Multi-Slave Robot Control With Correctable Automatic Mode
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Solution Overview
Problem
Existing remote control robot systems face excessive operator load and reduced work efficiency when switching to manual or manual-restraint modes, especially when multiple slave arms are used, as they do not effectively utilize automatic operation programs, leading to inefficient operation and increased workload.
Innovation Solution
The remote control robot system introduces a control mode selection mechanism allowing operators to choose between automatic, manual, and correctable automatic modes based on the slave arm's status, enabling the operator to switch to correctable automatic mode for tasks that require operator intervention, reducing the workload and maintaining system efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the slave arm is operated in manual mode or manual mode with restraint, then the operator can handle unexpected situations, but the operator's load becomes excessive and work efficiency is lowered
Solution Approach 1:
The system dynamically switches between manual mode, manual mode with restraint, and automatic mode based on operational needs. The slave operation managing means can flexibly adjust the degree of automation during operation, allowing the operator to invoke task programs selectively during manual mode to reduce load while maintaining the ability to handle unexpected situations.
Solution Approach 2:
The system changes the operational parameters by introducing a hybrid mode where the degree of program utilization can be adjusted. The slave operation managing means allows partial use of task programs during manual operation, changing the parameter of automation level from binary (fully manual/fully automatic) to a continuous spectrum, thereby optimizing both operator load and work efficiency.
2Adaptability or versatility
If the remote control robot system is provided with a plurality of slave arms operating in manual mode, then the system can perform multiple tasks, but the operator's load becomes remarkably excessive
Solution Approach 1:
The system segments the control of multiple slave arms by allowing different operation modes for different arms simultaneously. The slave operation managing means can assign some slave arms to automatic mode using task programs while keeping others in manual mode, dividing the operator's attention and reducing overall load while maintaining versatility.
Solution Approach 2:
The slave operation managing means is designed to universally manage multiple slave arms with different operation modes simultaneously. Each slave arm can independently operate in manual mode, manual mode with restraint, or automatic mode, allowing the system to perform multiple tasks with optimized operator involvement for each task type.
3Productivity
If the slave arm operates in automatic mode, then work efficiency is high, but the system cannot handle unexpected situations or failures
Solution Approach 1:
The system incorporates feedback mechanisms where the operator can monitor automatic operation and intervene when necessary. The slave operation managing means allows switching from automatic mode to manual mode upon detecting unexpected situations, and the operator can update task programs based on feedback from actual operations, improving system reliability while maintaining efficiency.
Solution Approach 2:
The system performs preliminary actions by pre-programming task sequences that can be executed automatically. The slave operation managing means stores task programs that anticipate routine operations, allowing automatic execution for predictable tasks while reserving the capability to switch to manual mode for unexpected situations, balancing efficiency and reliability.
Data Source
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AI summary
In a remote control robot system including a plurality of slave arms, the slave arm has a plurality of control modes of an automatic mode in which the slave arm is operated based on a task program, a manual mode in which the slave arm is operated based on an operator's operation received by a master device, and a correctable automatic mode in which the slave arm is operated based on the task program while the operation is sequentially corrected by the operator's operation received by the master device. Operation sequence information includes an automatic part in which the slave arm performs a work in the automatic mode, and a selected part in which the slave arm performs a work in one selected from the plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.