Remote Control Robot Access Logic for Safe Operator Entry
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Solution Overview
Problem
Industrial remote control robot systems face challenges in allowing operators to safely manipulate master devices within the operational area of slave arms without risking collisions, as existing systems are not designed to accommodate operator presence during operation, leading to potential safety hazards.
Innovation Solution
A remote control robot system with a master device, slave arm, entering-person sensing device, identifying information acquisition, and operation regulating device that allows the slave arm to continue operation when the operator is present, enabling manual control and preventing collisions by regulating the slave arm's operation based on detected personnel identity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot performs emergency stop when a person enters the operational area, then safety is improved, but the operator cannot manipulate the master device within the operational area
Solution Approach 1:
The system applies different safety rules to different persons in the operational area. Operators wearing identification devices are granted permission to enter and manipulate the master device, while other persons trigger emergency stop. This local differentiation of access rights resolves the contradiction by allowing operator accessibility while maintaining safety for unauthorized persons.
Solution Approach 2:
The entering-person sensing device continuously monitors the operational area and provides feedback to the control device. When an operator with identification is detected, the system switches to a mode allowing master device manipulation. When unauthorized persons are detected, emergency stop is triggered. This feedback mechanism enables dynamic safety management that accommodates operator needs while preventing unauthorized access.
2Ease of operation
If the operator enters the operational area to check slave arm operation, then ease of operation is improved, but collision risk increases
Solution Approach 1:
The control device dynamically changes the operational mode of the slave arm based on operator presence. When an operator enters the operational area, the system switches from autonomous operation to master-device-controlled operation only. This dynamic adaptation allows the operator to safely monitor operations up close while the slave arm responds only to deliberate master device commands, eliminating unpredictable autonomous movements that could cause collision.
Solution Approach 2:
The master device serves as an intermediary control interface between the operator and the slave arm. When the operator is in the operational area, all slave arm movements must be commanded through the master device, providing the operator with direct control and predictability of slave arm motion. This intermediary control mechanism reduces collision risk by ensuring the operator has full awareness and control of slave arm movements.
3Productivity
If the slave arm operates at high speed with wide range, then productivity is improved, but safety risk increases when operator is nearby
Solution Approach 1:
The slave arm operates in different dynamic modes depending on operator presence. When the operational area is clear, the slave arm can execute high-speed autonomous operations for maximum productivity. When an operator enters, the system dynamically switches to a restricted mode where only master-device-commanded movements are permitted, reducing speed and range to safe levels. This dynamic mode switching maintains productivity during autonomous operation while ensuring safety during operator presence.
Data Source
AI summary
Remote control robot system includes a master device, slave arm having plurality of control modes including automatic and manual mode, control device configured to operate slave arm, an entering-person sensing device configured to detect entering person into operational area of slave arm, entering-person identifying information acquisition device configured to acquire entering-person identifying information for identifying whether entering person is operator who carries master device, and operation regulating device configured to regulate operation of slave arm based on information acquired from entering-person sensing device and information acquisition device. In automatic mode, operation regulating device regulates operation of slave arm when entering person is detected. In manual mode, operation regulating device allows operation of slave arm to continue when entering person is detected and entering person is operator, and regulates operation of the slave arm when entering person is other than operator.