Bipedal robot device and its operating method

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a bipedal walking robot device that remotely controls work site supervision, patrol, patrol, artificial reality experience, disaster site investigation / termination work, supporter guidance support, and the like, and an operation method thereof.

【0002】

[Conventional technology]

In the periodic inspection work of a nuclear power plant, multiple workers and supervisors work in teams, and multiple teams take turns working 24 hours a day. In order to ensure the reliability of work, it is necessary to secure excellent on-site supervisors.

【0003】

Sharing video information between field workers, field work monitoring post, central control room, manufacturer and supervisor of work orderer's control center to shorten the construction period or periodic inspection period of large plants By doing so, a technique for shortening the time required for judgment and shortening the construction period and the periodic inspection period is disclosed in Japanese Patent Application Laid-Open No. 11-118979.

【0004】

For nighttime abnormality monitoring of office buildings, factories, etc., security guards patrol regularly and remote fixed-point monitoring using surveillance cameras is performed. At hospitals and nursing homes for the elderly, night shift personnel perform regular patrols to monitor for abnormalities. Aircraft pilot training is conducted in a state where an artificial reality can be obtained by simulating the cockpit using a simulator device.

【0005】

When a disaster occurs in a nuclear plant, when checking the situation at the disaster site, from the viewpoint of keeping the exposure dose below the permissible range, the time spent at the site is shortened and multiple workers are put in the site. ..

【0006】

On the other hand, a bipedal walking robot that is about the same size as a human and does not have a control cable has been developed. Techniques related to the related foot structure and gait control device are described in Japanese Patent No. 2826858 and Japanese Patent No. 2819353.

【0007】

Techniques related to a system in which an operator sits in a remote control chair to operate a bipedal walking robot remotely are described in JP-A-10-180657, JP-A-10-291184, and JP-A-11-10567. It is published in. Fitness clubs and the like are equipped with treadmills for walking in narrow places so that they can experience walking in the same place. A technique capable of easily improving the function and performance of a dog-shaped robot is published in Japanese Patent Application Laid-Open No. 11-188678.

【0008】

As a tactile sensor of a robot, a sensor having a means for supplying electric power from the outside in a non-contact manner to silicon rubber and a means for detecting deformation and temperature of a solid and converting it into an electric signal and transmitting this to the outside in a non-contact manner. A technique relating to artificial skin in which a large number of elements are embedded is published in Japanese Patent Application Laid-Open No. 11-245190. A technique for reducing wear on a sliding surface by making the sliding surface of an ultrasonic motor a part of a magnetic circuit is disclosed in Japanese Patent Application Laid-Open No. 10-66361.

【0009】

[Problems to be Solved by the Invention]

In the conventional technique described in Japanese Patent Application Laid-Open No. 11-118979 concerning the construction and inspection of the above-mentioned plant, the observer in the remote control room shares the state of viewing the video information of the field work from the standpoint of the worker. By doing so, it is possible to prevent problems from occurring during work and quickly determine countermeasures when problems occur, improving work efficiency compared to the case without conventional video sharing. can do.

【0010】

However, this conventional work method presupposes that the field work team has an excellent field supervisor, and when trying to know the situation of the field with the observer's own way of thinking in the remote control room, the field supervisor The on-site supervisor will move to obtain video information by giving instructions by audio or image display. It takes time to accurately convey the intention with instructions by voice or image display. In addition, if a large number of excellent on-site supervisors are not available, the work cannot be completed in a short period of time, and it becomes difficult to ensure the quality of the work.

【0011】

The number of hospitals, nursing homes for the elderly, etc. will increase as the population ages. However, in response to this, it becomes difficult to adequately treat night shift workers, and there is a risk that sufficient long-term care will not be possible and first aid will be delayed.

【0012】

When a disaster occurs in a nuclear plant, when checking the situation at the disaster site, from the viewpoint of keeping the exposure dose below the permissible range, the time spent at the site is shortened and multiple workers are put in the site to deal with it. There is no change in receiving unwanted exposure. Also, if the dose is too strong, you have to wait until it drops, but there is no guarantee that the disaster will not spread during that time.

【0013】

The bipedal walking robots currently being developed are aimed at robots that perform force work and robots that perform autonomous movement. However, the robots that are needed in the world are robots that can monitor and inspect as much as humans even if they cannot perform force work. The current robot aims to be a robot that performs force work and precision work, and because it uses an electric motor and gear mechanism to drive joints, the weight of the robot is heavy and the required electrical energy is also large. In addition, the leg control of the biped robot is complicated because the remote control method of sitting on a chair is adopted because a large control room is not required for remote control.

【0014】

The present invention has been made in view of such conventional circumstances. A bipedal walking robot is carried into a work site or various facilities, and the bipedal walking robot is remotely controlled by following the movement of an operator in a remote control room. The purpose is to provide a bipedal walking robot device that can remotely supervise and experience the site and its operation method.

【0015】

[Means for solving problems]

The invention of claim 1 has a human shape, has sensory sensors on the head, torso, shoulders, elbows, hands, hips, knees, ankles and soles, and has neck, torso, shoulders, elbows, hands and hips. A bipedal walking robot that has a drive mechanism at joints such as knees, ankles, and toes, and is attached to the operator's head, torso, shoulders, elbows, hands, hips, knees, ankles, and feet to move these parts. Therefore, the configuration is provided with a drive signal generator that generates a signal for driving the drive mechanism of the bipedal walking robot and a display that displays a sensitive signal by the sensory sensor of the bipedal walking robot.

【0016】

The invention of claim 2 comprises a configuration in which the drive mechanism includes an ultrasonic motor incorporating a magnetic circuit that passes through a contact point of a sliding portion. The invention of claim 3 ranks the instruction of transition / continuation / cancellation to basic movements such as flat ground walking, hill walking, stair climbing, bending down, kneeling peeping, lying down, sitting, sitting, etc. The operation program is used, and the lower operation program is used to give instructions to the drive mechanism for performing the instructed operation.

【0017】

The invention of claim 4 has a configuration in which a control device with a memory of a lower motion program is provided on the head, body, arms, and legs of the bipedal walking robot. The invention of claim 5 is configured such that the content of the lower operation program is rewritten based on the result of learning by various operations according to the signal from the drive signal generator mounted on the operator.

【0018】

The invention of claim 6 is convenient for using an artificial reality remote control device in which the above-mentioned bipedal walking robot is installed or transferred to a destination and the bipedal walking robot is remotely controlled by following the movement of the operator. It will be installed at a location and will be configured to remotely control periodic inspection work or construction work supervision, patrol, shopping, sightseeing, watching, watching games, boarding experience, disaster site surveys, etc.

【0019】

In the invention of claim 7, the above-mentioned artificial reality remote control device is used as a plurality of units, and the remote control of the integrated bipedal walking robot is alternately performed by a plurality of operators. The configuration is such that the same artificial reality experience as the person who is maneuvering is shared.

【0020】

In the invention of claim 8, a plurality of the above-mentioned artificial reality remote control devices are installed at a plurality of locations on a global scale, and the remote control of an integrated bipedal walking robot is alternately performed among a plurality of operators on a global scale. Other operators who have performed and are not maneuvering shall share the same artificial reality as the operator who is actually maneuvering.

【0021】

According to the invention of claim 9, the artificial reality remote control device includes a room runner having stairs and a slope, and controls the room runner so that the operator repeats the operation at the same position.

【0022】

The invention of claim 10 is a controlled area for a device that carries the above-mentioned bipedal walking robot together with equipment into a regular inspection work site or a construction work site in the regular inspection work or construction work of a nuclear power plant and performs remote control with a sense of artificial reality. Installed in an outside on-site control room or on-site office, the work supervisor puts a tactile sensor-embedded cover with artificial skin on the head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. Wearing the attached body suit, the room runner type artificial site simulation device is used to perform various operations to remotely control the bipedal walking robot to perform on-site supervision work.

【0023】

The invention of claim 11 is to install the above-mentioned bipedal walking robot on each floor and each building in a fixed-time patrol of an office building or a hospital at night, and install a device for remote control with an artificial reality in a stuffing station. Head mounting display at the stuffing station, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles with tactile sensors embedded. It is configured to perform various movements and remotely control a bipedal walking robot to perform patrol.

【0024】

The invention of claim 12 is a corner of a residential complex, a theme park, a leisure facility, a theater facility, a sports facility, etc. A body with a head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and a cover with artificial skin with a tactile sensor embedded in the sole of the foot. The configuration is such that a suit is worn and various operations are performed with a room runner type artificial site simulation device to remotely control a bipedal walking robot to experience shopping and the like.

【0025】

The invention of claim 13 is to equip a theme park, a leisure facility, a theater facility, a sports facility, a tourist spot, etc. with the above-mentioned bipedal walking robot, and to provide a device for remote control with an artificial reality in a corner of a downtown area, a school, a ticket. Installed in booths set up at sales locations, hospitals, nursing homes, etc., head mounting displays , neck, torso, shoulders, elbows, hands, hips, knees, feet, feet, for those who wish to experience playing, watching, watching games, and sightseeing . A body suit with a tactile sensor embedded in the sole of the foot and a cover with artificial skin is worn, and various movements are performed with a room runner type artificial site simulation device to remotely control a bipedal walking robot for various experiences.

【0026】

The invention of claim 14 is a device for transporting the above-mentioned bipedal walking robot to an accessible range of a disaster occurrence site and performing remote control with a sense of artificial reality, such as a fire department, a police station, a site command center (temporary or portable), and the like. Head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles with artificial skin that are installed in universities and laboratories and possess special skills or expertise. Wearing a body suit with the above attached, perform various movements with a room runner type artificial site simulation device and remotely control a bipedal walking robot to investigate the disaster site, perform disaster convergence work, and support the guidance of supporters. ..

【0027】

BEST MODE FOR CARRYING OUT THE INVENTION

As an embodiment of the present invention, a bipedal walking robot device for remotely controlling a bipedal walking supervision robot to perform inspection work of a nuclear power plant and work of a site supervisor in construction work and an operation method thereof will be described below. ..

【0028】

Figure 1 shows the configuration of a system for jointly maneuvering and supervising a remote-controlled bipedal walking supervision robot. This system consists of a work site 1 using a crane at a regular inspection work plant or a construction site, a site remote control room 2 and a central control center 3, and the site remote control room 2 and the central control center 3 are communication satellites. Information can be exchanged via 4 (which may be an optical fiber network).

【0029】

An overhead crane 6 having an operation room 5 is provided at the work site 1, and the installation work of the installation unit 7 is performed using the overhead crane 6. A plurality of field workers 8 and a bipedal walking supervision robot 9 are stationed at the installation work site. An operator (not shown) who operates the overhead crane 6 is arranged in the operation room 5.

【0030】

A TV camera 10 using a battery-powered CMOS sensor is attached to the installation unit 7, and video information of the TV camera 10 and the TV camera 78 (see FIG. 6) used as the eyes of the bipedal walking supervision robot 9 and bipedal walking. Information such as the tactile sensor of the supervising robot 9 is wirelessly transmitted to the antenna 11 attached to the overhead crane 6. Further, a TV camera 12 for photographing the installation unit 7 is attached to the overhead crane 6.

【0031】

The images taken by the TV cameras 10 and 12 and the images taken by the TV camera 78 (see Fig. 6) of the bipedal walking supervision robot 9 and the tactile sensor information are installed from the antenna 11 to the operation room 5 of the overhead crane 6. It is sent to the on-site remote control room 2 by the transmission line 13 via the video processing device (not shown).

【0032】

A large multi-screen 14, a computer system 15, and a remote control device 16 are installed in the on-site remote control room 2. The administrator 17 assigned to the remote control device 16 manages the installation work at the work site 1 while watching the image on the large multi-screen 14, confirms the design data for support, and manages the transportation status of the equipment and the like. ..

【0033】

In addition, the remote control device 16 has a treadmill 29 part and an escalator 28 (see FIG. 2) part, and the bipedal walking supervision robot 9 is remotely controlled and operated by the operation performed by the administrator 17 on these parts to perform work. The bipedal walking supervision robot 9 is moved to a place where it is easier to monitor the situation of the site 1 to supervise the situation of the site with high accuracy.

【0034】

The central control center 3 is equipped with a large multi-screen 18, a computer system 19, and a remote control device 20. The administrator 21 assigned to the remote control device 20 evaluates the work state of the work site 1 by comparing it with the work instruction sheet and the design specifications while watching the image of the work site 1 projected on the large multi-screen 18, and works. Change instructions, review design, review equipment arrangements, and give instructions for changes.

【0035】

In addition, when the manager 17 of the site remote control room 2 cannot remotely control the bipedal walking supervision robot 9 of the work site 1, or when he / she wants to check the status of the work site 1 from the viewpoint of the manager 21, the remote control device 20 A place where it is easier to monitor the situation of work site 1 by remotely controlling the bipedal walking supervision robot 9 by the action performed by the administrator 21 on the room runner 29 part and the escalator 28 (see Fig. 2) part. The bipedal walking supervision robot 9 is moved to supervise the on-site situation with high accuracy.

【0036】

The transmission of this information is performed by the antenna 22, the communication satellite 4, and the antenna 23 provided in the field remote control room 2. When an abnormality occurs in the bipedal walking supervision robot 9, the priority of the action response is 8 on-site workers, 17 managers, and 21 managers.

【0037】

FIG. 2 shows a state in which the administrator 17 (or 21) is sitting on the remote control chair and performing remote control with the remote control device 16 (or 20). The remote control device 16 (or 20) is composed of a remote control panel 26, a remote control chair 27, an escalator 28, a treadmill 29, a base 30, and the like.

【0038】

A track 31 is attached to the base 30, and traveling devices 32 and 33 of a remote control panel 26 and a remote control chair 27 travel on the track 31. The traveling devices 32 and 33, the remote control panel 26, and the remote control chair 27 are connected by multi-stage telescopic devices 34 and 35, respectively. A linear ultrasonic motor is used as a driving device for the telescopic devices 34, 35 and the traveling devices 32, 33. The escalator 28 and the treadmill 29 have an integrally configured structure capable of forward and reverse operation, and are controlled so as to follow the movement of the administrator 17 (or 21).

【0039】

Administrator 17 (or 21) wears bodysuit 40. Feet, knees, waist, torso, shoulders, neck, elbows, hands of this body suit 40 with artificial skin 41, knee cover 42, waist cover 43, body cover 44, shoulder / neck cover 45, An elbow cover 46 and a hand cover 47 are attached, and a sensor element that detects deformation and temperature, converts it into an electric signal, and transmits this to the outside in a non-contact manner is embedded in the artificial skin. In addition, the administrator 17 (or 21) wears a helmet 48 on the head, and the earphone 49, the microphone 50, and the display 51 are attached so as to be at the positions of the ears, mouth, and eyes from the helmet 48.

【0040】

When the administrator 17 (or 21) sits on the remote control chair 27 and operates the remote control panel 26, the bipedal walking supervision robot of the work site 1 is based on the voice, line of sight, and brain wave signal of the administrator 17 (or 21). The remote control of the walking motion of 9 is canceled, the upper motion program of the bipedal walking supervision robot 9 instructs the lower motion program to continue the current motion, and the autonomous control of the current motion continuation and peripheral monitoring by the lower motion program functions. ..

【0041】

When the administrator 17 (or 21) remotely controls the robot, the upper operation program of the bipedal walking supervision robot 9 is activated by the voice, line of sight, and brain wave signal of the administrator 17 (or 21) to give an instruction to the lower operation program. The subordinate movement program controls the bipedal walking supervision robot 9 at the work site 1 to follow the movements of the neck, torso, shoulders, elbows, and hands of the administrator 17 (or 21).

【0042】

If the operation of administrator 17 (or 21) is different from the content of the lower operation program, rewrite the content of the lower operation program. In addition, this follow-up operation is canceled as necessary, and the upper operation program instructs the lower operation program to continue the current operation, and the lower operation program performs the current operation continuation and the autonomous control of peripheral monitoring.

【0043】

In the remote control of the bipedal walking supervision robot 9, the control by the manager 17 in the site remote control room 2 has priority over the control by the manager 21 in the central control center 3, and the control by the manager 17 is a bipedal walk. Priority is given to control by the higher-level operation program and lower-level operation program of the supervisor robot 9.

【0044】

In Fig. 3, the remote control device 16 (or 20) is remotely controlled so that the administrator 17 (or 21) climbs the escalator 28 and the bipedal walking supervision robot 9 climbs the stairs at the work site 1. It shows how they are doing.

【0045】

When making the bipedal walking supervision robot 9 perform the action of climbing the stairs, the escalator 28 is operated in the descending direction, and the descent speed follows the speed of climbing the stairs of the administrator 17 (or 21), and the administrator 17 (or 21) Alternatively, 21) repeats the action of climbing stairs at a certain place. The movement of this administrator 17 (or 21) is embedded in the foot cover 41, knee cover 42, waist cover 43, body cover 44, shoulder / neck cover 45, elbow cover 46, and hand cover 47 with artificial skin of the body suit 40. It is detected by the deformation of the sensor and used to control the corresponding part of the bipedal walking supervision robot 9 at the work site 1, and while rewriting the contents of the lower motion program, the bipedal walking supervising robot 9 is stepped on the stairs. Have them perform the climbing motion.

【0046】

When controlling to go down the stairs, the administrator 17 (or 21) faces the opposite direction to Fig. 3 and operates the escalator 28 in the ascending direction, and the ascending speed is the stairs of the administrator 17 (or 21). The manager 17 (or 21) causes the bipedal walking supervision robot 9 to perform the stairs descending motion by following the speed of descending the stairs and repeating the motion of descending the stairs at a certain place.

【0047】

When controlling walking on flat ground, an administrator 17 (or 21) stands on the room runner 29 and moves the floor surface of the room runner 29 in the direction opposite to the walking direction according to the walking speed. (Or 21) is in a state of stepping on the same place, and the foot cover 41, knee cover 42, waist cover 43, torso cover 44, shoulder / neck cover with artificial skin of the body suit 40 during the operation. Detects the amount of deformation of the sensor embedded in 45, elbow cover 46, and hand cover 47, and uses it to control the corresponding part of the bipedal walking supervision robot 9 at work site 1, and rewrites the contents of the lower motion program. While doing this, let the bipedal walking supervision robot 9 perform the action of walking on flat ground.

【0048】

The remote control device may not be equipped with a remote control panel and may be placed separately. That is, FIG. 4 is a plan view of the remote control device 52 in which the remote control panel is separately placed. The remote control device 52 is equipped with escalators 53, 54 that move up and down, a horizontal room runner 55, a rotary runner 56, a tilt runner 57, and a floor 58.

【0049】

FIG. 5 is a view taken along the line VV of FIG. 4, showing a vertical cross section of the escalator portion. 59 is a handrail and 30 is a base. Next, the structure and operation of the bipedal walking supervision robot 9 will be described. FIG. 6 is a front view (a) and a side view (b) showing the bipedal walking supervision robot 9 with a skeleton and joints.

【0050】

That is, the bipedal walking supervision robot 9 has a head 61, a chest structure 62, an arm 63, a hand structure 64, a waist structure 65, a leg 66 and a foot structure 67, and each of these parts has an ankle joint 68 and a lumbar joint 69. , Body joint 70, shoulder joint 71, neck joint 72, wrist joint 73, knee joint 74 and elbow joint 75.

【0051】

Spherical ultrasonic motors are used for the ankle, waist, torso, shoulder, neck, and wrist joints 68,69,70,71,72,73, and uniaxial rotary ultrasonic motors are used for the knee and elbow joints 74,75. ing. These ultrasonic motors are preferably those in which a magnet is provided on the surface of a protrusion of a vibrating body that comes into contact with a sliding friction surface to form a magnetic circuit that passes through the contact surface.

【0052】

The waist structure 65 and the chest structure 62 are connected by a torso joint 70, the waist structure 65 is equipped with an energy source such as a storage battery (not shown), and the chest structure 62 is equipped with a control device (not shown). .. A local control device (not shown) that controls the ultrasonic motor that drives each joint is attached to the skeleton near each joint.

【0053】

The leg 66 is connected to the waist structure 65 by the waist joint 69. The foot structure 67 is connected to the leg 66 by the ankle joint 68. The arm 63 is connected to the chest structure 62 by the shoulder joint 71, and the head 61 is connected by the neck joint 72. A hand structure 64 is connected to the arm 63 by a wrist joint 73.

【0054】

Two TV cameras 78 (fisheye lens with image distortion correction) are attached to the head 61 at the same distance as the average human eye, a microphone (not shown) at the ear position, and a speaker (not shown) at the mouth position. An odor sensor (not shown) is attached to the nose position (not shown). In addition, an antenna 77 for wireless transmission of control signals and detection signals is attached to the head 61.

【0055】

Ankle, waist, torso, shoulder, neck, wrist joints 68,69,70,71,72,73 and knee, elbow joints 74,75 and foot structure 67, hand structure 64, head 61 surface artificial A cover with skin is attached, and a sensor element that detects deformation and temperature, converts it into an electric signal, and transmits this to the outside in a non-contact manner is embedded in this cover.

【0056】

Spherical ultrasonic motors for the ankle, waist, torso, shoulder, neck, and wrist joints 68,69,70,71,72,73 and uniaxial rotary ultrasonic motors for the knee and elbow joints 74,75 are made of friction material. It has a structure in which a magnet provided on the surface of a protrusion of a vibrating body is brought into contact with the magnet, and a magnetic circuit is formed including a contact point. The magnet may be a permanent magnet or an electric magnet.

【0057】

Solar cells and thermal cells are attached to the surfaces of the waist structure 65, chest structure 62, and head 61. Solar cells and thermal cells are irradiated with infrared rays, visible light laser light, or ultrasonic waves to supply power in a non-contact manner. In addition, an outlet outlet is provided so that power can be received from the existing transmission line network.

【0058】

FIG. 7 is a side view showing the operation of the bipedal walking supervision robot 9 having the above configuration and showing the procedure for walking on level ground. Consider starting walking with the right leg 76 forward from an upright position as in (a).

【0059】

That is, the upper motion program issues a command to the control unit of each joint to control walking on level ground, the ankle joint 68 is driven by the control by the lower motion program to move the waist structure 65 forward, and the waist structure 65 stands upright. Drive the hip joint 69 to do. At that time, the trunk joint 70 is driven so that the breast structure 62 is left behind, and the neck joint 72 is driven so that the head 61 stands upright. The amount of drive of the ankle joint 68, the hip joint 69, the torso joint 70, and the neck joint 72 is controlled by a lower motion program so that the position of the center of gravity of the waist structure 65, chest structure 62, head 61, etc. is directly above the foot structure 67. To do.

【0060】

Next, with the left leg 66 landing as shown in (b), tilt the left leg 66 forward until the stride that the right leg 76 can land is maximized as shown by the dotted line in the figure. The center of gravity of the bipedal walking supervision robot 9 is supported by the left leg 66, and the right leg 76 is left free and the knee joint 74 is driven to move the hip joint 69 forward in a bent state. When the inclination of the left leg 66 is maximized, the knee joint 74 of the right leg 76 is driven to land the foot structure 67 of the right leg 76 as shown by the broken line in (b).

【0061】

When the right leg 76 lands, the torso joint 70 and the neck joint 72 are driven, and the chest structure 62 is also controlled by a lower motion program so as to stand upright as shown in (c). From the state of (c), the hip joint 69 is driven to tilt the waist structure 65 forward, the torso joint 70 is driven to reduce the amount of tilt of the chest structure 62, and the neck joint 72 is driven to tilt the head 61 upright. It is controlled by the lower operation program so as to be. The operation of tilting the waist structure 65 forward while keeping the head 61 upright is continued until the position of the center of gravity of the waist structure 65, the chest structure 62, the head 61, etc. is directly above the foot structure 67 of the right leg 76. The state at that time is (d).

【0062】

In the state of (d), the knee joint 74 of the left leg 66 is driven to bend the left leg 66, and the hip joint 69 is driven to move the left leg 66 forward. During that time, the ankle joint 68 of the right leg 76 is driven to control the inclination in the upright direction by the lower motion program. At the same time, the hip joint 69, torso joint 70, and neck joint 72 are driven and controlled by a lower motion program so that the position of the center of gravity of the waist structure 65, chest structure 62, head 61, etc. is directly above the foot structure 67 of the right leg 76. To do. The result is (a).

【0063】

(a) is a diagram including the case where one leg of the right leg 76 and the left leg 66 is standing upright. At that time, the free leg may be in a bent state. The above walking control is described as moving to the next operation after the movement of the center of gravity position is completed, but a control method for switching to the next operation while predicting the movement of the center of gravity may be adopted. Further, although the movement of the arm 63 is not described, the lower movement program controls the movement of the arm 63 in order to balance in the front-back direction.

【0064】

In addition, when the bipedal walking supervision robot 9 is about to fall due to poor walking control, the upper motion program issues an instruction to the lower motion program to perform a fall response motion, and drives the joints of the arm 63. A lower-level operation program controls the fall prevention and mitigation of the impact at the time of a fall.

【0065】

In addition, when going up and down slopes and stairs, based on the above-mentioned flat-ground walking motion, the toe position control of the foot structure 67 by driving the ankle joint 68, the bending control of the legs 66 and 76 by driving the knee joint 74, and the driving of the lumbar joint 69. The legs 66 and 76 are controlled by the lower motion program.

【0066】

Next, FIG. 8 is a front view showing the procedure for walking on flat ground of the bipedal walking supervision robot 9. Consider starting walking with the right leg 76 forward from an upright position as in (a).

【0067】

That is, the upper motion program issues a command to the control unit of each joint to control walking on level ground, and the lower motion program controls the left leg 66 and the ankle joint 68 of the right leg 76 to drive the left leg 66. And tilt the right leg 76 to the left, at which time the lumbar joint 69 is driven to control the lumbar structure 65 to stand upright. In addition, the torso joint 70 is driven to tilt the chest structure 62 to the left, while the neck joint 72 is driven to control the head 61 to maintain an upright state by a lower motion program. Such control is performed until the position of the center of gravity of the waist structure 65, the chest structure 62, the head 61, etc. is directly above the foot structure 67 of the left leg 66. The state at that time is shown in (b).

【0068】

In the state of (b), since the right leg 76 is free, the knee joint 74 is driven to bend the right leg 76, and the hip joint 69 is driven to move the right leg 76 forward. During that time, the same control as in (a) to (c) of FIG. 7 is performed.

【0069】

When the right leg 76 lands, the ankle joint 68 is driven to control the leg tilted to the left so that it stands upright. At that time, the hip joint 69, the torso joint 70, and the neck joint 72 are driven to control the waist structure 65, the chest structure 62, the head 61, etc. so as to be in the upright state to bring them into the state (c).

【0070】

In the state of (c), the same control is performed so that the position of the center of gravity of the waist structure 65, the breast structure 62, the head 61, etc. is directly above the foot structure 67 of the right leg 76. The result is shown in (d). In this state, the left leg 66 becomes free, and during that time, the same control as in (c) to (a) of FIG. 7 is performed.

【0071】

When the left leg 66 lands, the ankle joint 68 is driven to control the leg tilted to the right so that it stands upright. At that time, the hip joint 69, the torso joint 70, and the neck joint 72 are driven to control the waist structure 65, the chest structure 62, and the head 61 so as to be in the upright state to bring them into the state (a). Hereinafter, the walking on a flat ground is performed by repeating the same operation by the lower operation program.

【0072】

The above control may be performed while predicting the moving state of the center of gravity position. In addition, when going up and down slopes and stairs, based on the above-mentioned flat-ground walking motion, the toe position control of the foot structure 67 by driving the ankle joint 68, the bending control of the legs 66 and 76 by driving the knee joint 74, and the driving of the lumbar joint 69. The legs 66 and 76 are controlled by the lower motion program.

【0073】

FIG. 9 is a side view showing how the bipedal walking supervision robot 9 walks on level ground in an upright state. That is, consider starting walking with the right leg 76 forward from an upright position as in (a).

【0074】

First, the hip joint 69, the knee joint 74, and the ankle joint 68 are driven, the upper body is lowered as shown in (b), and the right leg 76 is moved forward to land. Next, the hip joint 69, the knee joint 74, and the ankle joint 68 are driven to raise the upper body and move the center of gravity forward to the state (c). The hip joint 69, knee joint 74, and ankle joint 68 are driven again to lower the upper body and control the position of the center of gravity of the upper body to be on the right leg 76. The result is shown in (d).

【0075】

In the state of (d), the left leg 66 becomes free, and the hip joint 69, the knee joint 74, and the ankle joint 68 are driven to raise the upper body and control the state of (a). After that, the same control is repeated to walk. In this case, a spherical ultrasonic motor is adopted for the knee joint 74, and the control of moving the center of gravity to the left and right legs while the upper body is upright is performed in the same manner as described above to control walking on level ground. Such gait control in FIG. 9 is also performed by a lower motion program.

【0076】

An embodiment of an operation method of the bipedal walking robot device of the present embodiment that operates as described above with the above configuration will be described below. The first embodiment of the operation method relates to periodic inspection work of a nuclear power plant.

【0077】

Nuclear power plants will shut down power generation for regular inspections once a year. Shortening the periodic inspection period leads to an improvement in the operating rate, so parallel work is usually performed at multiple locations. In addition, since the nuclear power plants can be shut down for periodic inspections in spring and autumn when electricity demand is low, the target plants for periodic inspections are concentrated at one time.

【0078】

At one regular inspection work site, work supervisors and multiple workers (including spare workers) form a team, and multiple teams take turns from the viewpoint of exposure control and shortening of work period 24 Time work is usually done. In order to guarantee the quality of the regular inspection work performed in this way, it is necessary to secure excellent workers and at the same time to secure excellent supervisors. In addition, it is necessary to take over the work promptly and surely in order to carry out the replacement work. The bipedal walking supervision robot 9 is used for such work.

【0079】

That is, in the present embodiment, as shown in FIG. 1, the bipedal walking supervision robot 9 is carried into the work site together with the work equipment as the site supervisor, and the manager 17 in the site remote control room 2 However, the bipedal walking supervision robot 9 is remotely controlled to eliminate the need for a site supervisor, and one of the workers is appointed as a site supervisor assistant at the site. In addition, as for the situation of a plurality of work sites, images taken by the TV camera 78 of the bipedal walking supervision robot 9 carried into each work site and installed on the large multi-screen 14 of the site remote control room 2 are projected. The administrator 17 in the site remote control room 2 is monitoring this video, and if necessary, the bipedal walking supervision robot 9 that is remotely controlled is switched to move the bipedal walking supervision robot 9 at the work site of interest. Supervise by making it easier to perform supervision work.

【0080】

In this way, in the regular inspection work of one nuclear power plant, the work of guaranteeing high work quality is carried out with a small number of excellent supervisors. In addition, from the viewpoint of radiation exposure management, on-site workers take turns to work, but the administrator 17 in the site remote control room 2 can continue to work without taking turns even if the on-site workers change. Since the interval between shifts can be lengthened, the time taken to take over the on-site work can be shortened, and at the same time, there is no need to worry about taking over.

【0081】

If a plurality of managers 17 are placed in the site remote control room 2 and the work sites to be monitored are monitored while overlapping, the monitoring work can be taken over in a short time even if the manager 17 is replaced. , High quality takeover can be done. When an abnormality occurs in the bipedal walking supervision robot 9, the on-site supervision assistant urgently stops the operation function of the bipedal walking supervision robot 9 and puts only the monitoring function into the state.

【0082】

When there are multiple nuclear power plants to be inspected on a regular basis, information is exchanged between the remote control room 2 at multiple sites and the central control center 3 using the communication satellite 4, and the manager 21 of the central control center 3 exchanges information. Monitor the situation of each site remote control room 2, and if necessary, switch the bipedal walking supervision robot 9 installed at the work site that the administrator 21 is paying attention to so that it can be remotely controlled, and walk on two legs at the work site of interest. Supervision Robot 9 is moved to facilitate monitoring work and supervision is performed.

【0083】

Central control center 3 is located in multiple locations on a global scale, and at that time, the manager 21 of central control center 3 in the daytime zone monitors the nuclear power plant that is performing regular inspection work at night. By making the manager 17 of the site remote control room 2 perform auxiliary remote supervision work during the night time, the number of managers 17 of the site remote control room 2 at night is reduced to a small number, and it is urgent. It is possible to perform work with high work efficiency and work quality even as a spare staff for time.

【0084】

When the administrator 17 or 21 remotely controls the bipedal walking supervision robot 9, he drives the traveling devices 32 and 33 of the remote control device 16 or 20 to put the remote control chair 27 and the remote control panel 26 on the orbit 31. Run and move to both sides. When the bipedal walking supervision robot 9 is made to walk in a plane at the work site 1, the managers 17 and 21 move while standing on the escalator 28 to the top of the treadmill 29, and start the walking motion when the treadmill 29 is reached.

【0085】

When the managers 17 and 21 start walking, the treadmill 29 starts to move in the direction opposite to the running direction, and the speed is controlled so that the managers 17 and 21 repeat the running operation at the same place. Sensors that detect the positions of the managers 17 and 21 are attached to the remote control devices 16 and 20.

【0086】

When the bipedal walking supervision robot 9 climbs the stairs, the managers 17 and 21 perform the action of climbing the escalator 28 on the descending escalator 28. The descending speed of the escalator 28 detects the climbing speed of the managers 17 and 21, and controls the managers 17 and 21 to repeat the climbing operation at the same place. When the bipedal walking supervision robot 9 goes down the stairs, the climbing escalator 28 is controlled by the operations of the administrators 17 and 21 going down.

【0087】

Before the bipedal walking supervision robot 9 performs various walking movements, or when the same work is continued, the types of walking movements to be performed by the managers 17 and 21 are determined by detecting voice, line of sight, brain wave signal, keyboard operation, etc. The bipedal walking supervision robot 9 is informed of the switching between autonomous and remote control, and the bipedal walking supervision robot 9 decodes this voice command, line of sight, brain wave signal, keyboard operation, etc. and performs a walking motion corresponding to the decoding result. Drives a bipedal ultrasonic motor.

【0088】

Then, the deformation is detected by the artificial skin embedded in the deformation detection sensor attached so as to cover each joint of the ankle, shin, waist, torso, neck, shoulder, elbow, and wrist of the body suit 40 worn by the managers 17 and 21. , The ultrasonic motor of each joint so that the deformation detection amount of the deformation detection sensor embedded in the artificial skin attached so as to cover the corresponding joint of the bipedal walking supervision robot 9 is the same as that of the managers 17 and 21. Drive control of. For the control of the joint drive of the bipedal walking supervision robot 9, a control method incorporating a learning function is adopted.

【0089】

In order to carry out periodic inspections of nuclear power plants in a short period of time, it is necessary to secure a large number of excellent site supervisors in order to perform work at multiple work sites in parallel while ensuring work quality. According to the operation method of this embodiment as described above, a bipedal walking supervision robot is brought into the work site and the site supervision work is performed by using remote control or autonomous control, so that one excellent supervisor is used. Can monitor multiple sites at the same time in the site remote control room, eliminating the need to secure a large number of excellent supervisors.

【0090】

In the periodic inspection of a nuclear power plant, it is necessary to take turns performing on-site work for exposure control, but according to this embodiment, on-site supervision is performed by remotely controlling the bipedal walking supervision robot. The manager in the remote control room can perform supervision work regardless of the replacement of field workers. In addition, since the interval between shifts corresponding to 24-hour work can be lengthened, the time required for the work to be taken over when the on-site worker is changed can be reduced, and the work can be taken over. High work quality can be guaranteed because

【0091】

Furthermore, by adopting a system in which the manager of the global central management center remotely controls the bipedal walking supervision robot to remotely supervise the field work in parallel with the management by the manager of the site remote control room. For a nuclear power plant that is performing on-site work at night, the manager of the central management center, which is in the daytime at the same time, remotely operates a bipedal walking supervision robot to perform on-site supervision work. As a result, the supervision work during the night time can be deleted, and at the same time, the work quality can be guaranteed so that the manager who is highly aware of the daytime time can perform the supervision work.

【0092】

In addition, the control of the bipedal gait supervision robot is performed by the administrator of the on-site remote control room or the central control center wearing a body suit and detecting the movement of the joints of the legs, knees, hips, torso, shoulders, neck, elbows, and wrists. Tactile sensor embedded Artificial skin is attached to each joint of the body suit, and the detected information is used to drive and control the corresponding joints of the two-legged walking supervision robot that was brought into the work site. It is possible to easily control various changes in the posture of the supervising robot for walking and monitoring. In addition, the administrator can demonstrate various movements in a narrow space by performing various walking movements on the escalator and treadmill, and in response to this, a bipedal walking supervision robot can easily perform two pairs at the work site. You can walk.

【0093】

In addition, since a spherical ultrasonic motor is used for the ankle, waist, torso, neck, shoulder, and wrist joints of the bipedal walking supervision robot, and a uniaxial rotation ultrasonic motor is used for the knee and elbow joints, it is driven. It is an energy-saving robot because its state is maintained even when the force is cut and no energy is required to maintain the state. In addition, since the rotation speed of the ultrasonic motor is not high and human movement is not fast, a reduction gear is not required, so a reduction gear or the like is unnecessary, the joints have a lightweight structure, and the weight of the robot is light. The driving energy can be reduced. Further, by providing a magnet on the surface of the protrusion of the vibrating body that comes into contact with the sliding friction surface of the ultrasonic motor and using an ultrasonic motor that constitutes a magnetic circuit passing through the contact point, wear on the contact surface can be reduced. , The life of the ultrasonic motor can be extended. As a result, the frequency of robot maintenance can be reduced and maintenance costs can be reduced.

【0094】

Next, as a second embodiment of the operation method of the biped robot device of the present invention, an operation method of remotely controlling the biped robot to perform a fixed-time patrol at night in an office building, a hospital, or the like will be described.

【0095】

FIG. 10 shows a flow in which a bipedal walking robot is remotely controlled to perform patrol, and FIG. 11 shows a flow in which an abnormal situation is discovered while remotely controlling a bipedal walking robot and performing patrol. It shows the flow of correspondence.

【0096】

For flat ground walking, stair climbing, and corner turning movements, the movements of the patrol person are input to the storage device of the biped robot as basic movements (lower movement program). Enter the patrol points into the navigator system mounted on the biped robot, and prepare to patrol by autonomous walking according to the route. When an abnormal situation is detected, the patrol person at the station switches the remote control device so that the bipedal walking robot can perform the abnormal situation response operation. The biped robot is equipped with an odor sensor, a super-sensitive microphone, an infrared camera, and a biometric detection sensor, and data for a certain period of time is stored in the storage device of the biped robot, similar to the function of the voice recorder of an aircraft. It has come to be used.

【0097】

This will be explained in detail as follows. That is, a patrol person performs a flat ground walking, stair climbing, corner turning operation, door opening / closing operation, key opening / closing operation, lighting operation, etc. in advance on the biped robot to store the biped robot. Store it as a basic operation (lower operation program) (step SP1). Also, enter the patrol points, patrol items, and precautions in the navigator system (step SP2). The patrol person wears the bodysuit 40 and waits at the stuffing station (step SP3). At the fixed time, the biped robot autonomously controls to depart for patrol according to the patrol route instructed by the navigator system (step SP4).

【0098】

The results of seeing, hearing, and sniffing by the biped robot are projected on the multi-screen of the patrol person's station, broadcast on the speaker, and the odor is generated by the odor synthesizer. A moving object is detected by image processing, a warning is displayed on the screen, and a voice warning is generated at the same time. The direction in which sound is generated and the direction and type in which odor is generated are displayed on the screen, and at the same time, a voice warning is generated (steps SP5 and SP6).

【0099】

The patrol person activates a body suit with artificial skin with tactile sensors embedded in the neck, torso, shoulders, elbows, hands, waist, knees, ankles, and soles, and wears a head mounting display to detail the abnormal condition. Make the bipedal walking robot remotely controllable (step SP7). When the cause is known and it is judged that there is no problem, the investigation is stopped and the normal patrol is returned (steps SP5, 6).

【0100】

If it is determined that there is a problem (step SP9), the biped robot is remotely controlled and processed (step SP10). Alternatively, the patrol person takes action to seek support (step SP11) and rushes to the site to take initial action against the abnormal condition (step SP12).

【0101】

When support is requested, the bipedal walking robot in the on-site monitoring state is remotely controlled to continuously grasp the situation (step SP13), and at the same time, support is dispatched (step SP14). In addition, the bipedal walking robot will be remotely controlled to investigate the abnormality and take corrective action in cooperation with the patrol person who arrived at the site (steps SP15, 16). When the procedure is complete, it returns to normal patrol (steps SP5, 6).

【0102】

As described above, in the operation method of the bipedal walking robot device of the second embodiment, the part to be patrolled in a routine manner is patrolled by autonomous movement by letting the bipedal walking robot remember the basic movements. And deal with it. When an abnormal occurrence is detected, a patrol person at the stuffing station activates the body suit with a cover with artificial skin embedded in the tactile sensor on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles, and head mounting. Wear a display and switch the biped robot to remote control to investigate the cause of the abnormality.

【0103】

When the problem can be confirmed and the biped robot cannot be dealt with by remote control, the biped robot is put into the on-site monitoring state, the patrol person rushes to the site from the stuffing station and performs the initial treatment. , The supporter remotely controls the bipedal walking robot to continue on-site monitoring and at the same time performs support dispatch measures.

【0104】

According to the operation method of this embodiment, the patrol person closest to the site can recognize the state of the abnormal site, and at the same time, the supporter can be notified of the situation quickly and accurately. In addition, the supporter will take over the remote control of the biped robot, cooperate with the patrol person to continue coping until the supporter of the abnormal response reaches the site, and cooperate with the patrol person to solve the problem. It can be done, and it will be possible to promptly support problem solving.

【0105】

In addition, the burden on the patrol person can be reduced by automatically controlling the biped robot and switching the control so that the patrol person remotely controls only when the biped robot discovers an abnormality. The frequency of patrols by biped robots can be increased, the time from the occurrence of an abnormality to the discovery can be shortened, and detailed patrols can be performed.

【0106】

Next, as a third embodiment of the operation method of the biped robot device of the present invention, an operation method of remotely controlling the biped robot to perform shopping at a department store, a supermarket, a shopping center, or the like will be described.

【0107】

An automatic or driver-operated transfer system is provided to pick up and drop off the biped robot from the place where the biped robot is stored to the entrance of a department store, supermarket, shopping center, etc., or to the parking lot. Alternatively, an automatic vehicle is installed at the entrance / exit of the parking lot, and a navigator system is mounted on the automatic vehicle so that the destination can be easily instructed, and the robot can automatically operate to the instructed place, if necessary. It is equipped with a function that can follow the bipedal walking robot. In addition, there is a loading platform for loading items that have been shopped.

【0108】

Getting on and off passenger cars, getting on and off automatic vehicles, walking on level ground, climbing stairs, and turning corners are performed using a subordinate movement program that stores the movements of a person who wants to shop in the storage device of a biped robot. At the time of shopping, a person who wants to shop performs a shopping operation with a remote control device.

【0109】

An odor sensor is attached to the nose of the biped robot, and a tactile sensor is attached to the hand. The mirror in the clothing department is designed to show a composite of the actual image of the shopper with the movement of the biped robot, and the image moves following the movement of the biped robot. The image is displayed with the products combined.

【0110】

At the exit of a department store, etc., count the shopping items installed in the automatic vehicle and request delivery to your home. The bill is calculated using the IC card possessed by the biped robot. Those who apply for shopping with a biped robot enter the bank account number and required amount on this IC card.

【0111】

The remote control device operated by those who wish to shop will be installed in a booth provided in a corner of a residential complex, theme park, resort facility, theater facility, sports facility, hospital, nursing home, hotel, airport, station, etc. At that location, shoppers wear a head-mounting display and a body suit with a tactile sensor-embedded cover with artificial skin on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. Remotely control a bipedal walking robot.

【0112】

This will be explained according to the flow shown in FIG. 12 as follows. That is, a plurality of representative people wear a body suit with a cover with artificial skin embedded in a tactile sensor on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles to walk on level ground. Detects with tactile sensors on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles of the feet, performing steps such as going up and down stairs, turning corners, and sitting on or standing up from the chair. The generated data is stored in the storage device of the bipedal walking robot as a standard basic operation (step SS1).

【0113】

Those who wish to shop go to the booths in the corners of housing complexes, theme parks, recreational facilities, theater facilities, sports facilities, hospitals, nursing homes, hotels, airports, stations, etc. Prepare to remotely control a two-legged walking robot by wearing a body suit with a cover with artificial skin embedded in the torso, shoulders, elbows, hands, hips, knees, ankles, and soles (step SS2). .. The person who wants to shop also selects a department store, supermarket, shopping center, etc. that he / she wants to shop by remote control (step SS3), and inputs the in-store map of the department store, etc. into the biped robot (step SS4).

【0114】

The selected biped robot such as a department store and the remote control device are engaged in the signal transmission / reception state, and the biped robot rides in a passenger car and heads for the department store (step SS5). Those who want to shop are sitting in chairs, and while the biped robot is seated in the car, they are in a state where they can be remotely controlled, so they want to take action to see the scenery outside the car. You can see where you are going.

【0115】

When the passenger car arrives at the entrance of a department store or the entrance / exit of a parking lot, the switch of the remote control device is operated to switch to automatic control in which the biped robot is made to get off the passenger car. At that time, only the movement of the neck of the person who wants to shop is controlled to affect the remote control of the biped robot. When the biped robot gets out of the passenger car, the person who wants to shop operates the switch of the remote control device to guide the biped robot to the place where the automatic vehicle is, and puts it in the automatic control state to get into the automatic vehicle (step SS6). ..

【0116】

When the biped robot gets into the automatic vehicle, the operation of the person who wants to shop switches to the state where the biped robot can be remotely controlled. The remote control device is set to the same as the control device for the automatic vehicle, and the biped robot is operated in the same way as a shopping applicant operates the automatic vehicle (step SS7). Shoppers will feel as if they are looking at the store and maneuvering it on the head mounting display, just like a biped robot.

【0117】

The automatic vehicle may be driven to the desired location using the navigator system, or may be remotely controlled by the shopping applicant, judging from the state seen by the bipedal walking robot (step). SS8).

【0118】

When the bipedal walking robot gets off the automatic vehicle and walks closer to the target shopping spot, the remote control is interrupted by the action of the person who wants to shop, and the switch of the remote control device is operated to automatically operate the bipedal walking robot. The operation of getting off the vehicle is automatically controlled, and the operation of walking toward the shopping spot is performed by operating the switch to put it in the remote control state (step SS9). At this time, the automatic vehicle automatically follows the walking of the biped robot.

【0119】

When the biped robot reaches the desired shopping spot, it takes an item and determines the item, and loads the item decided to purchase into the luggage compartment of the automatic vehicle (step SS10). After shopping, the person who wants to shop operates the switch of the remote control device to automatically control the biped robot on the automatic vehicle.

【0120】

After that, use the navigator system to move to the cashier near the entrance of a department store, supermarket, shopping center, etc., or the entrance / exit of the parking lot, hand over the product you want to purchase to the cashier, make a bill, and deliver it to your home. Request shipping to get it (step SS11). The IC card is used to pay for the product account and shipping costs.

【0121】

When the delivery of the purchased product is completed, the automatic vehicle is moved to the entrance of a department store, etc. (step SS12), the biped robot is automatically controlled again on the passenger car by operating the remote control device, and the vehicle is moved to a nearby station, etc. (Step SS13). When the passenger car reaches a position where the department store cannot be seen, the remote control of the biped robot is completed (step SS14).

【0122】

According to the operation method of this third embodiment, at a minimum, a cover with artificial skin with a tactile sensor embedded is attached to the head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. By preparing a body suit and a remote control device, people who cannot go out, such as the elderly and the sick, can enjoy shopping while experiencing artificial reality, select the products they want, and request delivery. And can give a sense of purpose to people with disabilities. In addition, even a healthy person can enjoy shopping at a distant store when he / she does not have time to shop, and can get an actual shopping experience.

【0123】

Next, as a fourth embodiment of the operation method of the bipedal walking robot device of the present invention, a theme park, an amusement park, a theater facility, a sports facility, a tourist spot, a hotel, an airport, etc. Explain how to operate the amusement experience at stations.

【0124】

An automatic or driver-operated transfer system that picks up the biped robot from the place where the biped robot is stored to the entrance of a theme park, amusement facility, theater facility, sports facility, tourist spot, etc., or a parking lot. Provide. In addition, getting on and off passenger cars, getting on and off amusement facilities, walking on level ground, climbing stairs, and turning corners are performed using a program in which the movements of those who wish to experience amusement are stored in the storage device of a bipedal walking robot. At the time of the amusement experience, the person who wants to experience the amusement remotely controls the bipedal walking robot by performing the amusement experience operation with the remote control device.

【0125】

A wind pressure sensor is attached to the face of the biped robot, an odor sensor is attached to the nose, and a tactile sensor is attached to the hand. The IC card possessed by the bipedal walking robot is used to account for or pass through the entrance to theme parks, ticket offices, and ticket gates. On this IC card, applicants who have applied for an amusement experience using a bipedal walking robot enter their bank account number and required amount.

【0126】

The remote control device operated by those who wish to experience amusement is installed in a booth located in a corner of a downtown area, school, ticket sales place, hospital, nursing home, hotel, airport, station, etc. Remotely control a bipedal walking robot wearing a body suit with a head mounting display and a cover with artificial skin embedded in the tactile sensor on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. To do.

【0127】

This will be explained according to the flow shown in FIG. 13 as follows. That is, a plurality of representative people wear a body suit with a tactile sensor embedded artificial skin cover on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles to walk on level ground. Performed stair climbing, corner bending, sitting on a chair, standing up from a chair, etc., and detected by tactile sensors on the neck, torso, shoulders, elbows, hands, waist, knees, ankles, and soles. The data is stored in the storage device of the two-legged walking robot as a basic operation (lower operation program) (step SA1).

【0128】

Those who wish to experience amusement go to booths in downtown areas, schools, ticket sales locations, hospitals, nursing homes, hotels, airports, stations, etc., wear head mounting displays, neck, torso, shoulders, elbows. Prepare to remotely control a two-legged walking robot by wearing a body suit with a cover with artificial skin embedded in the hands, hips, knees, ankles, and soles of the feet (step SA2). In addition, those who wish to experience amusement select the theme park, resort facility, theater facility, sports facility, sightseeing spot, hotel, airport, station, etc. that they want to experience amusement by remote control (step SA3), and the theme park, etc. Enter the park map into the two-legged walking robot (step SA4).

【0129】

The biped robot and the remote control device stored in the selected theme park or other storage location are engaged in the signal transmission / reception state, and the biped robot rides on a passenger car or sightseeing bus to the theme park or the like (step). SA5). Those who wish to experience amusement are sitting in the booth chairs, and while the biped robot is seated in the seat of the passenger car or tour bus, it is in a state where it can be remotely controlled, so it is outside the passenger car or tour bus. When you perform the operation to see the scenery of, you can see the scenery outside the car.

【0130】

When a passenger car or sightseeing bus arrives at the entrance of a theme park or the entrance / exit of a parking lot, the switch of the remote control device is operated to automatically control the operation of the bipedal walking robot getting off the passenger car or sightseeing bus. Switch to. At that time, only the movements of those who wish to experience the amusement are controlled to act on the remote control of the biped robot. When the biped robot gets off the passenger car or sightseeing bus, the amusement experience applicant operates the switch of the remote control device to move the biped robot to the entrance of the theme park, ticket office, ticket gate, etc. Take control (step SA6).

【0131】

At this time, the person who wants to experience the amusement feels as if he / she is maneuvering while looking at the same thing as the biped robot on the head mounting display. The movement of the biped robot may be performed to the desired location using the navigator system, or the movement direction may be controlled by the amusement experience applicant judging from the state seen by the biped robot. Good. The same control is performed when the biped robot walks closer to the amusement experience spot. During this time, the movement signal of the neck of the person who wishes to experience the amusement is used to remotely control the movement of the neck of the biped robot.

【0132】

When the biped robot reaches the desired amusement experience spot and sits down in the seat, the biped robot is operated by the movement of the person who wants to experience the amusement, and the theater, watching the game, and using the facility are performed. In addition, when moving freely for viewing, a person who wishes to experience amusement rides on the treadmill and performs actions such as walking and changing the direction, and then viewing and observing (step SA7).

【0133】

When the amusement experience is over, the person who wants to experience the amusement operates the switch of the remote control device to remotely control the biped robot. Using a navigator system, etc., move to the theme park, amusement park, theater facility, sports facility, tourist spot, hotel, airport, station entrance, or parking lot entrance / exit by remote control (step SA8), and then the passenger car again. When it reaches a position where the theme park, amusement park, theater facility, sports facility, sightseeing spot, etc. cannot be seen from the passenger car (step SA9), the remote control of the bipedal walking robot is terminated (step SA10).

【0134】

According to the operation method of the fourth embodiment, at a minimum, a cover with artificial skin with a tactile sensor embedded is attached to the head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. By preparing a body suit and a remote control device, people who cannot go out, such as the elderly and the sick, can enjoy amusement while experiencing artificial reality, and for people with disabilities. It can give you a sense of purpose. In addition, even a healthy person can enjoy amusement when he / she does not have time to experience amusement or at a distant theme park.

【0135】

Next, as a fifth embodiment of the operation method of the biped robot device of the present invention, an operation method of remotely controlling the biped robot to approach the disaster site and investigating and working on the disaster site is provided. explain.

【0136】

That is, an automatic or driver-operated transfer system that transports the biped robot from the place where the biped robot is stored to the disaster site by the transport vehicle, or the biped robot itself steers the transport vehicle to move. Set up a system. In addition, getting on and off the transport vehicle, walking on level ground, climbing stairs, and turning corners are performed using a lower motion program in which the motion of the remote operator of the biped robot is stored in the storage device of the biped robot. When the biped robot is remotely controlled, the remote control of the biped robot is remotely controlled by the remote control device.

【0137】

Remote control devices operated by biped robot remote operators are installed at fire departments, police stations, field command centers (including mobile and temporary types), universities / laboratories, disaster prevention centers, site centers, municipal offices, etc. A person with special skills or expertise at the site wears a head mounting display and attaches a tactile sensor-embedded artificial skin cover to the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. Wear a body suit and remotely control a bipedal walking robot.

【0138】

This embodiment will be described as follows according to the flow shown in FIG. That is, a plurality of representative people wear a body suit with a tactile sensor embedded artificial skin cover on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles to walk on level ground. The tactile sensors on the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles of the feet detected by going up and down stairs, turning corners, sitting on the chair, and standing up from the chair. The data is stored in the storage device of the bipedal walking robot as a standard basic operation (lower operation program) (step SD1).

【0139】

When a disaster occurs, those who possess special skills or expertise go to booths set up at fire departments, police stations, universities / laboratories, disaster prevention centers, site centers, municipal offices, etc., and also remote biped robots. The operator goes to the field command center, wears a head mounting display, and attaches a cover with artificial skin with a tactile sensor embedded in the neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. To prepare for remote control of the bipedal walking robot and to share the on-site feeling (step SD2).

【0140】

At the site command center (including mobile and temporary), the biped robot remote controller operates the remote control device to remotely control the biped robot to the disaster site (step SD3). The movement of the bipedal walking robot to the disaster site is carried out by using an automatically driven transport vehicle or by driving a normal transport vehicle or a work vehicle by the bipedal walking robot. The remote operator of the biped robot remotely controls the transport vehicle or work vehicle of the biped robot from the on-site command center.

【0141】

After that, the biped robot is remotely controlled and a route to enter the disaster site is secured with the tool carried by the transport vehicle (step SD4), and the biped robot is remotely operated from the secured entry route to the disaster source. Move, investigate the situation of the source of the disaster (step SD5), suppress the disaster with the rushed biped robot and the tools brought in, or support the re-entry of the supporter (step SD6), by the biped robot The disaster suppression is completed (step SD7).

【0142】

According to the operation method of the fifth embodiment, at a minimum, a cover with artificial skin with a tactile sensor is attached to the head mounting display, neck, torso, shoulders, elbows, hands, hips, knees, ankles, and soles. By preparing a body suit and a remote control device, a person with special skills or expertise can participate in the disaster site with the same feeling as an actual worker. As a result, special skills or expertise can be provided by remotely controlling the bipedal walking robot as needed, preventing the spread of the disaster and promptly ending the disaster.

【0143】

[Effect of the invention]

According to the bipedal walking robot device of the present invention and its operation method, the bipedal walking robot is carried into a work site or various facilities, and the bipedal walking robot is remotely controlled according to the operation of the operator in the remote control room. You can remotely supervise and experience the site.

[Simple explanation of drawings]

[Figure 1]

The figure which shows the system configuration for executing the site supervision work which is the operation method of the biped robot apparatus of 1st Embodiment of this invention.

[Figure 2]

The figure which shows the state in which an administrator sits in a remote control chair and performs remote control by a remote control device in the 1st Embodiment above.

[Fig. 3]

In the first embodiment, the figure shows a state in which the administrator performs the operation of climbing the escalator by the remote control device and the bipedal walking supervision robot remotely controls the operation of climbing the stairs at the work site.

[Fig. 4]

The plan view of the remote control apparatus in which the remote control panel was separately arranged in the 1st Embodiment above.

[Fig. 5]

Longitudinal section along the VV line in Figure 4.

[Fig. 6]

The front view (a) and the side view (b) showing the bipedal walking supervision robot in the first embodiment with a skeleton and joints.

[Fig. 7]

The side view which shows the procedure of the bipedal walking supervision robot walking on the flat ground in the 1st Embodiment above.

[Fig. 8]

The front view which shows the procedure of the bipedal walking supervision robot walking on the flat ground in the 1st Embodiment above.

[Fig. 9]

The side view which shows the procedure which the bipedal walking supervision robot in the 1st Embodiment mentioned above walks on a flat ground with the upper body in an upright state.

[Fig. 10]

The figure which shows the operation method of the biped robot apparatus of 2nd Embodiment of this invention, and shows the flow which performs a patrol by remotely controlling a biped robot.

[Fig. 11]

The figure which shows the flow which performs the response when the abnormal situation is discovered during patrol by using the bipedal walking robot in the 2nd Embodiment above.

[Fig. 12]

The figure which shows the operation method of the bipedal walking robot apparatus of 3rd Embodiment of this invention, and shows the flow which performs the shopping agency by remote control of a bipedal walking robot.

[Fig. 13]

The figure which shows the operation method of the biped robot apparatus of 4th Embodiment of this invention, and shows the flow which performs the amusement experience by remotely controlling a biped robot.

[Fig. 14]

The operation method of the bipedal walking robot device according to the fifth embodiment of the present invention is shown, and the flow of remotely controlling the bipedal walking robot to investigate the disaster occurrence site, end the disaster, and support the guidance of the supporter is shown. The figure which shows.

[Explanation of symbols]

1 ... work site, 2 ... site remote control room, 3 ... central control center, 4 ... communication satellite, 5 ... operation room, 6 ... overhead crane, 7 ... installation Unit, 8 ... field worker, 9 ... bipedal supervising robot, 10 ... TV camera, 11 ... antenna, 12 ... TV camera, 13 ... transmission line, 14.. Large multi-screen, 15 ... computer system, 16 ... remote controller, 17 ... administrator, 18 ... large multi-screen, 19 ... computer system, 20 ... remote controller, 21 ... administrator, 22 ... antenna, 23 ... antenna, 26 ... remote control panel, 27 ... remote control chair, 28 ... escalator, 29 ... room runner, 30. .. Base, 31 ... Orbit, 32 ... Traveling device, 33 ... Traveling device, 34 ... Telescopic device, 35 ... Telescopic device, 40 ... Body suit, 41 ... Feet Cover, 42 ... Knee cover, 43 ... Waist cover, 44 ... Body cover, 45 ... Shoulder / neck cover, 46 ... Elbow cover, 47 ... Hand cover, 48 ... Helmet, 49 ... Earphone, 50 ... Microphone, 51 ... Display, 52 ... Remote Control, 53 ... Escalator, 54 ... Escalator, 55 ... Horizontal Room Runner, 56. .. Rotating Runner, 57 ... Inclined Room Runner, 58 ... Floor, 59 ... Handrail, 61 ... Head, 62 ... Chest Structure, 63 ... Arms, 64 ... Hand Structure , 65 ... waist structure, 66 ... left leg, 67 ... foot structure, 68 ... ankle joint, 69 ... waist joint, 70 ... torso joint, 71 ... shoulder joint, 72 ... neck joint, 73 ... wrist joint, 74 ... knee joint, 75 ... elbow joint, 76 ... right leg, 77 ... antenna, 78 ... TV camera.