joint against the steel structure, thereby reducing the swaying of the manipulator 22. The worker moved the mobile platform 120 horizontally 1 m while keeping the height of the mobile platform 120 unchanged and leaning the manipulator 22 against the steel structure via the contact cover 28, and pressed the contact member 26 at the tip against the steel structure. The worker operated the control unit 12 of the master control device 10 while adjusting the force so that the length of the damper of the contact member 26, i.e., the distance between the laser irradiation lens at the tip of the manipulator 22 and the surface of the steel structure (the work target 44) was within the working distance. The worker then stopped the movement of the mobile platform 120 in the target work area and performed scraping work on a 50 cm x 50 cm area on the surface of the steel structure, which was the work target 44, simply by remotely operating the manipulator 22. The worker performed the work while checking the image from the camera attached to the manipulator 22 on the monitor in the driver's cab 130. The worker could barely see the steel structure, which was the work target 44, due to the reflected light from the laser irradiator. However, by operating the operation unit 12 of the master operation device 10 in accordance with the reaction force received by the contact member 26, the worker was able to maintain a constant distance between the laser irradiation lens and the surface of the steel structure, which was the work target 44, and was able to perform the scraping work stably.

[0052] <Flowchart> The remote control system 1 may execute a remote control method including the steps of the flowchart illustrated in Fig. 4. The remote control method may be realized as a remote control program executed by a processor constituting the remote control system 1. The remote control program may be stored in a non-transitory computer-readable medium.

[0053] The control device 30 causes the manipulator 22 to approach the workpiece 44 (step S1). Specifically, the control device 30 acquires the operation content input to the operation unit 12 of the master operation device 10, and moves the manipulator 22 in accordance with the movement of the operation unit 12.

[0054] The control device 30 brings the contact member 26 attached to the manipulator 22 into contact with the workpiece 44 (step S2). If a contact sensor is attached to the contact member 26, the control device 30 acquires the detection result of the contact sensor (step S3). The control device 30 determines whether the contact member 26 has come into contact with the workpiece 44 (step S4).

[0055] If the control device 30 determines that the contact member 26 is not in contact with the workpiece 44 (step S4: NO), it disables the injection tool 24 (step S5). After executing the procedure of step S5, the control device 30 returns to the procedure of step S2 in which the contact member 26 is brought into contact with the workpiece 44.

[0056] When the control device 30 determines that the contact member 26 has contacted the workpiece 44 (step S4: YES), the control device 30 makes the injection tool 24 available (step S6). The control device 30 executes the injection work using the injection tool 24 (step S7). After executing the procedure of step S7, the control device 30 ends the execution of the procedure of the flowchart in FIG. 4.

[0057] As described above, according to the remote operation system 1 and remote operation method of the present disclosure, the contact member 26 extending from the manipulator 22 allows the operator to operate the manipulator 22 while bringing the contact member 26 into contact with the workpiece 44. This makes it easier for the operator to ensure a working distance between the injection tool 24 and the workpiece 44 when performing an injection operation on the workpiece 44. As a result, remote operation when performing an injection operation is facilitated.

[0058] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art could make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included within the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to cause logical inconsistencies, and multiple components or steps can be combined or divided into one. The embodiments of the present disclosure can also be realized as a program executed by a processor included in an apparatus or a storage medium on which a program is recorded. It should be understood that these are also included within the scope of the present disclosure. [Explanation of symbols]

[0059] 1. Remote control system 10 Master operation device (12: operation unit) 20 Slave operation device 22 Manipulator 24 Injection Tools 26 Contact member 28 Contact cover 30 control device (32: cable) 40 Injection control device (42: cable) 44 Work Objects 100 Aerial work platform (110: boom, 120: mobile platform, 130: cab)

Claims

1. an operation unit that accepts operation inputs from an operator; a manipulator equipped with an injection tool for the workpiece; a control device that moves the manipulator in accordance with a movement input by the operator to the operation unit and feeds back a reaction force received by the manipulator to the operation unit, the manipulator further includes a contact member that comes into contact with the workpiece; a length of the contact member is preset to a length that ensures a working distance between the injection tool and the workpiece when the contact member comes into contact with the workpiece.

2. The remote operation system according to claim 1 , wherein the manipulator is mounted on a movable platform configured to be movable.

3. The remote control system according to claim 1 or 2, wherein the contact member includes a damper having a buffering function.

4. the contact member and the injection tool are located at a tip of the manipulator; The remote control system according to claim 1 , wherein the contact member protrudes further than the injection tool in an injection direction of the injection tool.

5. A method for remotely operating an injection tool relative to a work object, comprising: a step of bringing a manipulator equipped with the injection tool close to the workpiece; a step of remotely operating the manipulator by operating an operation unit of a master operation device, and bringing a contact member provided to protrude from the manipulator into contact with the workpiece; performing an injection operation on the workpiece with the contact member in contact with the workpiece; Including, a length of the contact member is preset to a length that ensures a working distance between the injection tool and the workpiece when the contact member comes into contact with the workpiece.

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