Virtual reality-based work robot remote control apparatus and method thereof

Abstract

One embodiment of the present invention is to provide a virtual reality-based remote control device and method for a work robot equipped in a work environment within a nuclear shielding facility including a hot cell, which can implement a single-person operation system to more easily and accurately convey the operator's operational intentions. A virtual reality-based remote control device for a work robot according to one embodiment of the present invention includes a work robot equipped in a workspace within a hot cell that detects environmental information for remote work and executes a corresponding task according to the input of a remote operation signal; an input unit that implements the input of a remote operation signal to remotely control the execution of a task by the work robot while separated from the work robot; and a virtual reality processing unit connected to the work robot and the input unit to process control tasks related to communication and the creation of a virtual reality environment, and upon receiving a remote operation signal from the input unit, detects an object of the work robot in the virtual reality environment using the received remote operation signal, generates a robot control signal to remotely control the movement path and task of the work robot based on the detected object of the work robot, and transmits it to the work robot.

Description

Technology Field

[0001] The present invention relates to a virtual reality-based remote control device and method for a work robot. Background Technology

[0003] Operation and maintenance of devices installed in isolation zones, such as hot cells that form a space shielded from the outside to enable the handling of radioactive materials, are performed remotely using mechanical actuators and cranes.

[0004] Remote handling technology for containment zones in the nuclear field, such as hot cells, involves operating mechanical remote controls while the operator visually inspects the interior through a work window. Here, the mechanical remote control includes a manipulator in which power is transmitted via cables and pulleys, similar to a pulley system. Since the gripping force of the manipulator's end section (gripper) is generated by the operator's hand strength, and the movement of each link is also produced by the operator's arm strength, the physical strain is significant.

[0005] Such mechanical remote operation has limitations due to the operator's restricted field of view and the operating range of the device. Furthermore, as remote handling tasks rely on the operator's physical strength, it represents a low-level means of remote operation, yet it is still widely used worldwide.

[0006] Meanwhile, as the internal area of ​​the hot cell increases, conventional wall-mounted mechanical remote controls cannot cover the working area. To address this, servo-type remote controls are being developed and introduced to cover areas that mechanical remote controls cannot reach, such as the rear of the hot cell.

[0007] A servo-type remote operator includes a manipulator that operates by converting an operator's gripping action into an electrical signal and sending commands to a servo motor, rather than using the conventional cable-based power transmission method. Unlike mechanical actuators, which are attached to the hot cell wall and cover only a limited operating area due to the need for direct power transmission, this type of operator can cover the entire area within the hot cell as long as the cable remains connected to the actuator body.

[0008] However, unlike mechanical actuators that allow operation while directly viewing the object to be handled through a work window, the operator is located at a distance from the operator, so operators are largely forced to rely on cameras to monitor the work environment. In servo-based remote operation systems, visual information must be provided in real-time in a format that allows for viewpoint changes, regardless of camera resolution, the number of provided viewpoints, or the camera's installation location, so that the operator performing the remote operation can intuitively understand the site. However, simply providing cameras that gaze at the work site from various angles, similar to CCTV, forces remote operator personnel performing precise remote tasks continuously and in real-time to constantly switch between monitors to observe the situation. When operating each handling device within a hot cell via remote control, securing a clear line of sight for operation may be difficult, and unnecessary interference between the devices may restrict access to remote operation and cause difficulties in related tasks.

[0009] As a related prior art, Korean Published Patent No. 2023-0032852 discloses "a robot and a method for controlling a robot." Prior art literature

[0010] Korean Published Patent No. 2023-0032852 The problem to be solved

[0011] One embodiment of the present invention is to provide a virtual reality-based remote control device and method for a work robot that can implement a single-person operation system to more easily and accurately convey the operator's motion intentions to a work robot equipped in a work environment within a nuclear shielding facility including a hot cell.

[0012] In addition to the above-mentioned tasks, embodiments according to the present invention may be used to achieve other tasks not specifically mentioned. means of solving the problem

[0014] A virtual reality-based remote control device for a work robot according to one embodiment of the present invention comprises: a work robot equipped in a workspace within a hot cell that detects environmental information for a remote operation and executes a corresponding operation according to the input of a remote operation signal; an input unit that implements the input of a remote operation signal for remotely controlling the execution of a work robot while being remotely separated from the work robot; and a virtual reality processing unit connected to the work robot and the input unit to process control operations related to communication and the creation of a virtual reality environment, and upon receiving a remote operation signal from the input unit, detects an object of the work robot in the virtual reality environment using the received remote operation signal, generates a robot control signal for remotely controlling the movement path and operation of the work robot based on the detected object of the work robot, and transmits the robot control signal to the work robot.

[0015] Meanwhile, a virtual reality-based remote control method for a work robot according to one embodiment of the present invention includes: a virtual reality environment implementation step in which a virtual reality environment corresponding to an input unit that implements remote operation signal input of a work robot while the work robot provided in a workspace within a hot cell is remotely separated from the work robot, an input information acquisition step in which remote operation signal input information of the input unit is acquired, and a work robot driving step in which a series of remote robot control signals related to the execution of work operations of the work robot corresponding to the remote operation signal input information of the input unit are generated to drive the work robot. Effects of the invention

[0017] One embodiment of the present invention has the effect of improving the intuitiveness, efficiency, and accuracy of remote handling operations by implementing a single-person operation system that allows a worker to intuitively recognize operation information of a remote work robot in a virtual environment, while simultaneously enabling the work robot to mimic the worker's movements. Brief explanation of the drawing

[0019] FIG. 1 is a schematic diagram illustrating a virtual reality-based work robot remote control device according to an embodiment of the present invention. FIG. 2 is a diagram schematically illustrating a virtual reality-based work robot remote control process using a virtual reality-based work robot remote control device according to an embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a hand tracking input method of a first input unit according to an embodiment of the present invention. FIG. 4 is a schematic diagram illustrating the pedal input method of the second input unit according to an embodiment of the present invention. Specific details for implementing the invention

[0020] Embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. In the drawings, parts unrelated to the explanation have been omitted to clearly explain the invention, and the same reference numerals are used for identical or similar components throughout the specification. Furthermore, specific descriptions of widely known prior art are omitted.

[0021] Throughout the specification, when a part is described as "including" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0022] Hereinafter, a virtual reality-based remote control device and method for a work robot will be described in detail with reference to the drawings.

[0023] FIG. 1 is a schematic diagram illustrating a virtual reality-based work robot remote control device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram illustrating a virtual reality-based work robot remote control process using the virtual reality-based work robot remote control device according to an embodiment of the present invention. FIG. 3 is a schematic diagram illustrating a hand tracking input method of a first input unit according to an embodiment of the present invention, and FIG. 4 is a schematic diagram illustrating a pedal input method of a second input unit according to an embodiment of the present invention.

[0024] Referring to FIGS. 1 to 4, a virtual reality-based work robot remote control device according to an embodiment of the present invention includes a work robot (130), an input unit (110), and a virtual reality processing unit (120).

[0025] The work robot (130) is equipped in the workspace within the hot cell to detect environmental information for remote work and performs the function of executing a corresponding task in accordance with the input of a remote operation signal. That is, the work robot (130) is equipped in the workspace within the hot cell and can perform tasks corresponding to remote robot control signals. The work robot (130) may include a ceiling-moving multi-joint manipulator, a multi-joint robot, and a collaborative robot, in which the end portion of the device moves in synchronization according to the hand movements and posture of the worker. For example, the work robot (130) may include a ceiling-moving multi-joint manipulator. The ceiling-moving multi-joint manipulator may include a ceiling-moving type two-arm multi-joint manipulator. Such a ceiling-moving multi-joint manipulator can be utilized in various fields such as nuclear hot cells, nuclear fusion fields, and deep sea fields where workers cannot access. Of course, in the case of an underwater robot, the robot body may not move via a ceiling-moving mechanism but may move or perform posture control using its own propulsion system. Ceiling-moving multi-joint manipulators may include ceiling-moving parts and gantry-moving multi-joint robots applied in the field of nuclear hot cells.

[0026] The ceiling moving unit is equipped with a transfer unit of a preset direction and can move along the ceiling wall within the hot cell. For example, the ceiling moving unit may be coupled to an overhead rail system or frame installed on the ceiling within the hot cell to move in a preset direction.

[0027] The gantry movable multi-joint robot is coupled to the ceiling moving part and can execute a corresponding operation according to a remote operation signal input through the input part (110). The gantry movable multi-joint robot is attached to the lower part of the ceiling moving part and receives a remote operation signal from the input part (110) and can execute a operation corresponding to the remote operation signal from the input part (110) in the hot cell workspace.

[0028] A gantry-type articulated robot may include an industrial robot with a robot arm mounted on an overhead rail system or frame. The structure of the gantry may include a series of beams or struts that provide stability and precision, enabling the robot to move along the X, Y, and Z axes. A gantry-type articulated robot can realize the advantages of a gantry system, which must lift heavy payloads and move across a wide work area, and the advantages of an articulated robot, which can perform precise work with high degrees of freedom within the work area. A gantry-type articulated robot can be configured to operate in various environments, including clean rooms, hazardous environments, and other specialized applications.

[0029] In hot cell workspaces, which form a shielded space from the outside to allow for the handling of radioactive materials, path planning or monitoring / operation was previously performed using a third-person perspective (such as a camera). However, due to the limited freedom of viewpoint switching in camera systems, intuitive remote handling operations through direct operator manipulation, rather than repetitive movements along a predetermined path, were very difficult. In particular, since the operation inputs for the multi-joint robot unit and the gantry movement unit had to be processed separately, solo operation by a single operator was very difficult, and there was the inconvenience of having to deploy multiple operators.

[0030] Recently, as VR systems have become more popularized, it has become easier to implement virtual environments that simulate the actual site. Furthermore, with the widespread adoption of digital twin technology that enables integration with real systems within such environments, remote handling of hardware based on virtual environments has become possible.

[0031] A virtual reality-based remote control device for a work robot according to an embodiment of the present invention can implement a virtual environment configuration that can be operated as a one-person operation system to enable first-person viewpoint operation of a work robot (130) provided in a workspace within a hot cell, a robot operation technique within the virtual environment, and a robot baseframe movement technique within the virtual environment.

[0032] Meanwhile, the work robot (130) is equipped in the workspace within the hot cell and can detect environmental information of the remote work. For example, the work robot (130) may further include a vision recognition unit equipped in the work robot (130) that acquires point cloud data for a captured object and detects environmental information of the hot cell workspace. An embodiment of the present invention incorporates a multi-point cloud technique and a state-of-the-art image processing technique to increase the recognition rate of the subject and enable the work robot (130) to move, thereby covering a wide area or minimizing blind spots of the subject.

[0033] The input unit (110) can implement the input of a remote operation signal to remotely control the execution of a work robot (130) while being remotely separated from the work robot (130). The input unit (110) can implement a single-person operation system by processing input data input through the operator's movements into a remote operation signal for the operation command input system for the operation of the work robot (130). The input unit (110) may include a seated pedal-type input device that generates a remote operation signal while the operator is in a seated position.

[0034] The input unit (110) includes a first input unit (112) and a second input unit (114) and can function to input input data related to movement in a virtual reality space. For example, the input unit (110) can input input data related to movement in a virtual reality space of a work robot (130). Additionally, the input unit (110) can detect the movements of a worker and input input data related to the worker's movements. For example, it can directly detect the movements of the worker's hands or arms, or the movements of the worker's feet or lower body, to generate corresponding input data.

[0035] The first input unit (112) can generate a remote operation signal for a gantry-type multi-joint robot by processing a signal input through the upper body of the worker. The first input unit (112) can be implemented so that the work robot (130) can operate by mimicking the worker's hand movements exactly. For example, hand tracking can be performed through a sensor embedded in a VR device worn by the worker. Data related to hand movements (gestures) during the VR handling process can be acquired. Remote operation of the work robot (130) is possible by applying hand tracking technology that mimics the posture of the worker's hand or arm in real time in a virtual reality environment recognized through the VR device. The first input unit (112) can be implemented as an input device corresponding to the end effector or arm of the gantry-type multi-joint robot. In this case, the first input unit (112) may further include a self-weight compensation mechanism that supports the worker's arm. In other words, a spring-mechanism-based self-weight compensation mechanism can be applied to support a worker's arm on a seated pedal-type input device capable of operating a gantry-mobile multi-joint robot equipped in a workspace within a hot cell. Here, the self-weight compensation mechanism can be of the same type as a Steady Cam used in imaging equipment. Through the self-weight compensation mechanism, the gravitational weight of the worker's arm is compensated, thereby reducing the burden of maintaining posture during shoulder extension / flexion in the sagittal plane. Additionally, a passive mechanism can be applied for horizontal extension / flexion movements. Generally, many remote handling tasks are performed for long periods or while maintaining a constant posture. To this end, it is necessary to assist the muscle strength of the worker's upper limbs through a self-weight compensation mechanism.

[0036] The second input unit (114) can process a signal input through the lower body of a worker to generate a remote operation signal for the ceiling moving unit. The second input unit (114) may include a pedal system operated by the worker's feet. For example, the second input unit (114) can detect the worker's foot movements so that the work robot (130) can perform a corresponding operation. A worker performing operation of a gantry-moving multi-joint robot based on hand tracking can generate operation commands for the ceiling moving unit through pedal operation. To enable the worker to effectively perform pedal input, the second input unit (114) may be implemented as a seated system. In this case, the second input unit (114) may include a Valeg.

[0037] Figure 4 illustrates a pedal command combination technique for movement of a gantry system within a virtual environment. As shown in Figure 4, pedal combination commands can be flexibly configured according to the structure of the gantry system. Referring to Figure 4, 4-degrees-of-freedom movement (XYZ orthogonal coordinate movement and Rz rotation implementation) is possible by combining forward pedal tilt (Positive Pitch), backward pedal tilt (Negative Pitch), vertical pedal press (Press), and left / right pedal tilt (Roll) for each pedal. In the case of Rz rotation, the seat can be implemented to rotate in conjunction with the rotation direction and amount of rotation of the virtual model, thereby increasing the operator's immersion.

[0038] Hand tracking input corresponding to the worker's arm movement can be made through the first input unit (112), and pedal input through the ballg forming the second input unit (114) can be comprehensively utilized. Accordingly, control of the movement mechanism coupled to the upper part of the robot arm of the work robot (130) that is remotely operated within the hot cell can be performed in parallel with a single-person operation system.

[0039] The virtual reality processing unit (120) generates a series of remotely controllable robot control signals related to the execution of work operations of the work robot (130) corresponding to the input of a remote operation signal through the work robot (130) and the input unit (110), and can create a virtual reality environment for the hot cell workspace by displaying virtual reality environment information for the work robot (130) and the input unit (110) on a pre-set virtual screen, respectively.

[0040] The virtual reality processing unit (120) can function as a control unit that implements overall control operations related to remote control of a virtual reality-based work robot according to an embodiment of the present invention. Here, the control unit is one that performs calculations, processing, etc. by a processor of an information processing device, and refers to a logical part of a program that performs a specific function in a computer, and can be implemented in software, hardware, etc. For example, the information processing device may include a control computer such as a control panel, a laptop, a personal computer, a handheld computer, a PDA (personal digital assistant), a mobile phone, a smart device, or a tablet. The control unit can analyze information related to remote control of a virtual reality-based work robot using information stored in memory and implement overall control operations related to the transmission of related information.

[0041] The virtual reality processing unit (120) is connected to the work robot (130) and the input unit (110) to process control operations related to communication and the creation of a virtual reality environment. When it receives a remote operation signal from the input unit (110), it uses the received remote operation signal to detect an object of the work robot (130) in the virtual reality environment. Based on the detected object of the work robot (130), it can generate a robot control signal to remotely control the movement path and operation of the work robot (130) and transmit it to the work robot (130).

[0042] The virtual reality processing unit (120) may further include a VR device that can be worn by a worker. Here, the VR device may include a head-mounted display (HMD).

[0043] The virtual reality processing unit (120) can render virtual reality environment information, including a virtual work path of the work robot (130) and the input unit (110), to the environment information of the hot cell workspace detected by the vision recognition unit through a display provided inside, and output it to a VR device.

[0044] The virtual reality processing unit (120) transmits the actual image of the hot cell workspace to a VR device to display it on a virtual screen, processes input data received from the work robot (130) and the input unit (110) to determine the target of the hot cell workspace, and can determine a work path for at least one end effector operable by the work robot (130) to reach the target based on the acquired actual image and the processed input data.

[0045] Meanwhile, a method for remotely controlling a virtual reality-based work robot using a virtual reality-based work robot remote control device according to an embodiment of the present invention is described. The method for remotely controlling a virtual reality-based work robot according to an embodiment of the present invention includes a virtual reality environment implementation step, an input information acquisition step, and a work robot driving step, and can implement a single-person operation system for operating a virtual reality-based work robot for a hot cell workspace.

[0046] In the virtual reality environment implementation step, a virtual reality environment corresponding to an input unit (110) that implements remote operation signal input of a work robot (130) while being remotely separated from a work robot (130) provided in a workspace within a hot cell can be implemented through a virtual reality processing unit (120). In the virtual reality environment implementation step, virtual reality environment information for the work robot (130) and the input unit (110) can be displayed on a pre-set virtual screen, respectively, to create a virtual reality environment for the hot cell workspace. Additionally, in the virtual reality environment implementation step, a multi-point cloud-based environment image can be implemented to express the external image of the subject and environment as a combination of points, while the color information and location information of each point can be acquired together.

[0047] The input information acquisition step is a step of acquiring remote operation signal input information of the input unit (110). Through the input information acquisition step, the upper limb movements and lower limb movements of a worker wearing a VR device can be processed as input signals.

[0048] The work robot driving step is a step of driving the work robot (130) by generating a series of remote robot control signals related to the execution of work operations of the work robot (130) corresponding to the remote operation signal input information of the input unit (110).

[0049] Through an embodiment of the present invention, a motion command input system for smooth and intuitive operation of a work robot (130) deployed in a remote location is provided, thereby improving the current dual / multiplexed servo-type remote operator system into a single-person operation system.

[0050] In contrast to the conventional method where the operator directly generates the movement of the master while standing, the operator can now operate the first input unit (112) by relying on the arm of the upper limb in a seated position and the weight compensation mechanism, and operate the ceiling movement device, which was previously operated by a separate teach pendant other than the master, using the pedal system of the second input unit (114). In other words, previously, in addition to the master arm operator, separate operators such as a ceiling movement device operator and a camera control operator were required. Even when performing a single remote operation, the efficiency of the work is reduced because such multiple operators require mutual communication.

[0051] Of course, various pedal systems have existed in the past. However, the embodiment of the present invention is distinguished in that it presents a technique that allows a single person to operate a ceiling-moving multi-joint manipulator by combining a virtual reality processing unit (120), a first input unit (112) using the upper body of the worker, and a second input unit (114) using the lower body of the worker.

[0052] Meanwhile, the virtual environment implemented through virtual reality acquires and displays the actual working environment where the slave system is located as video information, and can express several additional pieces of information as superimposed computer graphics.

[0053] The worker can move their head, wearing a VR device, within the virtual environment to look around the environment as if they were located in the actual environment. Here, the worker's viewpoint can be changed in the same way as moving a mouse in a first-person game. At this time, the worker can walk around inside the virtual environment independently of the work robot (130), or become integrated with the work robot (130) to move the work robot (130) itself. Here, the worker's movement input using a pedal can be applied in the same way as inputting WSAD on a keyboard in a first-person game.

[0054] As described above, free movement of the work robot (130) within the horizontal plane is possible through the VR device and pedal input. If you want to adjust the height of the gantry-moving multi-joint robot through the ceiling moving part forming the work robot (130), pedal input can be used.

[0055] Meanwhile, since the arm of a gantry-mobile articulated robot can be controlled through a VR device and hand tracking, if combined with a pedal input system, one worker can freely operate a 4-degree-of-freedom ceiling movement unit combined with each 6-degree-of-freedom gantry-mobile articulated robot.

[0056] As described above, by utilizing the virtual reality-based remote control device and method for a work robot according to an embodiment of the present invention, operational efficiency can be maximized through intuitive control of the work robot (130) installed in the work environment within the hot cell. Furthermore, it can be applied in various extreme environments and fields. For example, it can be utilized in disaster relief, exploration of extreme regions, deep sea, space, construction / civil engineering fields, etc. In addition, it can be applied in various industrial sites where the office and the site are separated. For example, when performing experiments using reagents in a fume hood for handling chemicals, the experiment can be performed remotely from the office using a VR-robot; when operating or maintaining process equipment within the hot cell, the operation can be performed remotely from the central control room within the facility using a virtual reality-based work robot; and when performing underground excavation work within a construction site, the work can be performed remotely from another site in a remote location using a virtual reality-based work robot.

[0057] Meanwhile, the virtual reality-based remote control device for a work robot according to an embodiment of the present invention facilitates commercialization and system sharing. In the case of the pedal system forming the input unit (110), the same effect can be achieved using an insole-type pressure sensor, etc., thereby allowing the master input system to be easily shared with various remote users through the compactness of the master system. By simply delivering the VR headset and the pedal input device and connecting to a network, the slave system can be operated from anywhere. Furthermore, it is applicable to most systems where the work robot (130) moves and the single arm / double arm attached to the work robot (130) must be used simultaneously. For example, it can be applied to excavators, multi-joint robots combined with mobile platforms, underwater robots combined with arms, and robots for repairing space stations. Additionally, it can be integrated into games and simulations in the VR and AR fields.

[0058] Although preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims also fall within the scope of the present invention. Explanation of the symbols

[0060] 110 ; Input section 112 ; First input section 114 ; 2nd Input Unit 120 ; Virtual Reality Processing Unit 130 ; Work robot

Claims

Claim 1 A virtual reality-based work robot equipped in a workspace within a hot cell that detects environmental information for remote work and executes a corresponding task according to the input of a remote operation signal; an input unit that implements the input of a remote operation signal to remotely control the execution of a task by the work robot while being remotely separated from the work robot; and a virtual reality processing unit connected to the work robot and the input unit to process control tasks related to communication and the creation of a virtual reality environment, and upon receiving a remote operation signal from the input unit, detects an object of the work robot in the virtual reality environment using the received remote operation signal, generates a robot control signal to remotely control the movement path and task of the work robot based on the detected object of the work robot, and transmits it to the work robot. The virtual reality processing unit acquires an actual image of the hot cell workspace, processes input data received from the work robot and the input unit to determine a target in the hot cell workspace, and determines a task path for at least one end effector operable by the work robot to reach the target based on the acquired actual image and the processed input data. Remote control device. Claim 2 In claim 1, the above work robot is a virtual reality-based work robot remote control device including a ceiling-moving multi-joint manipulator. Claim 3 In paragraph 2, the ceiling-moving multi-joint manipulator comprises a ceiling-moving part that moves in a preset direction by being coupled to an overhead rail system or frame provided on the ceiling within the hot cell, and a gantry-moving multi-joint robot that performs a corresponding task according to a remote operation signal input through the input part. Claim 4 In paragraph 3, the input unit is a virtual reality-based remote control device for a work robot that implements a motion command input system for operating the work robot by processing input data input through the operator's movements into a remote operation signal. Claim 5 In paragraph 4, the above input unit is a virtual reality-based work robot remote control device comprising a seated pedal-type input device that generates a remote operation signal while the operator is in a seated position. Claim 6 In claim 5, the above input unit comprises a first input unit that processes a signal input through the upper body of a worker to generate a remote operation signal of the gantry-moving multi-joint robot, and a second input unit that processes a signal input through the lower body of a worker to generate a remote operation signal of the ceiling-moving unit, thereby forming a virtual reality-based work robot remote control device. Claim 7 In claim 6, the first input unit further includes a self-weight compensation mechanism that supports the worker's arm, a virtual reality-based work robot remote control device. Claim 8 In paragraph 6, the second input unit is a virtual reality-based work robot remote control device comprising a pedal system operated through the worker's foot. Claim 9 A virtual reality-based work robot remote control device according to claim 1, further comprising a vision recognition unit equipped on the work robot to acquire point cloud data for a captured object and detect environmental information of a hot cell workspace. Claim 10 In paragraph 9, a virtual reality-based work robot remote control device further comprising a VR device equipped to be wearable by a worker. Claim 11 In paragraph 10, the VR device is a virtual reality-based work robot remote control device including a head-mounted display (HMD). Claim 12 A virtual reality-based remote control device for a work robot according to claim 11, wherein the virtual reality processing unit renders virtual reality environment information, including the work robot and the virtual work path of the input unit, to the environment information of the hot cell workspace detected by the vision recognition unit through an internally provided display, and outputs it to the VR device. Claim 13 In claim 12, the virtual reality processing unit transmits the actual image to the VR device to display it on a virtual screen, and performs hand tracking that mimics the posture of a worker's hand or arm in real time through the VR device to remotely drive the work robot, a virtual reality-based work robot remote control device. Claim 14 A virtual reality-based remote control method for a work robot, comprising: a virtual reality environment implementation step in which a virtual reality environment corresponding to an input unit that implements remote operation signal input of a work robot while being remotely separated from a work robot provided in a workspace within a hot cell is implemented through a virtual reality processing unit; an input information acquisition step in which remote operation signal input information of the input unit is acquired; and a work robot driving step in which a series of remote robot control signals related to the execution of a work operation of the work robot corresponding to the remote operation signal input information of the input unit is generated to drive the work robot, wherein the virtual reality processing unit acquires an actual image of the hot cell workspace, processes input data received from the work robot and the input unit to determine a target of the hot cell workspace, and determines a work path for at least one end effector operable by the work robot to reach the target based on the acquired actual image and the processed input data. Claim 15 In claim 14, a virtual reality-based remote control method for a work robot that creates a virtual reality environment for a hot cell workspace by displaying virtual reality environment information for the work robot and the input unit on a preset virtual screen, respectively, during the virtual reality environment implementation step. Claim 16 In claim 15, a virtual reality-based remote control method for a work robot, wherein in the virtual reality environment implementation step, a multi-point cloud-based environment image is implemented to express the external image of the subject and environment as a combination of points, and color information and location information of each point are acquired together.

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