Tele-operation assistance system and tele-operation assistance method
A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.
1 . A tele-operation assistance system for remotely operating at least an end effector, comprising:
a processor configured to:
acquire information on a motion of an operator operating at least the end effector;
estimate a target object to be operated by the end effector and a task which is a method of operating the target object by using the information on the motion of the operator;
acquire environmental information of an environment in which the end effector is operated; and
based on the estimate of the target object to be operated by the end effector and the task and the environmental information of the environment, determine an operation amount of the end effector,
wherein an operation distance to the target object is estimated based on the information of the target object and the motion of the operator, an operation state of the end effector with respect to the target object according to the estimated operation distance is determined, and an input mode of assistance to a tele-operation according to the operation state is changed, and
wherein
a distant state in which a distance to the target object is farther;
a peripheral state in which a position to the target object is closer; and
an operated state in which the target object is operated, and
the input mode of assistance includes:
a distant mode which directly uses the motion of the operator during the distant state in which the distance to the target object is farther;
a peripheral mode which guides to a working position of the object to the target object during the peripheral state in which the position to the target object is closer; and
an operated mode which assists a manipulation to the target object during the operated state in which the target object is operated.
2 . The tele-operation assistance system according to claim 1 ,
wherein the peripheral mode is classified into:
a state of bringing a hand close to the target object (Approach Object);
a state of moving the hand to a position where the target object can be grasped (Snap to Object);
a state of adjusting a final grasping position in accordance with a surface of the target object and in response to an instruction of the operator (Align with Object);
a state of moving the hand away from a vicinity of the target object (Align with Object),
wherein transitions among the four states according to a work content and a work state are switched.
3 . The tele-operation assistance system according to claim 2 , wherein the transitions among the four states according to the work content and the work state are switched based on using hand command values of the operator, estimated intention information, the environmental information, and a model learned by inputting a teacher data which is the work content.
4 . A tele-operation assistance method that is performed by a tele-operation assistance system for remotely operating at least an end effector, the tele-operation assistance method comprising:
acquiring information on a motion of an operator operating at least the end effector;
estimating a target object to be operated by the end effector and a task which is a method of operating the target object by using the information on the motion of the operator;
acquiring environmental information of an environment in which the end effector is operated; and
based on the estimate of the target object to be operated by the end effector and the task and the environmental information of the environment, determining an operation amount of the end effector,
the tele-operation assistance method further comprising:
estimating an operation distance to the target object based on the information of the target object and the motion of the operator, determining an operation state of the end effector with respect to the target object according to the estimated operation distance, and changing an input mode of an assistance to a tele-operation according to the operation state, and
wherein
a distant state in which a distance to the target object is farther;
a peripheral state in which a position to the target object is closer; and
an operated state in which the target object is operated, and
the input mode of assistance includes:
a distant mode which directly uses the motion of the operator during the distant state in which the distance to the target object is farther;
a peripheral mode which guides to a working position of the object to the target object during the peripheral state in which the position to the target object is closer; and
an operated mode which assists a manipulation to the target object during the operated state in which the target object is operated.