Operating reaction force control system and operating reaction force control method

Abstract

The present application provides a system capable of improving the operability of an operator on an operating mechanism. The operation reaction forces f1(θ), f2(φ) acting on the operating levers (2111, 2112) are controlled by controlling the operation of the actuators (214). At this time, the operation reaction forces f1(θ), f2(φ) are controlled so that the respective reaction forces F1(θ), F2(φ) in the operation directions opposite to each other, which are felt by the operator via the operating levers (2111, 2112), are symmetrical with respect to the operation amount 0 in the operation amount range in the positive operation direction and the operation amount range in the negative operation direction.

Description

Technical Field

[0001] The present invention relates to the following technology: to cause a working machine or its constituent components to move in a positive or negative direction, an operating mechanism operated by an operator in a positive or negative operating direction is subjected to an operating reaction force relative to its operating force. Background Technology

[0002] A rotating mechanism, with a lever support member located on the left and / or right side of the driver's seat of the construction machinery as its pivot, rotates via a lever. An operating lever device is proposed in which the operating lever device is tilted such that the rotation axis of the rotating mechanism passes through the gripping center of the lever handle held by the operator (for example, see Patent Document 1).

[0003] However, the muscle activity differs during elbow extension, flexion, internal rotation, and external rotation movements. Consequently, the operator experiences different reaction forces for upward and downward movements. This makes it difficult for the operator to control the amount of lever movement in each direction, potentially leading to reduced operability.

[0004] Another proposed control lever device includes a cross-shaped switch (see, for example, Patent Document 2) with front, rear, left, and right switch sections on the grip side of the control lever for the operator to press with their fingertips. This reduces arm fatigue for the operator when operating the machinery.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2003-184128

[0008] Patent Document 2: Japanese Patent Application Publication No. 2000-204599 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] However, the fingertip pressing operation of the cross-shaped switch requires precise and accurate use of the fingers, which may increase the psychological burden on the operator and reduce the operating efficiency of the construction machinery.

[0011] Therefore, the object of the present invention is to provide a system that can improve the operator's operability of the operating mechanism.

[0012] Methods for solving problems

[0013] The operating reaction force control system of the present invention is configured in such a way that, in order to move the operating machinery or its constituent components constituting the controlled object in opposite positive and negative operating directions, the actuator is controlled to operate such that an operating reaction force of strength corresponding to the magnitude of the operating quantity detected by the operating mode detection sensor is applied to the operating mechanism in a direction corresponding to the operating direction detected by the operating mode detection sensor when the operator operates the operating mechanism in opposite positive and negative operating directions.

[0014] The operating reaction force control system is configured in such a way that, corresponding to the operating amount of the operating mechanism in the positive and negative operating directions, the actuator is controlled to operate in a manner that at least partially achieves symmetry with respect to the operating amount 0 of the operating mechanism, so that the operating reaction force corresponding to its operating amount acts on the operating mechanism in the positive and negative operating directions respectively.

[0015] According to the operating reaction force control system with this structure, the actuator's movement is controlled according to the operating amounts in the opposite positive and negative operating directions of the operating mechanism, thereby applying an operating reaction force to the operating mechanism. At this time, the actuator's movement is controlled in such a way that the operator's perceived reaction force (feeling reaction force) is at least partially symmetrical with respect to the operating amount 0 within both the positive and negative operating direction operating amount ranges (positive domain) and operating direction operating amount ranges (negative domain), thereby controlling the operating reaction force acting on the operating mechanism. That is, the operating reaction force f(X) is controlled so that the felt reaction forces F(+X) and F(-X), whose absolute values ​​are equal to the positive operating amount +X, are respectively equal. Thus, for both the opposite positive and negative operating directions, equality or matching between the operating amount of the operating mechanism and the operator's felt reaction force is achieved, thereby correspondingly improving the operator's operability of the operating mechanism. Attached Figure Description

[0016] Figure 1 This is an explanatory diagram relating to the structure of an operational reaction force control system, which is one embodiment of the present invention.

[0017] Figure 2 This is an explanatory diagram of the structure of the remote operation device.

[0018] Figure 3 This is an explanatory diagram of the structure of the control lever.

[0019] Figure 4 It is an explanatory diagram related to the structure of the operating machinery.

[0020] Figure 5 This is an explanatory diagram related to the functions of a remote operating system.

[0021] Figure 6 It is an explanatory diagram of the working environment.

[0022] Figure 7 This is an explanatory diagram related to one implementation of the operational reaction force control method. Detailed Implementation

[0023] (Structure of a remote operating system)

[0024] Figure 1 The operational reaction force control system 110 shown as an embodiment of the present invention comprises a remote operation support server 10 for supporting remote operation of the working machine 40 by the remote operation device 20. The remote operation support server 10 and the remote operation device 20 are configured to communicate with each other via a first network. The remote operation support server 10 and the working machine 40 are configured to communicate with each other via a second network. The first network and the second network can be networks with the same communication standards, or networks with different communication standards.

[0025] (Structure of the remote operation support server)

[0026] The remote operation support server 10 includes a database 102, an operation reaction force control system 110, a first support processing element 121, and a second support processing element 122. The database 102 stores and maintains captured image data, etc. The database 102 may also be configured as a database server independent of the remote operation support server 10. Each support processing element is composed of a computing device (a single-core processor, a multi-core processor, or a processor core constituting that processor), which reads the required data and software from a storage device such as a memory, and performs computational processing according to the software, as described later, on the object of that data.

[0027] (Structure of the reaction force control system)

[0028] Figure 1 The operation reaction force control system 110 shown as one embodiment of the present invention includes an operation mode recognition element 111, a sensory reaction force recognition element 112, and an operation reaction force recognition element 114. Each element is composed of an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the processor), which reads the required data and software from a storage device such as a memory, and performs the arithmetic processing described later according to the software with the data as the object.

[0029] (Structure of the remote operation device)

[0030] The remote operation device 20 includes a remote control device 200, a remote input interface 210, and a remote output interface 220. The remote control device 200 is composed of a computing device (a single-core processor or a multi-core processor or a processor core constituting the processor), which reads the required data and software from a storage device such as a memory, and performs computing operations according to the software with the data as the object.

[0031] The remote input interface 210 includes a remote operation mechanism 211. The remote output interface 220 includes a remote image output device 221 and a remote wireless communication device 224. In addition to the remote image output device 221, the remote output interface 220, as an information transmission unit, may also include an audio output device.

[0032] The remote control mechanism 211 includes a travel control device, a swing control device, a boom control device, a stick control device, a bucket control device, an operation mode detection sensor 212, and an actuator 214. Each control device has a lever for receiving rotational operations. Operating the lever (travel lever) of the travel control device actuates the lower traveling body 410 of the work machinery 40. The travel lever can also function as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever can be provided. Operating the lever (swing lever) of the swing control device actuates the hydraulic swing motor of the swing mechanism 430 constituting the work machinery 40. Operating the lever (boom lever) of the boom control device actuates the boom cylinder 442 of the work machinery 40. Operating the lever (stick lever) of the stick control device actuates the stick cylinder 444 of the work machinery 40. Operating the lever (bucket stick) of the bucket control device actuates the bucket cylinder 446 of the work machinery 40.

[0033] For example, such as Figure 2 As shown, the levers constituting the remote operation mechanism 211 are arranged around the seat St for the operator to sit on. The seat St can be any type of seating part for the operator to sit on, such as a high-backed seat with armrests, a low-backed seat without a headrest, or a seat without a backrest.

[0034] like Figure 3As shown, the operating levers 2111 and 2112 are cross-shaped operating levers, configured to be able to move or tilt in opposite directions (upper and lower in the figure) and in opposite directions (left and right in the figure) (perpendicular to the forward and backward directions). The amount of operation of the operating levers 2111 and 2112 is determined by the tilt angle θ in the forward direction. + (>0) and the tilt angle θ=θ in the rearward operation direction - (<0), and the tilt angle φ = φ in the leftward operation direction. + (>0) and the tilt angle φ=φ in the rightward operation direction - (<0) is used to represent or define.

[0035] The operating levers 2111 and 2112 can also be configured as omnidirectional operating levers that can tilt diagonally forward to the right, diagonally forward to the left, diagonally backward to the right, and diagonally backward to the left, in addition to moving forward, backward, left, and right. For example, when the operating levers 2111 and 2112 are tilted diagonally forward to the right (when the forward operation direction and the right operation direction are operated simultaneously), the amount of operation of the operating levers 2111 and 2112 is determined by the tilt angle θ in the forward operation direction. + and the tilt angle φ = φ in the rightward operation direction. - Definition. When the operating levers 2111 and 2112 are tilted diagonally forward to the left (when they are operated simultaneously in the forward and leftward operating directions), the amount of operation of the operating levers 2111 and 2112 is determined by the tilt angle θ in the forward operating direction. + and the tilt angle φ = φ in the leftward operation direction + Definition. When the operating levers 2111 and 2112 are tilted to the right and backward (when they are operated simultaneously in the rearward and rightward operating directions), the amount of operation of the operating levers 2111 and 2112 is determined by the tilt angle θ in the rearward operating direction. - and the tilt angle φ = φ in the rightward operation direction. - Definition. When the operating levers 2111 and 2112 are tilted to the left and backward (when they are operated simultaneously in the rearward and leftward directions), the amount of operation of the operating levers 2111 and 2112 is determined by the tilt angle θ in the rearward direction. - and the tilt angle φ = φ in the leftward operation direction. + definition.

[0036] A pair of left and right travel levers 2110 are arranged laterally in front of the seat St, corresponding to the left and right tracks. One lever can also function as multiple levers. For example, when operating in the forward / backward direction... Figure 2When the left-side operating lever 2111 is located in front of the left side frame of the seat St shown, it functions as a boom lever; and when the left-side operating lever 2111 is operated in the left-right direction, it functions as a swivel lever. Similarly, when the left-side operating lever 2111 is operated in the front-back direction... Figure 2 When the right-side operating lever 2112 in front of the right-side frame of the seat St is shown, it functions as the boom lever; and when the right-side operating lever 2112 is operated in the left-right direction, it functions as the bucket lever. The lever mode can also be changed arbitrarily according to the operator's operating instructions.

[0037] The operation mode detection sensor 212 is configured to output signals corresponding to the different operating directions or tilting directions of the left and right operating levers 2111 and 2112, namely, forward and backward operating directions (a pair of opposite operating directions), left and right operating directions (a pair of opposite operating directions), and signals corresponding to the magnitude or absolute value of the tilting angle of the left and right operating levers 2111 and 2112, respectively. These output signals are input to the remote control device 200 and stored in the storage device.

[0038] When the remote operating mechanism 211 is constructed by using a sliding switch that can slide forward, backward, left, and right, in place of the operating levers 2111 and 2112, or based on the operating levers 2111 and 2112, the sliding direction and sliding amount (displacement) of the switch can also be identified as the operating mode of the remote operating mechanism 211. Alternatively, the tilting angle of the left and right pair of travel levers 2110 or the rotation angle or displacement of the components connected to them can be detected and used as the operating quantity.

[0039] The actuator 214 is, for example, an electric motor. A pair of actuators 214 are respectively connected to the left operating lever 2111 and the right operating lever 2112 via independent power transmission mechanisms. Each actuator 214 is configured to exert an operating reaction force corresponding to the operated amount in the opposite direction to the operating direction of the left operating lever 2111 and the right operating lever 2112, respectively. The operation of the actuators 214 is controlled by a remote control device 200.

[0040] For example, Figure 2As shown, the remote image output device 221 consists of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each with a roughly rectangular screen, respectively positioned in front of, to the left diagonally in front of, and to the right diagonally in front of the seat St. The shape and size of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different.

[0041] like Figure 2 As shown, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210, such that the screen of the central remote image output device 2210 forms an angle θ1 with the screen of the left remote image output device 2211 (e.g., 120°≤θ1≤150°). Figure 2 As shown, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210, such that the screen of the central remote image output device 2210 forms an angle θ2 with the screen of the right remote image output device 2212 (e.g., 120°≤θ2≤150°). The angles θ1 and θ2 can be the same or different.

[0042] The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 can be parallel or tilted relative to the vertical direction. At least one of the image output devices 2210, 2211, and 2212 can also be composed of image output devices divided into multiple screens. For example, the central remote image output device 2210 can be composed of a pair of vertically adjacent image output devices with a generally rectangular screen.

[0043] (Structure of the operating machinery)

[0044] The operating machinery 40 includes a machine control device 400, a machine input interface 41, a machine output interface 42, and a working mechanism 440. The machine control device 400 is composed of a computing processing unit (a single-core processor or a multi-core processor or a processor core constituting the processor), which reads the required data and software from storage devices such as memory, and performs computing processing according to the software based on the data.

[0045] Construction machinery 40 includes, for example, hydraulic, electric, or hybrid drive tracked excavators (construction machinery) that combine hydraulic and electric power, such as... Figure 4As shown, the device includes a tracked lower traveling body 410 and an upper rotating body 420 rotatably mounted on the lower traveling body 410 via a rotating mechanism 430. A driver's cab 424 is provided on the front left side of the upper rotating body 420. A working mechanism 440 is provided on the front center of the upper rotating body 420.

[0046] The machine input interface 41 includes a machine operation mechanism 411, a machine imaging device 412, and a machine status sensor group 414. The machine operation mechanism 411 has multiple joysticks, which are similarly positioned around the seat inside the cab 424, as the remote operation mechanism 211. A drive mechanism or robot is installed in the cab 424 to receive signals corresponding to the operation mode of the remote joysticks and to actuate the machine joysticks based on these received signals. The machine imaging device 412 is, for example, located inside the cab 424, and captures images of at least a portion of the environment, including the operating mechanism 440, through the front window and a pair of side windows. Alternatively, part or all of the front window (or window frame) and side windows may be omitted. The actual machine status sensor group 414 consists of an angle sensor, a slewing angle sensor, an external force sensor, and a 3-axis acceleration sensor. The angle sensor is used to measure the rotation angle (lifting and lowering angle) of the boom 441 relative to the upper rotating body 420, the rotation angle of the stick 443 relative to the boom 441, and the rotation angle of the bucket 445 relative to the stick 443. The slewing angle sensor is used to measure the slewing angle of the upper rotating body 420 relative to the lower traveling body 410. The external force sensor is used to measure the external force acting on the bucket 445. The 3-axis acceleration sensor is used to measure the 3-axis acceleration acting on the upper rotating body 420.

[0047] The actual output interface 42 includes an actual image output device 421 and an actual wireless communication device 422. The actual image output device 421 is, for example, located inside the cab 424 and near the front window (see reference). Figure 6 The actual image output device 421 can also be omitted.

[0048] The working mechanism 440 includes: a boom 441, which is mounted on the upper slewing body 420 for lifting and lowering; a stick 443, which is rotatably connected to the top of the boom 441; and a bucket 445, which is rotatably connected to the top of the stick 443. The working mechanism 440 is equipped with a boom cylinder 442, a stick cylinder 444, and a bucket cylinder 446, all of which are telescopic hydraulic cylinders. In addition to the bucket 445, various attachments such as hydraulic shears, cutters, and magnets can also be used as the working unit.

[0049] Boom cylinder 442 is located between boom 441 and upper slewing body 420, allowing it to extend and retract by receiving a supply of working oil, thereby causing boom 441 to rotate in the lifting direction. Stick cylinder 444 is located between stick 443 and boom 441, allowing it to extend and retract by receiving a supply of working oil, thereby causing stick 443 to rotate about a horizontal axis relative to boom 441. Bucket cylinder 446 is located between bucket 445 and stick 443, allowing it to extend and retract by receiving a supply of working oil, thereby causing bucket 445 to rotate about a horizontal axis relative to stick 443.

[0050] use Figure 5 The flowchart shown illustrates the functions of a remote operation support system comprised of a remote operation support server 10, a remote operation device 20, and a work machine 40, all having the aforementioned structure. These functions include those of the operation reaction force control system 110, which is one embodiment of the present invention. In this flowchart, the "C●" block is used for simplification and refers to a conditional branch where data transmission and / or reception, and processing in the branch direction, is performed based on the transmission and / or reception of such data.

[0051] In the remote operation device 20, it is determined whether an operator has performed a specified operation via the remote input interface 210. Figure 5 / Step 210 (STEP 210)). "Specified operation" refers, for example, to an operator clicking or performing an operation on the remote input interface 210 to specify the machine 40 to be remotely operated. If the determination result is negative ( Figure 5 / Step 210 (STEP 210)...No (NO)), the series of processes ends. On the other hand, if the determination result is positive ( Figure 5 / Step 210 (STEP 210)...Yes (YES)), an environment confirmation request is sent to the remote operation support server 10 via the remote wireless communication device 224 ( Figure 5 / Step 212 (STEP212)).

[0052] In the remote operation support server 10, upon receiving an environmental confirmation request, the first support processing element 121 sends the environmental confirmation request to the corresponding operating machine 40. Figure 5 / C10).

[0053] In the operating machinery 40, when an environmental confirmation request is received via the actual machine wireless communication device 422 ( Figure 5 / C40), the actual control device 400 acquires the captured image through the actual shooting device 412 ( Figure 5 / Step 410 (STEP 410)). The physical control device 400 sends the captured image data representing the captured image to the remote operation support server 10 via the physical wireless communication device 422. Figure 5 / Step 412 (STEP412)).

[0054] In the remote operation support server 10, when the first support processing element 121 receives the captured image data ( Figure 5 / C11), the second support processing element 122 sends environmental image data corresponding to the captured image to the remote operation device 20. Figure 5 / Step 110 (STEP 110)). In addition to the captured image data itself, the environmental image data also includes image data representing simulated environmental images generated based on the captured images.

[0055] In the remote operation device 20, when environmental image data is received via the remote wireless communication device 224 ( Figure 5 / C21), via remote control device 200, the environmental image corresponding to the environmental image data is output to remote image output device 221. Figure 5 / Step 214 (STEP214)).

[0056] Thus, for example, such as Figure 6 As shown, an environmental image of the boom 441, stick 443, and bucket 445, which are part of the working mechanism 440, is output to the remote image output device 221.

[0057] In the remote operation device 20, the remote control device 200 identifies the operation mode of the remote operation mechanism 211. Figure 5 / Step 216 (STEP 216)), and, through the remote wireless communication device 224, send a remote operation command corresponding to the operation mode to the remote operation support server 10 ( Figure 5 / Step 218 (STEP218)).

[0058] In the remote operation support server 10, when the second support processing element 122 receives the remote operation command, the first support processing element 121 sends the remote operation command to the operating machine 40. Figure 5 / C12).

[0059] In the operating machinery 40, when the actual machine control device 400 receives an operation command via the actual machine wireless communication device 422 ( Figure 5 / C41), controls the actions of the operating mechanism 440, etc. Figure 5 / Step 414 (STEP 414)). For example, performing the operation of scooping up soil in front of the working machine 40 by the bucket 445 and dumping the soil from the bucket 445 after the upper rotating body 420 is rotated.

[0060] In the remote operation support server 10, when the second support processing element 122 receives a remote operation command ( Figure 5 / C12), in the operation reaction force control system 110, the operation mode identification element 111 identifies (presumes) the operation direction and operation amount of the left operating lever 2111 and the right operating lever 2112 constituting the remote operation mechanism 211 as the operation mode of the remote operation mechanism 211 reflected by the remote operation command. Figure 5 / Step 111 (STEP111)).

[0061] For example, the tilt angle θ of the operating levers 2111 and 2112 in the neutral position (or the rotation angle or displacement of the component connected to the operating levers 2111 and 2112) is defined as "0". When the operating levers 2111 and 2112 tilt forward, this tilt angle θ is defined as positive (0 < θ), and when the operating levers 2111 and 2112 tilt backward, this tilt angle θ is defined as negative (θ < 0). Similarly, the tilt angle φ of the operating levers 2111 and 2112 in the neutral position (or the rotation angle or displacement of the component connected to the operating levers 2111 and 2112) is defined as "0". When the operating levers 2111 and 2112 tilt to the left, this tilt angle φ is defined as positive (0 < φ), and when the operating levers 2111 and 2112 tilt to the right, this tilt angle φ is defined as negative (φ < 0).

[0062] Next, based on the operation mode of the remote operating mechanism 211 identified by the operation mode identification element 111, the reaction force identification element 112 identifies the reaction force felt by the operator, i.e., the perceived reaction force. Figure 5 / Step 112 (STEP112)). For example, as Figure 7 As shown by the solid line, the first sensory reaction force F1 is identified according to the characteristic curve F1(θ), which uses the tilt angle θ in the forward and backward operating directions of the operating levers 2111 and 2112 as the main variable. Figure 7 In the first sense reaction force characteristic curve F1(θ), it is defined as a linear function with symmetry in the positive and negative domains, which is expressed as F1(θ)=-αθ+β(θ<0(0<α,0≤β)) and F1(θ)=αθ+β(0<θ).

[0063] The first sensory reaction force characteristic curve F1(θ) corresponding to the operation amount θ of the operating levers 2111 and 2112 in the forward and backward operating directions, respectively, and the second sensory reaction force characteristic curve F2(φ) corresponding to the operation amount φ of the operating levers 2111 and 2112 in the left and right operating directions, respectively, can also be the same function in at least a part of the domain.

[0064] The characteristic curve of the first-feeling reaction force F1(θ) regarding the forward and backward operating directions (and thus the first-feeling reaction force F1 regarding the forward and backward operating directions) can be defined as follows: In its negative domain [-Θ, 0] and positive domain [0, Θ] (e.g., Θ is approximately +25°), as... Figure 7 The curve exhibits symmetry across its entire domain; it may also exhibit symmetry within its partial domains [-θ2, -θ1] and [θ1, θ2] (e.g., θ1 is approximately +5°, θ2 is approximately +20°). Within the positive and negative domains of the first-sensory reaction force characteristic curve F1(θ), at least within a symmetric domain, the curve can be defined not only by a linear function but also by an exponential function, a logarithmic function, or an nth-degree function (2 ≤ n), or a combination of these functions. The first-sensory reaction force characteristic curve F1(θ) (the dependent variable) is defined as the value of the operation quantity θ (the master variable) in the forward and backward directions continuously increasing as the absolute value |θ| increases. It can also be defined as showing a tendency for the value to increase as the absolute value |θ| of the operation quantity θ (the master variable) increases, while its value locally decreases.

[0065] The characteristic curve F2(φ) of the second sensory reaction force in the left and right operating directions (and thus the second sensory reaction force F2 in the left and right operating directions) can be defined as follows: it has symmetry in the entire domain of its negative domain [-Φ, 0] and positive domain [0, Φ] (e.g., Φ is approximately +25°), and also in the respective domains of its partial domains [-φ2, -φ1] and [φ1, φ2] (e.g., φ1 is approximately +10°, φ2 is approximately +25°) (see reference). Figure 7Within the positive and negative domains of the second sensory reaction force characteristic curve F2(φ), at least within a symmetrical range, the second sensory reaction force characteristic curve F2(φ) can be defined not only by a linear function, but also by an exponential function, a logarithmic function, or an nth-degree function (2≤n), or a combination of these functions. The second sensory reaction force characteristic curve F2(φ) (the dependent variable) is defined as the value of the second sensory reaction force characteristic curve F2(φ) continuously increases as the absolute value |φ| of the operational quantity φ (the main variable) increases. It can also be defined as showing a tendency for the value of the second sensory reaction force characteristic curve to increase as the absolute value |φ| of the operational quantity φ (the main variable) increases, while its value locally decreases.

[0066] Then, based on the first sensory reaction force F1(θ) and / or the second sensory reaction force F2(φ) identified by the sensory reaction force identification element 112, the operation reaction force identification element 114 identifies each operation reaction force of the first operation reaction force f1(θ) and / or the second operation reaction force f2(φ), or a control command signal representing these operation reaction forces, and sends them to the remote operation device 20. Figure 5 / Step 114 (STEP114)). For example, as Figure 7 As shown by the dashed line, the first operating reaction force f1 is identified based on the first operating reaction force characteristic curve f1(θ), which is mainly determined by the tilting angle θ of the operating levers 2111 and 2112 in the forward and backward operating directions.

[0067] The first operating reaction force characteristic curve f1(θ) corresponding to the operating amount θ of the operating levers 2111 and 2112 in the forward and backward operating directions, and the second operating reaction force characteristic curve f2(φ) corresponding to the operating amount of the operating levers 2111 and 2112 in the left and right operating directions, can also be the same function in at least a part of the domain.

[0068] like Figure 7 As shown, the characteristic curve of the first operational reaction force, f1(θ), is expressed as f1(θ) = f 1- (θ)(θ<0), f 1+ (θ)(0<θ) is defined as an asymmetric function in its positive and negative domains. The characteristic curve of the first operational reaction force f1(θ) and the characteristic curve of the first sensory reaction force F1(θ) have a certain correlation. This correlation is defined, for example, by relation (01).

[0069] f1(θ)=ε1logF1(θ)+δ1…(01).

[0070] In addition, this correlation can also be defined using the coefficient c1(θ) of the operation amount θ that depends on the preceding and following operation directions, and by relation (11).

[0071] f1(θ)=c1(θ)·F1(θ)…(11).

[0072] The characteristic curve f1(θ) of the first operational reaction force in the forward and backward operational directions (and thus the first operational reaction force f1) can also be defined as follows: at least a portion of the self-defined domains [-θ2, -θ1] and [θ1, θ2] (e.g., θ1 is approximately +5°, θ2 is approximately +20°) of its negative domain [-Θ, 0] and positive domain [0, Θ] (e.g., Θ is approximately +25°) exhibit symmetry. The characteristic curve f1(θ) of the first operational reaction force can be defined not only by a linear function, but also by an exponential function, a logarithmic function, or an nth-degree function (2 ≤ n), or a combination of these functions. The characteristic curve f1(θ) of the first operational reaction force (the dependent variable) is defined as the value of the first operational reaction force f1(θ) in the forward and backward operational directions continuously increases as the absolute value |θ| of the operational quantity θ (the dependent variable) increases, but it can also be defined as a tendency for the value of the first operational reaction force f1(θ) to increase as the absolute value |θ| of the operational quantity θ (the dependent variable) increases, while its value locally decreases.

[0073] The characteristic curve of the second operational reaction force, f2(φ), is expressed as f2(φ) = f 2- (φ)(φ<0), f 2+ (φ)(0<φ) is defined as an asymmetric function in its positive and negative domains. The second operational reaction force characteristic curve f2(φ) and the second sensory reaction force characteristic curve F2(φ) have a certain correlation. This correlation is defined, for example, by relation (02).

[0074] f2(φ)=ε2logF2(φ)+δ2…(02).

[0075] In addition, this correlation can also be defined using the coefficient c2(φ) which depends on the operation amount φ of the left and right operation directions and by relation (12).

[0076] f2(φ)=c2(φ)·F2(φ)…(12).

[0077] The characteristic curve f2(φ) of the second operational reaction force in the left and right operational directions (and thus the second operational reaction force f2) can be defined as follows: it possesses symmetry in at least a portion of its domains [-φ2, -φ1] and [φ1, φ2] (e.g., φ1 is approximately +10°, φ2 is approximately +25°) within its negative domain [-Φ, 0] and positive domain [0, Φ] (e.g., Φ is approximately +25°). The characteristic curve f2(φ) can be defined not only by a linear function, but also by an exponential function, a logarithmic function, or an nth-degree function (2 ≤ n), or a combination of these functions. The characteristic curve f2(φ) (the dependent variable) is defined as the value of the second operational reaction force f2(φ) in the left and right operational directions continuously increases as the absolute value |φ| of the operational quantity φ (the dependent variable) increases, but it can also be defined as a tendency for the value to increase as the absolute value |φ| of the operational quantity φ (the dependent variable) increases, while its value locally decreases.

[0078] In the remote operation device 20, when a first operating reaction force f1(θ) and / or a second operating reaction force f2(φ) or a control command signal representing these operating reaction forces is received via the remote wireless communication device 224 ( Figure 5 / C22), the remote control device 200 controls the action of the actuator 214, so that the first operating reaction force f1(θ) and / or the second operating reaction force f2(φ) (the force that pushes the tilted operating levers 2111 and 2112 back in the opposite direction) are applied to the corresponding operating levers 2111 and 2112. Figure 5 / Step 219 (STEP 219)). Thus, the operator holding the operating levers 2111 and 2112 with the handle or grip can feel the first sensory reaction force F1(θ) and / or the second sensory reaction force F2(φ) corresponding to the first operating reaction force f1(θ) and / or the second operating reaction force f2(φ) through the operating levers 2111 and 2112.

[0079] (Effect)

[0080] According to the operation reaction force control system 110 constituting the remote operation support system having the above structure, the actuator 214 is controlled to operate in accordance with the operation amount θ of the left operating lever 2111 and / or the right operating lever 2112 constituting the remote operation mechanism 211 in the opposite directions of forward operation direction (positive operation direction) and backward operation direction (negative operation direction). Thus, a first operation reaction force f1(θ) acts in the opposite direction to the operation direction on the left operating lever 2111 and / or the right operating lever 2112 (see reference). Figure 7( / dashed line). Similarly, the actuator 214 is controlled by the operating amount φ of the left operating lever 2111 and / or the right operating lever 2112, which are opposite to each other in the left operating direction (positive operating direction) and the right operating direction (negative operating direction). As a result, the second operating reaction force f2(φ) acts on the left operating lever 2111 and / or the right operating lever 2112 in the opposite direction to the operating direction.

[0081] At this time, the actuator 214 is controlled in a symmetrical manner with reference to the operation amount 0, based on the operation amount 0, by the operator sensing the reaction forces (first sensing reaction force F1(θ)) in the backward and forward operation directions respectively via the left operating lever 2111 and / or the right operating lever 2112 (operating mechanism). This symmetrical control is achieved by the operator sensing the reaction forces (first sensing reaction force F1(θ)) in the forward operation direction (positive operation direction) (positive domain [0, Θ]) and the negative operation direction (negative domain [-Θ, 0]). This, in turn, controls the first operating reaction force F1(θ) acting on the left operating lever 2111 and / or the right operating lever 2112 (refer to...). Figure 7 / solid line). Similarly, the actuator 214 is controlled in a symmetrical manner with reference to the operation amount 0, based on the operation amount 0, by using the reaction force (second sensing reaction force F2(φ)) felt by the operator in the right and left operating directions via the left operating lever 2111 and / or the right operating lever 2112 (operating mechanism) in the operating amount range (positive domain [0, Φ]) in the left operating direction (positive operating direction) and the operating amount range (negative domain [-Φ, 0]) in the negative operating direction. This controls the second operating reaction force F2(φ) acting on the left operating lever 2111 and / or the right operating lever 2112 (refer to... Figure 7 (Solid line).

[0082] Thus, for the positive and negative operating directions that are opposite to each other, the operating amounts θ and φ of the left operating lever 2111 and / or the right operating lever 2112 are made equal or matched with the operator's perceived reaction forces F1(θ) and F2(φ), respectively, thereby improving the operator's operability of the left operating lever 2111 and / or the right operating lever 2112.

[0083] Furthermore, the first operational reaction force f1(θ) is controlled so that the first sensory reaction forces F1(+θ) and F1(-θ) corresponding to the operational amount -θ in the backward operational direction (negative operational direction), whose absolute values ​​are equal to the operational amount +θ in the forward operational direction (positive operational direction), are equal and change linearly (refer to...). Figure 7(Solid and dashed lines). Similarly, the second operational reaction force f2(θ) is controlled so that the second sensory reaction forces F2(+φ) and F2(-φ) corresponding to the operational amount -φ in the right operational direction (negative operational direction), whose absolute values ​​are equal to the operational amount +φ in the left operational direction (positive operational direction), change linearly and are equal to each other. Thus, the operator can easily grasp the relationship between the operational amounts θ and φ of the levers 2111 and 2112 in the opposite positive and negative operational directions and the sensory reaction forces F1 and F2 felt through the levers 2111 and 2112, thereby improving the operator's operability of the levers 2111 and 2112.

[0084] (Other embodiments of the present invention)

[0085] In the above embodiment, the remote operation support server 10 constitutes the operation reaction force control system 110. However, as another embodiment, the operation reaction force control system 110 may also be constituted by the remote operation device 20 and / or the working machine 40. That is, the remote operation device 20 and / or the working machine 40 may also have the functions of an operation mode recognition element 111, a sensory reaction force recognition element 112, and an operation reaction force recognition element 114.

[0086] Alternatively, the machine 40 can be operated remotely by an operator riding on the machine 40 via the actual machine operating mechanism 411 instead of being remotely operated by an operator through the remote operating mechanism 211 constituting the remote operating device 20. In this case, the remote operation support server 10 and the remote operating device 20 can be omitted. Furthermore, the operation reaction force control system 110 can also be mounted on the machine 40 together with the operation mode detection sensor 212, which is used to detect the operation mode (operation direction and operation amount) of the operator on the actual machine operating lever constituting the actual machine operating mechanism 411. The operation reaction force control system 110 can also include the actual machine operating mechanism 411 (or the actual machine operating lever constituting the actual machine operating mechanism 411) and the operation mode detection sensor 212.

[0087] The operating reaction force control system 110 can also be configured to control the action of the actuator 214 according to a sensed reaction force, which is a reaction force estimated based on attribute factors representing operator attributes input via a remote input interface 210 (e.g., a touch panel device). These "attribute factors" may include, for example, factors or parameters representing social attributes such as place of residence, years of experience as an operator (professional experience), and athletic experience, in addition to physical attributes such as the operator's height, limb length, grip strength, wrist strength, leg strength, vision, hearing, weight, body fat percentage, and / or weight.n According to the multivariate function F1(θ, γ1, γ2, ... γ), n The characteristic curve F1(θ) of the first sensory reaction force is derived from the above, and / or the characteristic curve is derived from the multivariate function F2(φ, γ1, γ2, ... γ). n The characteristic curve of the second sensory reaction force, F2(φ), was derived.

[0088] For example, based on an attribute factor γ p (e.g., muscle activity), the amount of operation θ of the levers 2111 and 2112 in the forward and backward operation directions, and the first operation reaction force f1(θ), and the θ dependence of the coefficients ξ1(θ) and η1(θ) respectively are obtained according to the relation (21). Also based on an attribute factor γ p The operation amount φ of the left and right operation levers 2111 and 2112 and the second operation reaction force f2(φ) are calculated according to the relation (22), and the φ dependence of the coefficients ξ2(φ) and η2(φ) is calculated.

[0089] γ p =ξ1(θ)f1(θ)+η1(θ)…(21).

[0090] γ p =ξ2(φ)f2(φ)+η2(φ)…(22).

[0091] Then, based on coefficients ξ1(θ) and η1(θ), the θ dependence of at least one of the coefficients ξ1, η1, a1, and b1 is determined according to relation (31). Similarly, based on coefficients ξ2(φ) and η2(φ), the φ dependence of at least one of the coefficients ξ2, η2, a2, and b2 is determined according to relation (32).

[0092] c1(θ)=ξ1(a1 log{(ξ1(θ)f1(θ)+η1(θ)-η1) / ξ1}+b1)

[0093] ÷(ξ1(θ)f1(θ)+η1(θ)-η1)…(31).

[0094] c2(φ)=ξ2(a2log{(ξ2(φ)f2(φ)+η2(φ)-η2) / ξ2}+b2)

[0095] ÷(ξ2(φ)f2(φ)+η2(φ)-η2)…(32).

[0096] Based on the operation amount θ of the operating levers 2111 and 2112 in the forward and backward operating directions, the coefficient c1(θ) is identified and controlled according to the θ dependence of the coefficient group, and then the first operating reaction force f1(θ) is identified and controlled (refer to relation (11)). Based on the operation amount φ of the operating levers 2111 and 2112 in the left and right operating directions, the coefficient c2(φ) is identified and controlled according to the φ dependence of the coefficient group, and then the second operating reaction force f2(φ) is identified and controlled (refer to relation (12)).

[0097] According to the operating reaction force control system 110 with this structure, taking into account the individual differences in the perceived reaction force of each operator, the operating amount of the operating levers 2111 and 2112 is made equal or matched with the perceived reaction force estimated based on the operator's attributes for the opposite positive and negative operating directions, thereby improving the operator's operability of the operating levers 2111 and 2112.

[0098] The operating reaction force control system 110 can also be configured to control the action of the actuator 214 based on the sensory reaction force input via the remote input interface 210 (e.g., a touch panel device) and felt by the operator via the left operating lever 2111 and / or the right operating lever 2112 with operating reaction force.

[0099] For example, when the actuator 214 applies a reference operating reaction force f = f0 (≠0) to the operating levers 2111 and 2112, the operator is instructed by the remote image output device 221 to recognize the perceived reaction force F as "100". Furthermore, when one or more test operating reaction forces f = κ1f0, κ2f0, ..., κ... are applied... m f0(0<κ1<κ2<…<κ m When the operating levers 2111 and 2112 are applied, the reaction forces F = ζ1, ζ2, ..., ζ felt through the operating levers 2111 and 2112 are... m The operator inputs data to the remote input interface 210. This is based on one or more coefficient values ​​(κ1, κ2, ..., κ) that determine the strength of the reaction force during the experimental operation. m ) and coefficients (ζ1, ζ2, ..., ζ) that determine the strength of the perceived reaction force F. m Determine the coefficients (ε1, δ1) in the aforementioned relation (01) and / or (ε2, δ2) in the relation (02), or the coefficients c1(θ) in the relation (11) and / or c2(φ) in the relation (12).

[0100] Therefore, in addition to the first-feeling reaction force characteristic curve F1(θ) based on the constituting target or benchmark (refer to...) Figure 7In addition to the solid line, the characteristic curve of the first operational reaction force f1(θ) is also estimated based on the coefficient (ε1, δ1) or the coefficient c1(θ) (refer to the relations (01), (11)). Figure 7 ( / dashed line). Similarly, in addition to the second sensory reaction force characteristic curve F2(φ) based on the target or benchmark (refer to... Figure 7 In addition to the solid line, the characteristic curve of the second operational reaction force f2(φ) is also estimated based on the coefficient (ε2, δ2) or the coefficient c2(φ) (refer to the relations (02), (12)). Figure 7 ( / dashed line). Furthermore, the actuator 214 is controlled to generate the reaction force f1(θ) and / or f2(φ).

[0101] The operating reaction force control system 110 with this structure takes into account the individual differences in the perceived reaction force of each operator. Based on this, the amount of operation of the levers 2111 and 2112 is equalized or matched with the perceived reaction force as a result, for both positive and negative operating directions. Therefore, the operator's operability of the levers 2111 and 2112 can be improved accordingly.

[0102] In the operating reaction force control system having the aforementioned structure, it is preferable that the operating reaction force control system is configured to control the action of the actuator so that the sensed reaction force varies linearly in response to the operating amount of the operating mechanism that achieves the aforementioned symmetry.

[0103] According to the operating reaction force control system with this structure, the operating reaction force f(X) is controlled so that the perceived reaction forces F(+X) and F(-X) corresponding to the operating amount -X in the negative operating direction, whose absolute value is equal to the operating amount +X in the positive operating direction, are equal and change linearly (F(X) = αX + β (X > 0), F(X) = -αX + β (X < 0)). Therefore, the operator can easily grasp the relationship between the operating amount in the opposing positive and negative operating directions and the perceived reaction force felt through the operating mechanism, thereby improving the operator's operability.

[0104] Furthermore, in the operational reaction force control system of the present invention, it is preferable that the operational reaction force control system is configured to control the operation of the actuator according to the perceived reaction force estimated based on an attribute factor, wherein the attribute factor represents the attribute of the operator input through an input interface.

[0105] The operating reaction force control system with this structure takes into account the individual differences in the perceived reaction force of each operator. Based on this, an equalization or matching between the operating amount of the operating mechanism and the perceived reaction force estimated based on the operator's attributes is achieved for both positive and negative operating directions. Therefore, the operator's operability of the operating mechanism can be correspondingly improved.

[0106] Furthermore, in the operational reaction force control system of the present invention, it is preferable that the operational reaction force control system is configured to control the operation of the actuator according to the sensed reaction force, wherein the sensed reaction force is the operational reaction force sensed by the operator via the operating mechanism acting with the operational reaction force, which is input through an input interface.

[0107] The operating reaction force control system with this structure takes into account the individual differences in the perceived reaction force for each operator. Based on this, for both positive and negative operating directions, an equalization or matching is achieved between the amount of operation of the operating mechanism and the perceived reaction force, which is the actual result felt by the operator. Therefore, the operator's operability of the operating mechanism is improved accordingly.

[0108] Furthermore, in the operating reaction force control system of the present invention, it is preferable to include the actuator and the operating mode detection sensor.

[0109] The operating reaction force control system of this structure can be configured together with the actuator and the operating mode detection sensor in the operator's driving environment.

[0110] Symbol Explanation

[0111] 10…Remote operation support server, 20…Remote operation device, 40…Working machinery, 41…Machine input interface, 42…Machine output interface, 110…Operating reaction force control system, 111…Operating mode identification element, 112…Feeling reaction force identification element, 114…Operating reaction force identification element, 200…Remote control device, 210…Remote input interface, 211…Remote operating mechanism, 220…Remote output interface, 221…Remote image output device (information output device), 224…Remote wireless communication equipment, 412…Machine camera device, 414…Machine status sensor group, 421…Machine image output device (information output device), 422…Machine wireless communication equipment, 440…Working mechanism (working attachment), 445…Bucket (working part), 2111…Left operating lever, 2112…Right operating lever.

Claims

1. A reaction force control system, characterized in that, It is constituted in the following ways. To control the actuator's movement in order for the operating machinery or its constituent components, which constitute the controlled object, to move in opposite positive and negative directions, the actuator's movement is such that an operating reaction force, corresponding to the magnitude of the operating quantity detected by the operating mode detection sensor, acts on the operating mechanism in a direction corresponding to the operating direction detected by the operating mode detection sensor when the operator operates the operating mechanism in opposite positive and negative directions. The operating reaction force control system is further configured such that, corresponding to the operating amounts in the positive and negative operating directions of the operating mechanism, the actuator's operation is controlled in a manner that at least partially achieves symmetry with respect to the operating amount 0 of the operating mechanism, thereby causing the operating reaction force corresponding to its operating amount to act on the operating mechanism along the positive and negative operating directions, respectively. The operational reaction force control system determines the operational reaction force based on a predetermined correlation between the sensed reaction force and the operational reaction force. The reaction force corresponding to the operation amount is at least partially asymmetrical between the positive operation direction and the negative operation direction, with the operation amount 0 as a reference.

2. The operational reaction force control system according to claim 1, characterized in that, The operating reaction force control system is configured to control the action of the actuator so that the perceived reaction force varies linearly in response to the amount of operation of the operating mechanism that achieves the symmetry.

3. The operational reaction force control system according to claim 1 or 2, characterized in that, The operational reaction force control system is configured to control the action of the actuator according to the perceived reaction force estimated based on attribute factors, wherein the attribute factors represent the operator's attributes input through an input interface.

4. The operational reaction force control system according to any one of claims 1 to 3, characterized in that, The operating reaction force control system is configured to control the operation of the actuator according to the sensed reaction force, which is the operating reaction force sensed by the operator via the operating mechanism acting on the operating reaction force and input through an input interface.

5. The operational reaction force control system according to any one of claims 1 to 4, characterized in that, It includes the actuator and the operation mode detection sensor.

6. A method for controlling operational reaction force, characterized in that, The following processes are included: The operation mode detection process involves detecting the operating direction and amount of the operating mechanism operated by the operator in opposite directions, in order to enable the working machinery or its constituent components that constitute the controlled object to move in opposite positive and negative operating directions. The reaction force control step controls the actuator's movement so that an operating reaction force, having a strength corresponding to the magnitude of the operating amount detected in the operating mode detection step, acts on the operating mechanism in a direction corresponding to the operating direction detected in the operating mode detection step. The reaction force control process includes the following steps: Corresponding to the operating amounts in the positive and negative operating directions of the operating mechanism, the actuator is controlled in a manner that at least partially achieves symmetry with respect to the operating amount 0 of the operating mechanism, based on the operating reaction force felt by the operator via the operating mechanism. This results in the operating reaction force corresponding to its operating amount acting on the operating mechanism along the positive and negative operating directions, respectively. The operational reaction force control method determines the operational reaction force based on a defined correlation between the perceived reaction force and the operational reaction force. The reaction force corresponding to the operation amount is at least partially asymmetrical between the positive operation direction and the negative operation direction, with the operation amount 0 as a reference.

Images