operating system

Abstract

An operation system operates an object in response to an operator's operation on an operation member. The operation system has one or more processors and one or more storage devices. The one or more processors receive an operation input value indicating the content of the operator's operation on the operation member. The one or more storage devices store information of a model configured to output an operation output value corresponding to the operation input value. The model is configured such that a relationship between the operation input value and the operation output value has a hysteresis characteristic. The one or more processors are further configured to acquire the operation output value by inputting the operation input value to the model, and determine an operation amount of the object based on the operation output value.

Description

Technical Field

[0001] This invention relates to a technique for operating an object in response to an operator's operation of an operating component. Background Technology

[0002] Japanese Patent Application Publication No. 2017-085751 discloses a joystick signal processing device for a vehicle. The vehicle operator operates the joystick to operate the vehicle. The joystick signal processing device outputs an operation output value corresponding to the operation input value representing the operator's operation amount on the joystick. There is a one-to-one correspondence between the operation input value and the operation output value. Summary of the Invention

[0003] According to the technology described in Japanese Patent Application Publication No. 2017-085751, there is a one-to-one correspondence between the operator's input and output values. Therefore, sometimes the output value fluctuates due to operator hand tremors, making it difficult to maintain a constant output value.

[0004] One object of the present invention is to provide a technique that can improve the operability of operators when operating operating components to operate objects.

[0005] One aspect of this invention relates to an operating system that operates an object in response to an operator's operation of an operating component.

[0006] An operating system has one or more processors and one or more storage devices.

[0007] One or more processors receive operation input values ​​that represent the operation content of the operator on the operating components.

[0008] One or more storage devices store information about a model that is configured to output operational output values ​​corresponding to operational input values. The model is configured such that the relationship between operational input values ​​and operational output values ​​has a hysteresis characteristic.

[0009] One or more processors are further configured to obtain operation output values ​​by inputting operation input values ​​to the model, and to determine the amount of operation of the object based on the operation output values.

[0010] According to the present invention, the model outputs an operation output value corresponding to the operation input value representing the operation content of the operator on the operation component. The model is configured such that the relationship between the operation input value and the operation output value has a hysteresis characteristic. Then, the operation amount of the object is determined based on the operation output value from the model. Therefore, even when the operation input value fluctuates, the operation amount of the object can be maintained. This improves operability for the operator. Attached Figure Description

[0011] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0012] Figure 1 It is a conceptual diagram used to illustrate the outline of an operating system.

[0013] Figure 2 This is a conceptual diagram used to illustrate the first example of the operand determination unit in an operating system.

[0014] Figure 3 This is a conceptual diagram used to illustrate an example of processing based on the conversion unit.

[0015] Figure 4 This is a conceptual diagram used to illustrate the second example of the operand determination unit in an operating system.

[0016] Figure 5 This is a conceptual diagram used to illustrate the third example of the operand determination unit in an operating system.

[0017] Figure 6 This is a block diagram representing an example of the hardware configuration of an operating system. Detailed Implementation

[0018] The embodiments of the present invention will be described with reference to the accompanying drawings.

[0019] 1. Overview of Operating Systems

[0020] Figure 1 This is a conceptual diagram illustrating the outline of the operating system 1 involved in this embodiment. Operating system 1 is a system for operators to operate objects. An object is, for example, a mobile body. Examples of mobile bodies include vehicles, robots, construction machinery, aircraft, and ships.

[0021] Operating system 1 includes an operating component 10 that is operated by an operator for the purpose of operating an object. The operating component 10 can be operated (used) by at least one of the operator's hands and feet. For example, the operating component 10 includes movable parts that can be physically moved by the operator. Examples of movable parts include a steering wheel, accelerator pedal, brake pedal, joystick, lever, etc.

[0022] For example, the operating unit 10 includes one or more joysticks. The operating unit 10 may include a steering joystick and an acceleration / deceleration joystick. For example, pulling the steering joystick is associated with "left turn", and pushing the steering joystick is associated with "right turn". Furthermore, pulling the acceleration / deceleration joystick is associated with "deceleration", and pushing the acceleration / deceleration joystick is associated with "acceleration".

[0023] exist Figure 1As an example, the case where the object is a vehicle VCL is shown. For example, the operator is a driver who sits in and drives the vehicle VCL. The operating unit 10 is mounted on the vehicle VCL. The driver operates the operating unit 10 to drive the vehicle VCL.

[0024] As another example, the operator can be a remote operator who remotely operates (drives) the vehicle's VCL. In this case, the operating unit 10 is located on the remote operator's terminal. The remote operator's terminal and the vehicle's VCL can communicate with each other. The remote operator operates the operating unit 10 located on the remote operator's terminal. Remote operation information indicating the operation content of the operating unit 10 is sent from the remote operator's terminal to the vehicle's VCL. The vehicle's VCL is controlled according to the remote operation information. In this way, the remote operator can remotely operate the vehicle's VCL by operating the operating unit 10.

[0025] like Figure 1 As shown, in addition to the operation unit 10, the operating system 1 also includes a sensor 20, an operation quantity determination unit 100, and a control unit 200.

[0026] Sensor 20 detects the operator's actions on operating component 10. Examples of actions include the amount of operation, operating speed, and operating force. For example, sensor 20 includes a force sensor that detects the force applied to operating component 10. Here, force includes the concept of torque. The operation input value IN represents the result detected by sensor 20, that is, it represents the operator's actions on operating component 10. For example, the operation input value IN represents the force applied to operating component 10.

[0027] The operation quantity determination unit 100 receives the operation input value IN from the sensor 20. The operation quantity determination unit 100 determines the operation quantity OPE of the object based on the received operation input value IN. That is, the operation quantity determination unit 100 determines the operation quantity OPE corresponding to the operator's operation input value IN and outputs it.

[0028] The control unit 200 receives the operation quantity OPE determined by the operation quantity determination unit 100. Then, the control unit 200 operates (controls) the object according to the operation quantity OPE. In the case of a remote operating system, the control unit 200 is included in the remotely operated object.

[0029] Hereinafter, the operation quantity determination unit 100 of the operating system 1 according to this embodiment will be described in further detail.

[0030] 2. Example of the operation quantity determination unit

[0031] 2-1.Example 1

[0032] Figure 2This is a conceptual diagram illustrating a first example of the operation quantity determination unit 100. The operation quantity determination unit 100 includes a model unit 110 and a conversion unit 130.

[0033] The model unit 110 receives the operation input value IN and outputs an operation output value OP1 corresponding to the received operation input value IN. More specifically, the model unit 110 includes a model MDL configured to output the operation output value OP1 corresponding to the operation input value IN. The model unit 110 obtains the operation output value OP1 corresponding to the operation input value IN by inputting the operation input value IN into the model MDL. According to this embodiment, the model MDL is configured such that the relationship between the operation input value IN and the operation output value OP1 has a hysteresis characteristic.

[0034] For example, the model MDL is as follows Figure 2 The spring-mass-damper model is shown. The spring-mass-damper model includes a spring, a mass (m), and a damper, and is composed of their combination. k is the spring constant of the spring. c is the damping coefficient of the damper. x is the displacement of the mass. The operation input value IN represents the force applied to the operation component 10. Hereinafter, the force applied to the operation component 10 will be referred to as the "operation input F". The operation input F is applied to the mass (m) of the spring-mass-damper model. At this time, the differential equation (equation of motion) represented by the following equation (1) holds.

[0035]

[0036] Furthermore, the natural vibration coefficient ω and the damping ratio ζ are represented by the following equations (2) and (3), respectively.

[0037]

[0038] In the case of the spring-mass-damper model, the mass displacement x is used as the operational output value OP1. That is, the spring-mass-damper model outputs the mass displacement x corresponding to the operator's input F as the operational output value OP1. The relationship between the operational input F and the mass displacement x has a hysteresis characteristic. This hysteresis characteristic can be achieved by using the spring-mass-damper model.

[0039] The conversion unit 130 receives the operation output value OP1 output from the model unit 110. Then, the conversion unit 130 converts the operation output value OP1 into the operation quantity OPE of the object. That is, the conversion unit 130 determines (calculates) the operation quantity OPE of the object based on the operation output value OP1. The conversion unit 130 may have a conversion mapping table MAP for converting the operation output value OP1 into the operation quantity OPE.

[0040] Figure 3This is a conceptual diagram illustrating an example of processing based on the conversion unit 130. In this example, the object is the vehicle VCL. Examples of the operating quantity OPE for the vehicle VCL include drive torque T, acceleration, and steering angle MA. The operating quantity OPE can also be determined based on the operating output value OP1 and the speed V of the vehicle VCL. Control unit 200 (see reference) Figure 1 The vehicle's VCL is controlled based on the determined operating quantity OPE.

[0041] As explained above, according to this embodiment, the model MDL outputs an operation output value OP1 corresponding to the operation input value IN, which represents the operation content of the operator on the operation component 10. This model MDL is configured such that the relationship between the operation input value IN and the operation output value OP1 has a hysteresis characteristic. Then, the operation quantity OPE of the object is determined based on the operation output value OP1 from this model MDL. Therefore, even if the operation input value IN fluctuates, the operation quantity OPE of the object can be maintained. This improves operability for the operator.

[0042] 2-2.Example 2

[0043] In the second example, the hysteresis characteristics in the model MDL are variable. The hysteresis characteristics can be changed (adjusted) by altering (adjusting) the tuning parameters included in the model MDL. For example, in the case of the spring-mass-damper model described above, the tuning parameters include (m, k, c, f) or (m, ζ, ω, f).

[0044] Figure 4 This is a conceptual diagram illustrating the second example of the operation quantity determination unit 100. Explanations repeated in the first example described above are omitted as appropriate. The model unit 110 includes a model adjustment unit 115. The model adjustment unit 115 adjusts the hysteresis characteristics related to the model MDL by adjusting the tuning parameters of the model MDL.

[0045] For example, the model adjustment unit 115 acquires information about the operating speed of the operating component 10 based on the operating input value IN. Then, the model adjustment unit 115 dynamically changes (adjusts) the tuning parameters according to the operating speed, thereby dynamically changing (adjusting) the hysteresis characteristics. For example, when the operating speed is low, the damping ratio ζ is set to be large in order to suppress changes in the operating output value OP1. On the other hand, when the operating speed is high, the damping ratio ζ is set to be small in order to make the operating output value OP1 change more easily.

[0046] As another example, the model adjustment unit 115 can dynamically change (adjust) the tuning parameters according to the speed V of the vehicle VCL, thereby dynamically changing (adjusting) the hysteresis characteristics. For example, when the speed V is high, the damping ratio ζ is set to be large in order to suppress changes in the operating output value OP1. On the other hand, when the speed V is low, the damping ratio ζ is set to be small in order to make the operating output value OP1 change more easily.

[0047] As explained above, according to Example 2, the hysteresis characteristics associated with the model MDL change dynamically based on the situation. This allows for more appropriate operability to be achieved according to the circumstances. For example, by dynamically changing the hysteresis characteristics based on the operating speed or velocity V, more natural operability can be achieved.

[0048] 2-3.Example 3

[0049] The maximum value of the operation input value IN input to the model unit 110 may vary depending on the operator. For example, since the limits of force that operators can apply differ, the maximum value of the operation input F may also differ from operator to operator. On the other hand, the range of the object's operation quantity OPE is preferably as uniform as possible, regardless of the operator. For example, when operators applying different forces apply their respective maximum forces, the object's operation quantity OPE is preferably as similar as possible. Otherwise, a discrepancy may arise between the perceived operation and the object's responsive behavior. This discrepancy can cause discomfort to the operator.

[0050] Therefore, the third example proposes a technique that can appropriately determine the amount of operation (OPE) by taking into account the individual characteristics of the operator.

[0051] Figure 5 This is a conceptual diagram illustrating the third example of the operation quantity determination unit 100. Explanations repeated in the first example described above are omitted as appropriate. In addition to the model unit 110 and the conversion unit 130, the operation quantity determination unit 100 also includes a standardization unit 120. The standardization unit 120 receives the operation output value OP1 output from the model unit 110. Then, the standardization unit 120 obtains a standardized operation output value OP2 by standardizing the operation output value OP1.

[0052] Consider an operator (hereinafter referred to as the first operator) using operating system 1. The maximum operation input value IN_MAX is the maximum value (limit value) of the operation input value IN input by the first operator. The maximum operation output value OP1_MAX is the operation output value OP1 obtained when the maximum operation input value IN_MAX is input into the model MDL. That is, the maximum operation output value OP1_MAX is the operation output value OP1 corresponding to the maximum operation input value IN_MAX. In this case, the standardized operation output value OP2 is represented by the ratio of the operation output value OP1 to the maximum operation output value OP1_MAX. That is, the standardized operation output value OP2 is represented by the formula: OP2 = OP1 / OP1_MAX. The unit of the standardized operation output value OP2 is [%]. The standardization unit 120 standardizes the operation output value OP1 based on the maximum operation output value OP1_MAX, thereby obtaining the standardized operation output value OP2.

[0053] Calibration can be performed before the first operator begins using the operating system 1. During calibration, the first operator operates the operating component 10 with the desired maximum force. The standardization unit 120 acquires the operating output value OP1 obtained at this time as the maximum operating output value OP1_MAX. The calibration information CAL represents the maximum operating output value OP1_MAX thus obtained. That is, the calibration information CAL represents the maximum operating output value OP1_MAX associated with the first operator. The standardization unit 120 maintains the calibration information CAL. When the first operator uses the operating system 1, the standardization unit 120 can identify the maximum operating output value OP1_MAX associated with the first operator based on the calibration information CAL and perform standardization processing.

[0054] The conversion unit 130 receives the normalized operation output value OP2 from the normalization unit 120. Then, the conversion unit 130 converts the normalized operation output value OP2 into the operand OPE of the object. That is, the conversion unit 130 determines (calculates) the operand OPE of the object based on the normalized operation output value OP2. The conversion unit 130 may have a conversion mapping table MAP for converting the normalized operation output value OP2 into the operand OPE. An example of the processing based on the conversion unit 130 is as follows... Figure 3 As shown.

[0055] As explained above, according to Example 3, a standardized operation output value OP2 is obtained by standardizing the operation output value OP1. Then, the object's operation quantity OPE is determined based on the standardized operation output value OP2. Therefore, even if the maximum operation input value IN_MAX input to the model unit 110 varies depending on the operator, the range of the object's operation quantity OPE is uniform regardless of the operator. For example, when operators applying different forces apply their respective maximum forces, the object's operation quantity OPE is the same. That is, even operators with weak force can operate the object with the same sense of operation as operators with strong force. Therefore, the deviation between the sense of operation and the object's responsive behavior is suppressed. As a result, the discomfort felt by the operator is suppressed.

[0056] 2-4.Example 4

[0057] It is also possible to combine the second and third examples mentioned above. In this case, the effects of both the second and third examples can be obtained.

[0058] 3. Hardware Configuration Example

[0059] Figure 6 This is a block diagram illustrating an example of the hardware configuration of operating system 1. Operating system 1 includes an operating unit 10, a sensor 20, one or more processors 30 (hereinafter simply referred to as "processor 30"), and one or more storage devices 40 (hereinafter simply referred to as "storage device 40").

[0060] Processor 30 performs various processes. Examples of processor 30 include general-purpose processors, special-purpose processors, central processing units (CPUs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), etc. Processor 30 can also be referred to as processing circuitry. Storage device 40 stores various information required for processing. Examples of storage device 40 include volatile memory, non-volatile memory, hard disk drives (HDDs), solid-state drives (SSDs), etc.

[0061] The storage device 40 stores the aforementioned model MDL, transformation mapping table MAP, and calibration information CAL. The functions of the aforementioned operation quantity determination unit 100 and control unit 200 are realized through the cooperation of the processor 30 and the storage device 40.

[0062] The program PRG is a computer program executed by the processor 30. The program PRG is stored in the storage device 40. The program PRG can be recorded on a computer-readable recording medium. The functions of the operation quantity determination unit 100 and the control unit 200 can also be realized through the cooperation of the processor 30 executing the program PRG and the storage device 40.

Claims

1. An operating system that operates an object in response to an operator's operation of an operating component, the operating system being characterized by having: One or more processors, which receive operation input values ​​representing the operation content of the operator on the operating component; and One or more storage devices storing information configured to output operational output values ​​corresponding to the operational input values. The model is configured such that the relationship between the operation input value and the operation output value has a lag characteristic. The one or more processors are further configured to, The operation output value is obtained by inputting the operation input value into the model, and The amount of operation on the object is determined based on the operation output value.

2. The operating system according to claim 1, characterized in that, The operation input value represents the force applied to the operating component. The model is a spring-mass-damper model consisting of a combination of spring, mass, and damper. The output value of the operation is the displacement of the mass.

3. The operating system according to claim 1, characterized in that, The hysteresis characteristic in the model is variable.

4. The operating system according to claim 3, characterized in that, The one or more processors are further configured to, Information on the operating speed of the operating component is obtained based on the operation input value, and The hysteresis characteristics in the model are dynamically changed according to the operating speed of the operating component.

5. The operating system according to any one of claims 1 to 4, characterized in that, The maximum operation input value is the maximum value of the operation input values. The maximum operation output value is the operation output value corresponding to the maximum operation input value. The one or more processors are further configured to, The operation output value is standardized based on the maximum operation output value to obtain a standardized operation output value. The operation quantity of the object is determined based on the standardized operation output value.

Images